├── LICENSE ├── README.md ├── ceres-solver-modified.tar ├── evaluate └── evaluate.py ├── fig ├── equipment.png ├── experiment_sense.png └── orangepi.jpg ├── rtk_visual_inertial_src ├── camera_models │ ├── CMakeLists.txt │ ├── include │ │ └── camodocal │ │ │ ├── calib │ │ │ └── CameraCalibration.h │ │ │ ├── camera_models │ │ │ ├── Camera.h │ │ │ ├── CameraFactory.h │ │ │ ├── CataCamera.h │ │ │ ├── CostFunctionFactory.h │ │ │ ├── EquidistantCamera.h │ │ │ ├── PinholeCamera.h │ │ │ ├── PinholeFullCamera.h │ │ │ └── ScaramuzzaCamera.h │ │ │ ├── chessboard │ │ │ ├── Chessboard.h │ │ │ ├── ChessboardCorner.h │ │ │ ├── ChessboardQuad.h │ │ │ └── Spline.h │ │ │ ├── gpl │ │ │ ├── EigenQuaternionParameterization.h │ │ │ ├── EigenUtils.h │ │ │ └── gpl.h │ │ │ └── sparse_graph │ │ │ └── Transform.h │ ├── package.xml │ ├── readme.md │ └── src │ │ ├── calib │ │ └── CameraCalibration.cc │ │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ ├── PinholeFullCamera.cc │ │ └── ScaramuzzaCamera.cc │ │ ├── chessboard │ │ └── Chessboard.cc │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.cc │ │ └── gpl.cc │ │ ├── intrinsic_calib.cc │ │ └── sparse_graph │ │ └── Transform.cc └── rtk_visual_inertial │ ├── CMakeLists.txt │ ├── config │ └── rtk_visual_inertial_rviz_config.rviz │ ├── launch │ └── rtk_visual_inertial_rviz.launch │ ├── package.xml │ └── src │ ├── factor │ ├── gnss_factor.cpp │ ├── gnss_factor.h │ ├── gnss_imu_factor.cpp │ ├── gnss_imu_factor.h │ ├── imu_factor.cpp │ ├── imu_factor.h │ ├── initial_factor.cpp │ ├── initial_factor.h │ ├── integration_base.cpp │ ├── integration_base.h │ ├── mag_factor.cpp │ ├── mag_factor.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose0_factor.cpp │ ├── pose0_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ └── projection_factor.h │ ├── feature │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── feature_tracker.cpp │ └── feature_tracker.h │ ├── gnss │ ├── include │ │ ├── common_function.h │ │ └── lambda.h │ └── src │ │ ├── common_function.cpp │ │ └── lambda.cpp │ ├── main3.cpp │ ├── parameter │ ├── parameters.cpp │ └── parameters.h │ ├── swf │ ├── swf.cpp │ ├── swf.h │ ├── swf_core.cpp │ ├── swf_gnss.cpp │ ├── swf_image.cpp │ ├── swf_imu.cpp │ └── swf_lambda.cpp │ └── utility │ ├── camera_pose_visualization.cpp │ ├── camera_pose_visualization.h │ ├── tic_toc.h │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h └── yaml ├── cam0_pinhole.yaml ├── cam1_pinhole.yaml ├── rtd_visual_inertial_config.yaml ├── rtk_visual_inertial_config.yaml ├── spp_CP_visual_inertial_config.yaml ├── spp_visual_inertial_config.yaml └── visual_inertial_config.yaml /LICENSE: -------------------------------------------------------------------------------- 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