├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── ori config │ ├── params copy.yaml │ ├── params.yaml │ ├── params_outdoor.yaml │ └── params_park.yaml └── params.yaml ├── factor.png ├── frames.pdf ├── include └── utility.h ├── launch ├── include │ ├── config │ │ ├── gps.rviz │ │ ├── imu.rviz │ │ ├── lslidar.rviz │ │ ├── robot.urdf ori.xacro │ │ ├── robot.urdf.xacro │ │ ├── robot.urdf_liauto.xacro │ │ ├── rviz.rviz │ │ ├── rvizConfig.rviz │ │ └── rvizScenePedestrain.rviz │ ├── module_liauto_necessary.launch │ ├── module_loam.launch │ ├── module_navsat.launch │ ├── module_robot_state_publisher.launch │ ├── module_rviz.launch │ ├── module_rviz_liauto.launch │ ├── module_rviz_scenePedestrain.launch │ ├── module_scenePedestrain.launch │ └── rosconsole │ │ ├── rosconsole_error.conf │ │ ├── rosconsole_info.conf │ │ └── rosconsole_warn.conf ├── liauto.launch ├── paperData.launch ├── run.launch ├── run_ori.launch ├── scenePedestrain.launch ├── singlight.launch ├── tcp.launch ├── ttlControl.launch └── usbcan.launch ├── msg └── cloud_info.msg ├── package.xml ├── rosgraph.png ├── src ├── featureExtraction.cpp ├── imageProjection.cpp ├── imuPreintegration.cpp ├── liauto copy.cpp ├── liauto copy用的整体的地图做匹配，速度慢 ├── liauto 局部地图拼接，平均80-90ms ├── liauto 整体地图重定位，精度不行 ├── liauto 用全局地图提取局部地图作匹配，平均100ms ├── liauto-GPS1.cpp ├── liauto-GPS重定位 copy ├── liauto.cpp └── mapOptmization.cpp ├── srv └── save_map.srv ├── system.png └── 运行截图.png /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1475015695/liosam_liauto/HEAD/.vscode/c_cpp_properties.json -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/1475015695/liosam_liauto/HEAD/.vscode/settings.json 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