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.gitignore

.gitignore

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Dockerfile

Dockerfile

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README.md

README.md

+1 −1

overlay.repos

install/overlay.repos

+4 −0

wrapper.repos

install/wrapper.repos

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CMakeLists.txt

kimera_vio_ros/CMakeLists.txt

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stereo_vio.hpp

...ros/include/kimera_vio_ros/components/stereo_vio.hpp

+53 −0

backend_interface.hpp

...lude/kimera_vio_ros/interfaces/backend_interface.hpp

+49 −0

base_interface.hpp

...include/kimera_vio_ros/interfaces/base_interface.hpp

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image_interface.hpp

...nclude/kimera_vio_ros/interfaces/image_interface.hpp

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imu_interface.hpp

.../include/kimera_vio_ros/interfaces/imu_interface.hpp

+54 −0

stereo_interface.hpp

...clude/kimera_vio_ros/interfaces/stereo_interface.hpp

+28 −0

stereo_vio_interface.hpp

...e/kimera_vio_ros/interfaces/stereo_vio_interface.hpp

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geometry.hpp

...ra_vio_ros/include/kimera_vio_ros/utils/geometry.hpp

+116 −0

kimera_vio_ros.launch.xml

kimera_vio_ros/launch/kimera_vio_ros.launch.xml

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realsense_ir.launch.xml

kimera_vio_ros/launch/realsense_ir.launch.xml

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package.xml

kimera_vio_ros/package.xml

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ImuParams.yaml

kimera_vio_ros/param/RealSense_IR/ImuParams.yaml

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LCDParameters.yaml

kimera_vio_ros/param/RealSense_IR/LCDParameters.yaml

+20 −0

LeftCameraParams.yaml

kimera_vio_ros/param/RealSense_IR/LeftCameraParams.yaml

+13 −0

PipelineParams.yaml

kimera_vio_ros/param/RealSense_IR/PipelineParams.yaml

+20 −0

RightCameraParams.yaml

...ra_vio_ros/param/RealSense_IR/RightCameraParams.yaml

+72 −0

calibration_UCSD_plumb_bob.yaml

...Sense_IR/calibration/calibration_UCSD_plumb_bob.yaml

+58 −0

Mesher.flags

kimera_vio_ros/param/RealSense_IR/flags/Mesher.flags

+13 −0

RegularVioBackEnd.flags

...ros/param/RealSense_IR/flags/RegularVioBackEnd.flags

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StereoVIO.flags

kimera_vio_ros/param/RealSense_IR/flags/StereoVIO.flags

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VioBackEnd.flags

...ra_vio_ros/param/RealSense_IR/flags/VioBackEnd.flags

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Visualizer3D.flags

..._vio_ros/param/RealSense_IR/flags/Visualizer3D.flags

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regularVioParameters.yaml

...vio_ros/param/RealSense_IR/regularVioParameters.yaml

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trackerParameters_rgbd.yaml

...ram/RealSense_IR/tracker/trackerParameters_rgbd.yaml

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trackerParameters_stereo.yaml

...m/RealSense_IR/tracker/trackerParameters_stereo.yaml

+38 −0

stereo_vio.cpp

kimera_vio_ros/src/components/stereo_vio.cpp

+227 −0

backend_interface.cpp

kimera_vio_ros/src/interfaces/backend_interface.cpp

+74 −0

base_interface.cpp

kimera_vio_ros/src/interfaces/base_interface.cpp

+106 −0

image_interface.cpp

kimera_vio_ros/src/interfaces/image_interface.cpp

+67 −0

imu_interface.cpp

kimera_vio_ros/src/interfaces/imu_interface.cpp

+157 −0

stereo_interface.cpp

kimera_vio_ros/src/interfaces/stereo_interface.cpp

+24 −0

stereo_vio_interface.cpp

kimera_vio_ros/src/interfaces/stereo_vio_interface.cpp

+23 −0

stereo_vio_node.cpp

kimera_vio_ros/src/stereo_vio_node.cpp

+33 −0

geometry.cpp

kimera_vio_ros/src/utils/geometry.cpp