├── .gitignore ├── LICENCE ├── README.md ├── camera_models ├── CMakeLists.txt ├── camera_calib_example │ └── readme.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ ├── PolyFisheyeCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── code_utils │ │ ├── cv_utils.h │ │ ├── eigen_utils.h │ │ ├── math_utils │ │ │ ├── Polynomial.h │ │ │ └── math_utils.h │ │ ├── ros_utils.h │ │ └── sys_utils.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 │ ├── PolyFisheyeCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── code_utils │ ├── cv_utils.cc │ ├── math_utils │ │ └── Polynomial.cpp │ └── poly_test.cpp │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── A3_ptgrey │ ├── a3_ptgrey_mono_imu_config.yaml │ ├── a3_ptgrey_stereo_config.yaml │ ├── a3_ptgrey_stereo_imu_config.yaml │ ├── left.yaml │ └── right.yaml ├── euroc │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ ├── euroc_mono_imu_config.yaml │ ├── euroc_stereo_config.yaml │ └── euroc_stereo_imu_config.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── fisheye_ptgrey_n3 │ ├── depth_cpu.yaml │ ├── depth_cuda.yaml │ ├── depth_visionworks.yaml │ ├── down.yaml │ ├── fisheye_cpu.yaml │ ├── fisheye_cuda.yaml │ ├── fisheye_vworks.yaml │ ├── front.yaml │ └── up.yaml ├── kitti_odom │ ├── cam00-02.yaml │ ├── cam03.yaml │ ├── cam04-12.yaml │ ├── cam13-21.yaml │ ├── kitti_config00-02.yaml │ ├── kitti_config03.yaml │ ├── kitti_config04-12.yaml │ └── kitti_config13-21.yaml ├── kitti_raw │ ├── cam_09_30.yaml │ ├── cam_10_03.yaml │ ├── kitti_09_30_config.yaml │ └── kitti_10_03_config.yaml ├── mini_mynteye_stereo │ ├── left.yaml │ ├── mini_mynteye_stereo_imu.yaml │ └── right.yaml ├── mynteye │ ├── left_mei.yaml │ ├── mynteye_mono_imu_config.yaml │ ├── mynteye_stereo_config.yaml │ ├── mynteye_stereo_imu_config.yaml │ ├── mynteye_stereo_imu_raw_config.yaml │ └── right_mei.yaml ├── n3_bluefox │ ├── backup.yaml │ ├── left.yaml │ ├── n3_bluefox_mono_imu_config.yaml │ ├── n3_bluefox_stereo_imu_config.yaml │ └── right.yaml ├── realsense │ ├── left.yaml │ ├── realsense_n3_unsync.yaml │ └── right.yaml ├── simulation │ ├── cam0_mei.yaml │ ├── cam1_mei.yaml │ └── simulation_config.yaml ├── vi_car │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ └── vi_car.yaml └── vins_rviz_config.rviz ├── support_files ├── brief_k10L6.bin ├── brief_pattern.yml ├── disparity.png ├── feature_track.png ├── paper │ └── VINS-Mono_ A Robust and Versatile Monocular_Visual-Inertial State Estimator.pdf ├── paper_bib.txt └── point_cloud.png └── vins_estimator ├── CMakeLists.txt ├── launch ├── fisheye.launch ├── fisheye_node.launch ├── pinhole.launch └── vins_rviz.launch ├── msg ├── FlattenImages.msg └── VIOKeyframe.msg ├── nodelet_plugins.xml ├── package.xml ├── perf.md └── src ├── KITTIGPSTest.cpp ├── KITTIOdomTest.cpp ├── depth_generation ├── color_disparity_graph.cpp ├── color_disparity_graph.hpp ├── depth_camera_manager.cpp ├── depth_camera_manager.h ├── depth_estimator.cpp ├── depth_estimator.h ├── stereo_matching.cpp ├── stereo_matching.hpp ├── stereo_online_calib.cpp └── stereo_online_calib.hpp ├── estimator ├── estimator.cpp ├── estimator.h ├── feature_manager.cpp ├── feature_manager.h ├── parameters.cpp └── parameters.h ├── factor ├── imu_factor.h ├── initial_bias_factor.h ├── initial_pose_factor.h ├── integration_base.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projectionOneFrameTwoCamFactor.cpp ├── projectionOneFrameTwoCamFactor.h ├── projectionTwoFrameOneCamFactor.cpp ├── projectionTwoFrameOneCamFactor.h ├── projectionTwoFrameTwoCamFactor.cpp ├── projectionTwoFrameTwoCamFactor.h ├── projection_factor.cpp └── projection_factor.h ├── featureTracker ├── feature_tracker.cpp ├── feature_tracker.h ├── feature_tracker_fisheye.cpp ├── feature_tracker_fisheye.hpp ├── feature_tracker_fisheye_cuda.cpp ├── feature_tracker_fisheye_vworks.cpp ├── feature_tracker_pinhole.cpp ├── feature_tracker_pinhole.hpp ├── fisheye_undist.hpp ├── ovx_replaceheader.hpp ├── vworks_feature_tracker.cpp └── 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