├── README.md ├── TinyGrapeKit ├── LICENSE ├── README.md ├── app │ ├── FilterFusion │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── FindGlog.cmake │ │ ├── doc │ │ │ ├── SIM.png │ │ │ ├── VWO-MSCKF.png │ │ │ └── Visual-Wheel-GNSS-Localization.png │ │ ├── example │ │ │ ├── RunKAISTData.cpp │ │ │ ├── RunSimData.cpp │ │ │ └── TestVisualWheelCircleSim.cpp │ │ ├── include │ │ │ └── FilterFusion │ │ │ │ ├── FilterFusionSystem.h │ │ │ │ ├── GpsUpdater.h │ │ │ │ ├── Initializer.h │ │ │ │ ├── ParamLoader.h │ │ │ │ ├── Parameter.h │ │ │ │ ├── PlaneUpdater.h │ │ │ │ ├── Propagator.h │ │ │ │ ├── State.h │ │ │ │ ├── StateAugmentor.h │ │ │ │ ├── StateBlock.h │ │ │ │ ├── StateMarginalizer.h │ │ │ │ ├── UpdaterUtil.h │ │ │ │ ├── VisualUpdater.h │ │ │ │ └── Visualizer.h │ │ ├── params │ │ │ └── KAIST.yaml │ │ └── src │ │ │ ├── FilterFusionSystem.cpp │ │ │ ├── GpsUpdater.cpp │ │ │ ├── Initializer.cpp │ │ │ ├── ParamLoader.cpp │ │ │ ├── PlaneUpdater.cpp │ │ │ ├── Propagator.cpp │ │ │ ├── StateAugmentor.cpp │ │ │ ├── StateMarginalizer.cpp │ │ │ ├── UpdaterUtil.cpp │ │ │ ├── VisualUpdater.cpp │ │ │ └── Visualizer.cpp │ └── SINS │ │ ├── CMakeLists.txt │ │ ├── Core │ │ ├── .DS_Store │ │ ├── Alignment │ │ │ ├── StationaryCoarseAlignment.cpp │ │ │ └── StationaryCoarseAlignment.h │ │ ├── Base │ │ │ ├── .DS_Store │ │ │ ├── Index.h │ │ │ ├── InsState.h │ │ │ ├── KFState.h │ │ │ └── SensorDataTypes.h │ │ ├── Earth │ │ │ ├── EarthModel.cpp │ │ │ └── EarthModel.h │ │ ├── ErrorModel │ │ │ ├── ErrorModel.cpp │ │ │ └── ErrorModel.h │ │ ├── InsUpdate │ │ │ ├── InsUpdater.cpp │ │ │ └── InsUpdater.h │ │ ├── KFSystem │ │ │ ├── KFSystem.cpp │ │ │ └── KFSystem.h │ │ ├── MeasureModel │ │ │ ├── Measurements.cpp │ │ │ └── Measurements.h │ │ └── Utils │ │ │ ├── SO3.h │ │ │ ├── TimeConverter.h │ │ │ └── Utils.h │ │ ├── Data │ │ └── .DS_Store │ │ ├── Examples │ │ ├── InsUpdateExample.cpp │ │ └── StationaryCoarseAlignmentExample.cpp │ │ └── Tools │ │ └── CombineData.cpp ├── build.sh ├── library │ ├── CMakeLists.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── TinyGrapeKit.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── FeatureTracker.cpp.o │ │ │ │ │ ├── KLTFeatureTracker.cpp.o │ │ │ │ │ ├── PinholeRanTanCamera.cpp.o │ │ │ │ │ ├── SimFeatureTracker.cpp.o │ │ │ │ │ ├── Triangulator.cpp.o │ │ │ │ │ ├── TriangulatorUtil.cpp.o │ │ │ │ │ ├── VisualWheelCircleSim.cpp.o │ │ │ │ │ ├── WheelImageSynchronizer.cpp.o │ │ │ │ │ └── WheelPropagator.cpp.o │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ ├── install_manifest.txt │ │ └── libTinyGrapeKit.so │ ├── cmake │ │ └── FindGlog.cmake │ ├── include │ │ ├── BaseType │ │ │ └── Measurement.h │ │ ├── Camera │ │ │ ├── Camera.h │ │ │ └── PinholeRanTanCamera.h │ │ ├── Const │ │ │ └── Const.h │ │ ├── DataSynchronizer │ │ │ ├── DataSynchronizerUtil.h │ │ │ └── WheelImageSynchronizer.h │ │ ├── Geometry │ │ │ ├── Triangulator.h │ │ │ └── TriangulatorUtil.h │ │ ├── ImageProcessor │ │ │ ├── FeatureTracker.h │ │ │ ├── KLTFeatureTracker.h │ │ │ └── SimFeatureTracker.h │ │ ├── Simulation │ │ │ └── VisualWheelCircleSim.h │ │ ├── Util │ │ │ └── Util.h │ │ └── WheelProcessor │ │ │ └── WheelPropagator.h │ ├── install │ │ ├── include │ │ │ └── TGK │ │ │ │ ├── BaseType │ │ │ │ └── Measurement.h │ │ │ │ ├── Camera │ │ │ │ ├── Camera.h │ │ │ │ └── PinholeRanTanCamera.h │ │ │ │ ├── Const │ │ │ │ └── Const.h │ │ │ │ ├── DataSynchronizer │ │ │ │ ├── DataSynchronizerUtil.h │ │ │ │ └── WheelImageSynchronizer.h │ │ │ │ ├── Geometry │ │ │ │ ├── Triangulator.h │ │ │ │ └── TriangulatorUtil.h │ │ │ │ ├── ImageProcessor │ │ │ │ ├── FeatureTracker.h │ │ │ │ ├── KLTFeatureTracker.h │ │ │ │ └── SimFeatureTracker.h │ │ │ │ ├── Simulation │ │ │ │ └── VisualWheelCircleSim.h │ │ │ │ ├── Util │ │ │ │ └── Util.h │ │ │ │ └── WheelProcessor │ │ │ │ └── WheelPropagator.h │ │ └── lib │ │ │ └── libTinyGrapeKit.so │ └── src │ │ ├── FeatureTracker.cpp │ │ ├── KLTFeatureTracker.cpp │ │ ├── PinholeRanTanCamera.cpp │ │ ├── SimFeatureTracker.cpp │ │ ├── Triangulator.cpp │ │ ├── TriangulatorUtil.cpp │ │ ├── VisualWheelCircleSim.cpp │ │ ├── WheelImageSynchronizer.cpp │ │ └── WheelPropagator.cpp └── third_party │ ├── GeographicLib │ ├── CMakeLists.txt │ ├── build │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeOutput.log │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── cmake.check_cache │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── libGeographiccc.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── Geocentric.cpp.o │ │ │ │ │ ├── LocalCartesian.cpp.o │ │ │ │ │ └── Math.cpp.o │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── liblibGeographiccc.so │ ├── include │ │ ├── Config.h │ │ ├── Constants.hpp │ │ ├── Geocentric.hpp │ │ ├── LocalCartesian.hpp │ │ └── Math.hpp │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp │ ├── Pangolin │ ├── .clang-format │ ├── .gitignore │ ├── .gitmodules │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── CMakeModules │ │ ├── AndroidUtils.cmake │ │ ├── CreateMethodCallFile.cmake │ │ ├── EmbedBinaryFiles.cmake │ │ ├── FindDC1394.cmake │ │ ├── FindDepthSense.cmake │ │ ├── FindEigen.cmake │ │ ├── FindFFMPEG.cmake │ │ ├── FindFREEGLUT.cmake │ │ ├── FindGLEW.cmake │ │ ├── FindGLUES.cmake │ │ ├── FindLibRealSense.cmake │ │ ├── FindLibRealSense2.cmake │ │ ├── FindLz4.cmake │ │ ├── FindMediaFoundation.cmake │ │ ├── FindOculus.cmake │ │ ├── FindOpenEXR.cmake │ │ ├── FindOpenNI.cmake │ │ ├── FindOpenNI2.cmake │ │ ├── FindPleora.cmake │ │ ├── FindROBOTVISION.cmake │ │ ├── FindTeliCam.cmake │ │ ├── FindTooN.cmake │ │ ├── FindWayland.cmake │ │ ├── FindXrandr.cmake │ │ ├── Findlibusb1.cmake │ │ ├── Findpthread.cmake │ │ ├── Finduvc.cmake │ │ ├── Findzstd.cmake │ │ └── SetPlatformVars.cmake │ ├── LICENCE │ ├── README.md │ ├── appveyor.yml │ ├── cmake_uninstall.cmake.in │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── HelloPangolin │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── HelloPangolinOffscreen │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── HelloPangolinThreads │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── SharedMemoryCamera │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── SimpleDisplay │ │ │ ├── CMakeLists.txt │ │ │ ├── app.cfg │ │ │ └── main.cpp │ │ ├── SimpleDisplayImage │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── SimpleMultiDisplay │ │ │ ├── CMakeLists.txt │ │ │ ├── app.cfg │ │ │ └── main.cpp │ │ ├── SimplePlot │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── SimpleRecord │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── SimpleScene │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ ├── SimpleVideo │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ │ └── VBODisplay │ │ │ ├── CMakeLists.txt │ │ │ ├── kernal.cu │ │ │ └── main.cpp │ ├── external │ │ └── CMakeLists.txt │ ├── include │ │ ├── experimental │ │ │ └── optional.hpp │ │ ├── mpark │ │ │ └── variant.hpp │ │ ├── pangolin │ │ │ ├── compat │ │ │ │ ├── glutbitmap.h │ │ │ │ ├── optional.h │ │ │ │ ├── type_traits.h │ │ │ │ └── variant.h │ │ │ ├── console │ │ │ │ ├── ConsoleInterpreter.h │ │ │ │ └── ConsoleView.h │ │ │ ├── display │ │ │ │ ├── attach.h │ │ │ │ ├── device │ │ │ │ │ ├── OsxWindow.h │ │ │ │ │ ├── PangolinNSApplication.h │ │ │ │ │ ├── PangolinNSGLView.h │ │ │ │ │ ├── WinWindow.h │ │ │ │ │ ├── X11GlContext.h │ │ │ │ │ ├── X11Window.h │ │ │ │ │ └── display_android.h │ │ │ │ ├── display.h │ │ │ │ ├── display_internal.h │ │ │ │ ├── image_view.h │ │ │ │ ├── opengl_render_state.h │ │ │ │ ├── user_app.h │ │ │ │ ├── view.h │ │ │ │ ├── viewport.h │ │ │ │ ├── widgets │ │ │ │ │ └── widgets.h │ │ │ │ └── window.h │ │ │ ├── factory │ │ │ │ └── factory_registry.h │ │ │ ├── geometry │ │ │ │ ├── geometry.h │ │ │ │ ├── geometry_obj.h │ │ │ │ ├── geometry_ply.h │ │ │ │ └── glgeometry.h │ │ │ ├── gl │ │ │ │ ├── cg.h │ │ │ │ ├── colour.h │ │ │ │ ├── compat │ │ │ │ │ ├── gl2engine.h │ │ │ │ │ └── gl_es_compat.h │ │ │ │ ├── gl.h │ │ │ │ ├── gl.hpp │ │ │ │ ├── glchar.h │ │ │ │ ├── glcuda.h │ │ │ │ ├── gldraw.h │ │ │ │ ├── glfont.h │ │ │ │ ├── glformattraits.h │ │ │ │ ├── glinclude.h │ │ │ │ ├── glpangoglu.h │ │ │ │ ├── glpixformat.h │ │ │ │ ├── glplatform.h │ │ │ │ ├── glsl.h │ │ │ │ ├── glstate.h │ │ │ │ ├── gltext.h │ │ │ │ ├── gltexturecache.h │ │ │ │ └── glvbo.h │ │ │ ├── handler │ │ │ │ ├── handler.h │ │ │ │ ├── handler_enums.h │ │ │ │ ├── handler_glbuffer.h │ │ │ │ └── handler_image.h │ │ │ ├── image │ │ │ │ ├── copy.h │ │ │ │ ├── image.h │ │ │ │ ├── image_convert.h │ │ │ │ ├── image_io.h │ │ │ │ ├── image_utils.h │ │ │ │ ├── managed_image.h │ │ │ │ ├── memcpy.h │ │ │ │ ├── pixel_format.h │ │ │ │ └── typed_image.h │ │ │ ├── ios │ │ │ │ ├── PangolinAppDelegate.h │ │ │ │ └── PangolinUIView.h │ │ │ ├── log │ │ │ │ ├── packet.h │ │ │ │ ├── packetstream.h │ │ │ │ ├── packetstream_reader.h │ │ │ │ ├── packetstream_source.h │ │ │ │ ├── packetstream_tags.h │ │ │ │ ├── packetstream_writer.h │ │ │ │ ├── playback_session.h │ │ │ │ └── sync_time.h │ │ │ ├── pangolin.h │ │ │ ├── platform.h │ │ │ ├── plot │ │ │ │ ├── datalog.h │ │ │ │ ├── plotter.h │ │ │ │ └── range.h │ │ │ ├── python │ │ │ │ ├── pyinterpreter.h │ │ │ │ ├── pypangoio.h │ │ │ │ ├── pypangolin_init.h │ │ │ │ ├── pyuniqueobj.h │ │ │ │ └── pyvar.h │ │ │ ├── scene │ │ │ │ ├── axis.h │ │ │ │ ├── interactive.h │ │ │ │ ├── interactive_index.h │ │ │ │ ├── renderable.h │ │ │ │ ├── scenehandler.h │ │ │ │ └── tree.h │ │ │ ├── tools │ │ │ │ └── video_viewer.h │ │ │ ├── utils │ │ │ │ ├── argagg.hpp │ │ │ │ ├── assert.h │ │ │ │ ├── compontent_cast.h │ │ │ │ ├── file_extension.h │ │ │ │ ├── file_utils.h │ │ │ │ ├── fix_size_buffer_queue.h │ │ │ │ ├── format_string.h │ │ │ │ ├── log.h │ │ │ │ ├── memstreambuf.h │ │ │ │ ├── params.h │ │ │ │ ├── parse.h │ │ │ │ ├── picojson.h │ │ │ │ ├── posix │ │ │ │ │ ├── condition_variable.h │ │ │ │ │ ├── semaphore.h │ │ │ │ │ └── shared_memory_buffer.h │ │ │ │ ├── registration.h │ │ │ │ ├── signal_slot.h │ │ │ │ ├── sigstate.h │ │ │ │ ├── simple_math.h │ │ │ │ ├── threadedfilebuf.h │ │ │ │ ├── timer.h │ │ │ │ ├── transform.h │ │ │ │ ├── type_convert.h │ │ │ │ ├── uri.h │ │ │ │ ├── variadic_all.h │ │ │ │ └── xml │ │ │ │ │ ├── license.txt │ │ │ │ │ ├── rapidxml.hpp │ │ │ │ │ ├── rapidxml_iterators.hpp │ │ │ │ │ ├── rapidxml_print.hpp │ │ │ │ │ └── rapidxml_utils.hpp │ │ │ ├── var │ │ │ │ ├── input_record_repeat.h │ │ │ │ ├── var.h │ │ │ │ ├── varextra.h │ │ │ │ ├── varstate.h │ │ │ │ ├── varvalue.h │ │ │ │ ├── varvaluegeneric.h │ │ │ │ ├── varvaluet.h │ │ │ │ └── varwrapper.h │ │ │ └── video │ │ │ │ ├── drivers │ │ │ │ ├── debayer.h │ │ │ │ ├── deinterlace.h │ │ │ │ ├── depthsense.h │ │ │ │ ├── ffmpeg.h │ │ │ │ ├── firewire.h │ │ │ │ ├── images.h │ │ │ │ ├── images_out.h │ │ │ │ ├── join.h │ │ │ │ ├── merge.h │ │ │ │ ├── mirror.h │ │ │ │ ├── openni.h │ │ │ │ ├── openni2.h │ │ │ │ ├── openni_common.h │ │ │ │ ├── pack.h │ │ │ │ ├── pango.h │ │ │ │ ├── pango_video_output.h │ │ │ │ ├── pleora.h │ │ │ │ ├── pvn.h │ │ │ │ ├── realsense.h │ │ │ │ ├── realsense2.h │ │ │ │ ├── shared_memory.h │ │ │ │ ├── shift.h │ │ │ │ ├── split.h │ │ │ │ ├── teli.h │ │ │ │ ├── test.h │ │ │ │ ├── thread.h │ │ │ │ ├── truncate.h │ │ │ │ ├── unpack.h │ │ │ │ ├── uvc.h │ │ │ │ ├── uvc_mediafoundation.h │ │ │ │ └── v4l.h │ │ │ │ ├── iostream_operators.h │ │ │ │ ├── stream_encoder_factory.h │ │ │ │ ├── stream_info.h │ │ │ │ ├── video.h │ │ │ │ ├── video_exception.h │ │ │ │ ├── video_input.h │ │ │ │ ├── video_interface.h │ │ │ │ ├── video_output.h │ │ │ │ ├── video_output_interface.h │ │ │ │ └── video_record_repeat.h │ │ └── tinyobj │ │ │ └── tiny_obj_loader.h │ ├── package.xml │ ├── pyexamples │ │ ├── SimpleDisplay.py │ │ ├── SimplePlot.py │ │ └── SimpleVideo.py │ ├── src │ │ ├── CMakeLists.txt │ │ ├── Doxyfile.in │ │ ├── PangolinConfig.cmake.in │ │ ├── PangolinConfigVersion.cmake.in │ │ ├── _embed_ │ │ │ └── fonts │ │ │ │ ├── AnonymousPro.ttf │ │ │ │ └── AnonymousPro.txt │ │ ├── config.h.in │ │ ├── console │ │ │ └── ConsoleView.cpp │ │ ├── display │ │ │ ├── device │ │ │ │ ├── PangolinNSApplication.mm │ │ │ │ ├── PangolinNSGLView.mm │ │ │ │ ├── display_android.cpp │ │ │ │ ├── display_headless.cpp │ │ │ │ ├── display_osx.mm │ │ │ │ ├── display_wayland.cpp │ │ │ │ ├── display_win.cpp │ │ │ │ └── display_x11.cpp │ │ │ ├── display.cpp │ │ │ ├── image_view.cpp │ │ │ ├── opengl_render_state.cpp │ │ │ ├── view.cpp │ │ │ ├── viewport.cpp │ │ │ ├── widgets │ │ │ │ └── widgets.cpp │ │ │ └── window_factory.cpp │ │ ├── geometry │ │ │ ├── geometry.cpp │ │ │ ├── geometry_obj.cpp │ │ │ ├── geometry_ply.cpp │ │ │ ├── glgeometry.cpp │ │ │ └── tinyobj.cpp │ │ ├── gl │ │ │ ├── compat │ │ │ │ └── gl2engine.cpp │ │ │ ├── glchar.cpp │ │ │ ├── gldraw.cpp │ │ │ ├── glfont.cpp │ │ │ ├── glpangoglu.cpp │ │ │ ├── gltext.cpp │ │ │ ├── gltexturecache.cpp │ │ │ └── stb_truetype.h │ │ ├── handler │ │ │ ├── handler.cpp │ │ │ ├── handler_glbuffer.cpp │ │ │ └── handler_image.cpp │ │ ├── image │ │ │ ├── image_io.cpp │ │ │ ├── image_io_exr.cpp │ │ │ ├── image_io_jpg.cpp │ │ │ ├── image_io_lz4.cpp │ │ │ ├── image_io_packed12bit.cpp │ │ │ ├── image_io_pango.cpp │ │ │ ├── image_io_png.cpp │ │ │ ├── image_io_ppm.cpp │ │ │ ├── image_io_raw.cpp │ │ │ ├── image_io_tga.cpp │ │ │ ├── image_io_zstd.cpp │ │ │ └── pixel_format.cpp │ │ ├── ios │ │ │ ├── PangolinAppDelegate.mm │ │ │ └── PangolinUIView.mm │ │ ├── log │ │ │ ├── packet.cpp │ │ │ ├── packetstream.cpp │ │ │ ├── packetstream_reader.cpp │ │ │ ├── packetstream_writer.cpp │ │ │ └── playback_session.cpp │ │ ├── plot │ │ │ ├── datalog.cpp │ │ │ └── plotter.cpp │ │ ├── python │ │ │ ├── pyinterpreter.cpp │ │ │ ├── pypangolin │ │ │ │ ├── attach.cpp │ │ │ │ ├── attach.hpp │ │ │ │ ├── colour.cpp │ │ │ │ ├── colour.hpp │ │ │ │ ├── datalog.cpp │ │ │ │ ├── datalog.hpp │ │ │ │ ├── display.cpp │ │ │ │ ├── display.hpp │ │ │ │ ├── gl.cpp │ │ │ │ ├── gl.hpp │ │ │ │ ├── gl_draw.cpp │ │ │ │ ├── gl_draw.hpp │ │ │ │ ├── glsl.cpp │ │ │ │ ├── glsl.hpp │ │ │ │ ├── handler.cpp │ │ │ │ ├── handler.hpp │ │ │ │ ├── image.cpp │ │ │ │ ├── image.hpp │ │ │ │ ├── image_view.cpp │ │ │ │ ├── image_view.hpp │ │ │ │ ├── opengl_render_state.cpp │ │ │ │ ├── opengl_render_state.hpp │ │ │ │ ├── params.cpp │ │ │ │ ├── params.hpp │ │ │ │ ├── pixel_format.cpp │ │ │ │ ├── pixel_format.hpp │ │ │ │ ├── plotter.cpp │ │ │ │ ├── plotter.hpp │ │ │ │ ├── pypangolin.h │ │ │ │ ├── var.cpp │ │ │ │ ├── var.hpp │ │ │ │ ├── video.cpp │ │ │ │ ├── video.hpp │ │ │ │ ├── view.cpp │ │ │ │ ├── view.hpp │ │ │ │ ├── viewport.cpp │ │ │ │ ├── viewport.hpp │ │ │ │ ├── widget.cpp │ │ │ │ ├── widget.hpp │ │ │ │ ├── window.cpp │ │ │ │ └── window.hpp │ │ │ ├── pypangolin_init.cpp │ │ │ └── pypangolin_module.cpp │ │ ├── tools │ │ │ └── video_viewer.cpp │ │ ├── utils │ │ │ ├── file_extension.cpp │ │ │ ├── file_utils.cpp │ │ │ ├── posix │ │ │ │ ├── condition_variable.cpp │ │ │ │ ├── semaphore.cpp │ │ │ │ └── shared_memory_buffer.cpp │ │ │ ├── sigstate.cpp │ │ │ ├── threadedfilebuf.cpp │ │ │ ├── timer.cpp │ │ │ └── uri.cpp │ │ ├── var │ │ │ ├── input_record_repeat.cpp │ │ │ └── vars.cpp │ │ └── video │ │ │ ├── drivers │ │ │ ├── debayer.cpp │ │ │ ├── deinterlace.cpp │ │ │ ├── depthsense.cpp │ │ │ ├── ffmpeg.cpp │ │ │ ├── firewire.cpp │ │ │ ├── images.cpp │ │ │ ├── images_out.cpp │ │ │ ├── join.cpp │ │ │ ├── json.cpp │ │ │ ├── merge.cpp │ │ │ ├── mirror.cpp │ │ │ ├── openni.cpp │ │ │ ├── openni2.cpp │ │ │ ├── pack.cpp │ │ │ ├── pango.cpp │ │ │ ├── pango_video_output.cpp │ │ │ ├── pleora.cpp │ │ │ ├── pvn.cpp │ │ │ ├── realsense.cpp │ │ │ ├── realsense2.cpp │ │ │ ├── shared_memory.cpp │ │ │ ├── shift.cpp │ │ │ ├── split.cpp │ │ │ ├── teli.cpp │ │ │ ├── test.cpp │ │ │ ├── thread.cpp │ │ │ ├── truncate.cpp │ │ │ ├── unpack.cpp │ │ │ ├── uvc.cpp │ │ │ ├── uvc_mediafoundation.cpp │ │ │ └── v4l.cpp │ │ │ ├── stream_encoder_factory.cpp │ │ │ ├── video.cpp │ │ │ ├── video_input.cpp │ │ │ ├── video_interface_factory.cpp │ │ │ ├── video_output.cpp │ │ │ └── video_output_interface_factory.cpp │ ├── test │ │ ├── CMakeLists.txt │ │ └── log │ │ │ ├── CMakeLists.txt │ │ │ └── testlog.cpp │ └── tools │ │ ├── CMakeLists.txt │ │ ├── ModelViewer │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ ├── rendertree.h │ │ ├── shader.h │ │ └── util.h │ │ ├── Plotter │ │ ├── CMakeLists.txt │ │ ├── application-x-pangoplot.xml │ │ ├── csv_data_loader.h │ │ └── main.cpp │ │ ├── VideoConvert │ │ ├── CMakeLists.txt │ │ └── main.cpp │ │ ├── VideoJson │ │ ├── CMakeLists.txt │ │ ├── main-print.cpp │ │ └── main-transform.cpp │ │ └── VideoViewer │ │ ├── CMakeLists.txt │ │ ├── application-x-pango.svg │ │ ├── application-x-pango.xml │ │ └── main.cpp │ └── basalt-headers │ ├── .clang-format │ ├── .gitignore │ ├── .gitlab-ci.yml │ ├── .gitmodules │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── LICENSE │ ├── README.md │ ├── cmake_modules │ ├── FindEigen3.cmake │ └── PreProjectWorkarounds.cmake │ ├── doc │ ├── img │ │ ├── basalt_light.png │ │ ├── ds.png │ │ ├── eucm.png │ │ ├── fov.png │ │ ├── kb.png │ │ ├── mipmap.jpeg │ │ ├── stereographic.png │ │ └── ucm.png │ └── mainpage.dox │ ├── include │ └── basalt │ │ ├── calibration │ │ ├── calib_bias.hpp │ │ └── calibration.hpp │ │ ├── camera │ │ ├── bal_camera.hpp │ │ ├── double_sphere_camera.hpp │ │ ├── extended_camera.hpp │ │ ├── fov_camera.hpp │ │ ├── generic_camera.hpp │ │ ├── kannala_brandt_camera4.hpp │ │ ├── pinhole_camera.hpp │ │ ├── stereographic_param.hpp │ │ └── unified_camera.hpp │ │ ├── image │ │ ├── image.h │ │ └── image_pyr.h │ │ ├── imu │ │ ├── imu_types.h │ │ └── preintegration.h │ │ ├── serialization │ │ ├── eigen_io.h │ │ └── headers_serialization.h │ │ ├── spline │ │ ├── ceres_local_param.hpp │ │ ├── ceres_spline_helper.h │ │ ├── rd_spline.h │ │ ├── se3_spline.h │ │ ├── so3_spline.h │ │ └── spline_common.h │ │ └── utils │ │ ├── assert.h │ │ ├── eigen_utils.hpp │ │ ├── hash.h │ │ └── sophus_utils.hpp │ ├── scripts │ └── clang-format-all.sh │ └── test │ ├── CMakeLists.txt │ ├── include │ └── test_utils.h │ └── src │ ├── benchmark_camera.cpp │ ├── test_camera.cpp │ ├── test_ceres_spline_helper.cpp │ ├── test_image.cpp │ ├── test_preintegration.cpp │ ├── test_sophus.cpp │ ├── test_spline.cpp │ └── test_spline_se3.cpp ├── imu_gps_encoder_msckf └── src │ ├── camera_model │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── include │ │ └── camodocal │ │ │ ├── calib │ │ │ └── CameraCalibration.h │ │ │ ├── camera_models │ │ │ ├── Camera.h │ │ │ ├── CameraFactory.h │ │ │ ├── CataCamera.h │ │ │ ├── CostFunctionFactory.h │ │ │ ├── EquidistantCamera.h │ │ │ ├── PinholeCamera.h │ │ │ └── ScaramuzzaCamera.h │ │ │ ├── chessboard │ │ │ ├── Chessboard.h │ │ │ ├── ChessboardCorner.h │ │ │ ├── ChessboardQuad.h │ │ │ └── Spline.h │ │ │ ├── gpl │ │ │ ├── EigenQuaternionParameterization.h │ │ │ ├── EigenUtils.h │ │ │ └── gpl.h │ │ │ └── sparse_graph │ │ │ └── Transform.h │ ├── instruction │ ├── package.xml │ ├── readme.md │ └── src │ │ ├── calib │ │ └── CameraCalibration.cc │ │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ └── ScaramuzzaCamera.cc │ │ ├── chessboard │ │ └── Chessboard.cc │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.cc │ │ └── gpl.cc │ │ ├── intrinsic_calib.cc │ │ └── sparse_graph │ │ └── Transform.cc │ ├── config │ ├── fisheye_mask.jpg │ ├── kaist.rviz │ └── kaist.yaml │ ├── doc │ ├── 08739427.pdf │ ├── 2021-05-27 12-51-17 的屏幕截图.png │ ├── 2021-05-27 12-55-34 的屏幕截图.png │ ├── 2021-05-27 12-59-27 的屏幕截图.png │ ├── 2021-05-27 13-02-13 的屏幕截图.png │ ├── 2021-05-27 13-09-51 的屏幕截图.png │ ├── DanielMedina_ION19.pdf │ ├── problem.txt │ └── rosgraph.png │ ├── feature_tracker │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── package.xml │ └── src │ │ ├── feature_tracker.cpp │ │ ├── feature_tracker.h │ │ ├── feature_tracker_node.cpp │ │ ├── parameters.cpp │ │ ├── parameters.h │ │ └── tic_toc.h │ ├── msckf_estimator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── estimator.cpp │ │ ├── estimator.h │ │ ├── estimator_node.cpp │ │ ├── parameters.cpp │ │ └── parameters.h │ └── readKaistDataset │ ├── CMakeLists.txt │ ├── launch │ └── kaist.launch │ ├── msg │ ├── encoder.msg │ ├── gps.msg │ └── imu.msg │ ├── package.xml │ ├── src │ ├── encoder_publisher.cpp │ ├── gps_publisher.cpp │ ├── img_publisher.cpp │ ├── imu_publisher.cpp │ └── vrs_gps_publisher.cpp │ └── third_party │ └── GeographicLib │ ├── CMakeLists.txt │ ├── include │ ├── Config.h │ ├── Constants.hpp │ ├── Geocentric.hpp │ ├── LocalCartesian.hpp │ └── Math.hpp │ └── src │ ├── Geocentric.cpp │ ├── LocalCartesian.cpp │ └── Math.cpp ├── imu_gps_localization ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── CMakeLists.txt ├── README.md ├── doc │ └── path.png ├── imu_gps_localizer │ ├── CMakeLists.txt │ ├── include │ │ └── imu_gps_localizer │ │ │ ├── base_type.h │ │ │ ├── gps_processor.h │ │ │ ├── imu_gps_localizer.h │ │ │ ├── imu_processor.h │ │ │ ├── initializer.h │ │ │ └── utils.h │ ├── src │ │ ├── gps_processor.cpp │ │ ├── imu_gps_localizer.cpp │ │ ├── imu_processor.cpp │ │ └── initializer.cpp │ └── third_party │ │ └── GeographicLib │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── Config.h │ │ ├── Constants.hpp │ │ ├── Geocentric.hpp │ │ ├── LocalCartesian.hpp │ │ └── Math.hpp │ │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp ├── package.xml ├── results │ ├── uppc.txt │ └── uppc_imu.txt └── ros_wrapper │ ├── include │ └── 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