├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── kaist.yaml ├── lio-sam-bag.yaml ├── liom-bag.yaml └── yq-data.yaml ├── include ├── basalt │ ├── spline │ │ ├── calib_bias.hpp │ │ ├── ceres_local_param.hpp │ │ ├── ceres_spline_helper.h │ │ ├── ceres_spline_helper_jet.h │ │ ├── rd_spline.h │ │ ├── se3_spline.h │ │ ├── so3_spline.h │ │ ├── spline_common.h │ │ └── spline_segment.h │ └── utils │ │ ├── assert.h │ │ ├── eigen_utils.hpp │ │ └── sophus_utils.hpp ├── factor │ └── auto_diff │ │ ├── imu_factor.h │ │ ├── lidar_feature_factor.h │ │ ├── loop_closure_factor.h │ │ ├── motion_factor.h │ │ └── vicon_factor.h ├── feature │ ├── feature_extraction.h │ ├── lidar_feature.h │ └── voxel_filter.h ├── odometry │ ├── imu_state_estimator.h │ ├── inertial_initializer.h │ ├── lidar_odometry.hpp │ ├── odom_visualizer.hpp │ └── odometry_helper.hpp ├── pose_graph │ ├── pose_graph_3d_error_term.h │ └── types.h ├── sensor_data │ ├── calibration.hpp │ ├── imu_data.h │ ├── lidar_data.h │ └── loop_closure_data.h ├── trajectory │ ├── se3_trajectory.hpp │ ├── trajectory_estimator.hpp │ ├── trajectory_manager.hpp │ └── trajectory_viewer.hpp └── utils │ ├── ceres_callbacks.h │ ├── eigen_utils.hpp │ ├── gps_convert_utils.h │ ├── math_utils.h │ ├── tic_toc.h │ └── vlp_common.h ├── launch ├── clins_offline.launch ├── kaist_sick_map_generation.launch └── odom.rviz ├── msg ├── feature_cloud.msg ├── imu_array.msg └── pose_array.msg ├── package.xml ├── pic ├── campus_small_dataset.png ├── campus_small_dataset_map.png ├── recover-time.png ├── skg-map.png ├── slow2_recover.png ├── urban07-sick.png ├── urban07.png └── yq-skg-around.png └── src ├── feature ├── feature_extraction.cpp └── feature_extraction_node.cpp ├── node ├── clins_offline_node.cpp ├── kaist_sick_map_generation.cpp └── recovery_vlp16_timestamp.cpp └── odometry ├── imu_state_estimator.cpp └── inertial_initializer.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- 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