├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── README.md ├── asset └── overview.png ├── calibration_pattern_creator ├── marker_3x6.bmp ├── marker_3x6.pdf └── paint.m ├── circle_detector ├── CMakeLists.txt ├── include │ ├── circle_detector.h │ └── cylindroid_factor.h ├── launch │ └── circle_detector.launch ├── package.xml └── src │ └── circle_detector.cpp ├── circle_msgs ├── CMakeLists.txt ├── msg │ ├── circle.msg │ └── circleArray.msg └── package.xml ├── config └── setup.yaml ├── corner_detector ├── CMakeLists.txt ├── include │ └── corner_detector.h ├── launch │ └── corner_detector.launch ├── package.xml └── src │ └── corner_detector.cpp ├── corner_msgs ├── CMakeLists.txt ├── msg │ ├── corner.msg │ └── cornerArray.msg └── package.xml ├── estimator ├── CMakeLists.txt ├── include │ ├── calibration_board.h │ ├── camera.h │ ├── estimator_manager.h │ ├── factor │ │ ├── analytic_diff │ │ │ ├── image_feature_factor.h │ │ │ ├── rd_spline_view.h │ │ │ ├── so3_spline_view.h │ │ │ ├── split_spline_view.h │ │ │ └── trajectory_value_factor.h │ │ └── ceres_local_param.h │ ├── initialization.h │ ├── trajectory_estimator.h │ ├── trajectory_manager.h │ └── trajectory_viewer.h ├── launch │ └── estimator.launch ├── package.xml ├── rviz │ └── estimator.rviz └── src │ ├── estimator │ ├── estimator_manager.cpp │ ├── initialization.cpp │ ├── trajectory_estimator.cpp │ └── trajectory_manager.cpp │ ├── estimator_node.cpp │ ├── sophus_lib │ ├── average.hpp │ ├── common.hpp │ ├── geometry.hpp │ ├── interpolate.hpp │ ├── interpolate_details.hpp │ ├── num_diff.hpp │ ├── rotation_matrix.hpp │ ├── rxso2.hpp │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim2.hpp │ ├── sim3.hpp │ ├── sim_details.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── types.hpp │ └── velocities.hpp │ ├── spline │ ├── assert.h │ ├── ceres_spline_helper.h │ ├── ceres_spline_helper_jet.h │ ├── rd_spline.h │ ├── se3_spline.h │ ├── so3_spline.h │ ├── spline_common.h │ ├── spline_segment.h │ ├── 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