Utility class to record continuous odometry data to disk. Saves timestamp-pose pairs for later timestamp-based queries.

Robot geometry. Body frame: +x forward, +y left.

Ros2NodeManager + subscriptions needed by the HTTP/WS layer.

Container for benchmark results and metrics.

Coordinator node that handles data saving process coordination: 1. Publishes stop signal when bag finishes 2. Waits for save completion s

Represents a 3D landmark point with tracking information.

Tracks landmarks incrementally across image sequences using feature matching.

Manages the rclpy lifecycle; spins BackendNode in a daemon thread.

Query system for timestamp-based pose lookup with SLERP interpolation for rotations.

Convert tinynav data to COLMAP format

Utility to extract metadata from ROS2 bags, particularly timing information for timestamp-based pose sampling.

A window that does nothing but host a Flutter view.

T_j_i @ (T_w_i)^-1 @ T_w_j = I

A class abstraction for a high DPI-aware Win32 Window. Intended to be inherited from by classes that wish to specialize with custom rendering and inpu

Manages the Win32Window's window class registration.