├── README.md ├── docker-compose.yml ├── docker ├── README.md ├── cpu.Dockerfile ├── doc │ ├── 01-launch-instance.png │ ├── 02-service-health-check.png │ ├── 03-access-workspace.png │ └── 04-mount-native-workspace-into-docker.png ├── environment │ └── requirements.txt ├── image │ ├── etc │ │ ├── apt-fast.conf │ │ ├── apt │ │ │ ├── sources.list │ │ │ └── sources.list.d │ │ │ │ └── ros-latest.list │ │ ├── default │ │ │ └── keyboard │ │ ├── hosts │ │ ├── nginx │ │ │ └── sites-enabled │ │ │ │ └── default │ │ ├── pip.conf │ │ ├── resolv.conf │ │ └── supervisor │ │ │ ├── conf.d │ │ │ ├── lxde.conf │ │ │ └── webportal.conf │ │ │ └── supervisord.conf │ ├── root │ │ ├── .gtkrc-2.0 │ │ └── Desktop │ │ │ └── terminator.desktop │ ├── startup.sh │ ├── usr │ │ ├── lib │ │ │ └── webportal │ │ │ │ ├── .gitignore │ │ │ │ ├── README.md │ │ │ │ ├── app.ini │ │ │ │ ├── app.py │ │ │ │ ├── application │ │ │ │ ├── __init__.py │ │ │ │ ├── main │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── views.py │ │ │ │ ├── static │ │ │ │ │ └── tic.jpg │ │ │ │ ├── templates │ │ │ │ │ ├── aboutus.html │ │ │ │ │ ├── index.html │ │ │ │ │ └── redirect.html │ │ │ │ └── utils │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── log.py │ │ │ │ ├── config.py │ │ │ │ └── requirements.txt │ │ └── share │ │ │ └── doro-lxde-wallpapers │ │ │ ├── desktop-items-0.conf │ │ │ └── tic.jpg │ └── workspace │ │ ├── data │ │ └── nginx │ │ │ └── noVNC.log │ │ └── requirements.txt └── installers │ ├── download-ipopt-installer.sh │ └── download-tini.sh ├── ubuntu-setup ├── README.md └── doc │ └── external-disk │ ├── README.md │ └── images │ ├── 00-cleanup-a-installer-disk.jpg │ ├── 00-cleanup-b-ubuntu-disk.jpg │ ├── 00-cleanup-format-disks.png │ ├── 01-startup-disk-create--confirm.png │ ├── 01-startup-disk-create--existing-ubuntu.png │ ├── 01-startup-disk-create--select-device.png │ ├── 02-BIOS-boot-config.jpg │ ├── 02-BIOS-boot-sequence.jpg │ ├── 02-BIOS-enter.jpg │ ├── 02-BIOS-setup.jpg │ ├── 02-BIOS-start-installation.jpg │ ├── 03-install-ubuntu-a-keyboard.png │ ├── 03-install-ubuntu-a-language.png │ ├── 03-install-ubuntu-c-network.png │ ├── 03-install-ubuntu-d-option.png │ ├── 03-install-ubuntu-e-type.png │ ├── 03-install-ubuntu-f-create-new-partition-confirm.png │ ├── 03-install-ubuntu-f-create-new-partition-result.png │ ├── 03-install-ubuntu-f-create-new-partition.png │ ├── 03-install-ubuntu-g-02-boot.png │ ├── 03-install-ubuntu-g-03-root.png │ ├── 03-install-ubuntu-g-result.png │ ├── 03-install-ubuntu-h-confirm.png │ ├── 03-install-ubuntu-i-region.png │ ├── 03-install-ubuntu-k-config.png │ └── 03-install-ubuntu-l-finish.png └── workspace ├── .gitignore ├── README.md ├── assignments ├── .vscode │ └── settings.json ├── 01-lidar-odometry │ ├── .gitignore │ ├── README.md │ ├── doc │ │ ├── README.md │ │ ├── images │ │ │ ├── 01-front-end-demo.png │ │ │ ├── 01-kitti-to-bag-demo.png │ │ │ ├── 01-test-frame-demo.png │ │ │ ├── 02-icp-ape.png │ │ │ ├── 02-icp-registration.png │ │ │ ├── 02-ndt-ape.png │ │ │ ├── 03-icp-svd-ape.png │ │ │ └── 03-icp-svd-demo.png │ │ ├── instructions.pdf │ │ └── kitti_test │ │ │ ├── display_bag.rviz │ │ │ └── readme.md │ └── src │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ └── lidar_localization │ │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── eigen.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ └── glog.cmake │ │ ├── config │ │ └── front_end │ │ │ └── config.yaml │ │ ├── include │ │ └── lidar_localization │ │ │ ├── front_end │ │ │ ├── front_end.hpp │ │ │ └── front_end_flow.hpp │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ └── registration │ │ │ │ ├── icp_registration.hpp │ │ │ │ ├── icp_svd_registration.hpp │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ └── odometry_publisher.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ └── file_manager.hpp │ │ ├── launch │ │ ├── front_end.launch │ │ └── test_frame.launch │ │ ├── package.xml │ │ ├── rviz │ │ ├── display_bag.rviz │ │ ├── front_end.rviz │ │ └── test_frame.rviz │ │ ├── src │ │ ├── front_end │ │ │ ├── front_end.cpp │ │ │ └── front_end_flow.cpp │ │ ├── front_end_node.cpp │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ └── voxel_filter.cpp │ │ │ └── registration │ │ │ │ ├── icp_registration.cpp │ │ │ │ ├── icp_svd_registration.cpp │ │ │ │ └── ndt_registration.cpp │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ └── odometry_publisher.cpp │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ └── velocity_subscriber.cpp │ │ ├── test_frame_node.cpp │ │ ├── tf_listener │ │ │ └── tf_lisener.cpp │ │ └── tools │ │ │ └── file_manager.cpp │ │ ├── srv │ │ └── saveMap.srv │ │ └── third_party │ │ ├── GeographicLib │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── Geocentric │ │ │ │ ├── Config.h │ │ │ │ ├── Constants.hpp │ │ │ │ ├── Geocentric.hpp │ │ │ │ ├── LocalCartesian.hpp │ │ │ │ └── Math.hpp │ │ └── src │ │ │ ├── Geocentric.cpp │ │ │ ├── LocalCartesian.cpp │ │ │ └── Math.cpp │ │ └── eigen3 │ │ ├── Eigen │ │ ├── Cholesky │ │ ├── CholmodSupport │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── IterativeLinearSolvers │ │ ├── Jacobi │ │ ├── LU │ │ ├── MetisSupport │ │ ├── OrderingMethods │ │ ├── PaStiXSupport │ │ ├── PardisoSupport │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── SPQRSupport │ │ ├── SVD │ │ ├── Sparse │ │ ├── SparseCholesky │ │ ├── SparseCore │ │ ├── SparseLU │ │ ├── SparseQR │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ ├── SuperLUSupport │ │ ├── UmfPackSupport │ │ └── src │ │ │ ├── Cholesky │ │ │ ├── LDLT.h │ │ │ ├── LLT.h │ │ │ └── LLT_MKL.h │ │ │ ├── CholmodSupport │ │ │ └── CholmodSupport.h │ │ │ ├── Core │ │ │ ├── Array.h │ │ │ ├── ArrayBase.h │ │ │ ├── ArrayWrapper.h │ │ │ ├── Assign.h │ │ │ ├── AssignEvaluator.h │ │ │ ├── Assign_MKL.h │ │ │ ├── BandMatrix.h │ │ │ ├── Block.h │ │ │ ├── BooleanRedux.h │ │ │ ├── CommaInitializer.h │ │ │ ├── CoreEvaluators.h │ │ │ ├── CoreIterators.h │ │ │ ├── CwiseBinaryOp.h │ │ │ ├── CwiseNullaryOp.h │ │ │ ├── CwiseUnaryOp.h │ │ │ ├── CwiseUnaryView.h │ │ │ ├── DenseBase.h │ │ │ ├── DenseCoeffsBase.h │ │ │ ├── DenseStorage.h │ │ │ ├── Diagonal.h │ │ │ ├── DiagonalMatrix.h │ │ │ ├── DiagonalProduct.h │ │ │ ├── Dot.h │ │ │ ├── EigenBase.h │ │ │ ├── ForceAlignedAccess.h │ │ │ ├── Fuzzy.h │ │ │ ├── GeneralProduct.h │ │ │ ├── GenericPacketMath.h │ │ │ ├── GlobalFunctions.h │ │ │ ├── IO.h │ │ │ ├── Inverse.h │ │ │ ├── Map.h │ │ │ ├── MapBase.h │ │ │ ├── MathFunctions.h │ │ │ ├── Matrix.h │ │ │ ├── MatrixBase.h │ │ │ ├── NestByValue.h │ │ │ ├── NoAlias.h │ │ │ ├── NumTraits.h │ │ │ ├── PermutationMatrix.h │ │ │ ├── PlainObjectBase.h │ │ │ ├── Product.h │ │ │ ├── ProductEvaluators.h │ │ │ ├── Random.h │ │ │ ├── Redux.h │ │ │ ├── Ref.h │ │ │ ├── Replicate.h │ │ │ ├── ReturnByValue.h │ │ │ ├── Reverse.h │ │ │ ├── Select.h │ │ │ ├── SelfAdjointView.h │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ ├── Solve.h │ │ │ ├── SolveTriangular.h │ │ │ ├── SolverBase.h │ │ │ ├── SpecialFunctions.h │ │ │ ├── StableNorm.h │ │ │ ├── Stride.h │ │ │ ├── Swap.h │ │ │ ├── Transpose.h │ │ │ ├── Transpositions.h │ │ │ ├── TriangularMatrix.h │ │ │ ├── VectorBlock.h │ │ │ ├── VectorwiseOp.h │ │ │ ├── Visitor.h │ │ │ ├── arch │ │ │ │ ├── AVX │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── AltiVec │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── CUDA │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── Default │ │ │ │ │ └── Settings.h │ │ │ │ ├── NEON │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ └── SSE │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ ├── functors │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ ├── BinaryFunctors.h │ │ │ │ ├── NullaryFunctors.h │ │ │ │ ├── StlFunctors.h │ │ │ │ └── UnaryFunctors.h │ │ │ ├── products │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ │ │ ├── GeneralMatrixMatrix_MKL.h │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ ├── GeneralMatrixVector_MKL.h │ │ │ │ ├── Parallelizer.h │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ ├── SelfadjointMatrixVector_MKL.h │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ ├── TriangularMatrixMatrix_MKL.h │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ ├── TriangularMatrixVector_MKL.h │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ ├── TriangularSolverMatrix_MKL.h │ │ │ │ └── TriangularSolverVector.h │ │ │ └── util │ │ │ │ ├── BlasUtil.h │ │ │ │ ├── Constants.h │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ ├── MKL_support.h │ │ │ │ ├── Macros.h │ │ │ │ ├── Memory.h │ │ │ │ ├── Meta.h │ │ │ │ ├── NonMPL2.h │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ ├── StaticAssert.h │ │ │ │ └── XprHelper.h │ │ │ ├── Eigenvalues │ │ │ ├── ComplexEigenSolver.h │ │ │ ├── ComplexSchur.h │ │ │ ├── ComplexSchur_MKL.h │ │ │ ├── EigenSolver.h │ │ │ ├── GeneralizedEigenSolver.h │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ ├── HessenbergDecomposition.h │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ ├── RealQZ.h │ │ │ ├── RealSchur.h │ │ │ ├── RealSchur_MKL.h │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ │ └── Tridiagonalization.h │ │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── AngleAxis.h │ │ │ ├── EulerAngles.h │ │ │ ├── Homogeneous.h │ │ │ ├── Hyperplane.h │ │ │ ├── OrthoMethods.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ ├── Translation.h │ │ │ ├── Umeyama.h │ │ │ └── arch │ │ │ │ └── Geometry_SSE.h │ │ │ ├── Householder │ │ │ ├── BlockHouseholder.h │ │ │ ├── Householder.h │ │ │ └── HouseholderSequence.h │ │ │ ├── IterativeLinearSolvers │ │ │ ├── BasicPreconditioners.h │ │ │ ├── BiCGSTAB.h │ │ │ ├── ConjugateGradient.h │ │ │ ├── IncompleteCholesky.h │ │ │ ├── IncompleteLUT.h │ │ │ ├── IterativeSolverBase.h │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ └── SolveWithGuess.h │ │ │ ├── Jacobi │ │ │ └── Jacobi.h │ │ │ ├── LU │ │ │ ├── Determinant.h │ │ │ ├── FullPivLU.h │ │ │ ├── InverseImpl.h │ │ │ ├── PartialPivLU.h │ │ │ ├── PartialPivLU_MKL.h │ │ │ └── arch │ │ │ │ └── Inverse_SSE.h │ │ │ ├── MetisSupport │ │ │ └── MetisSupport.h │ │ │ ├── OrderingMethods │ │ │ ├── Amd.h │ │ │ ├── Eigen_Colamd.h │ │ │ └── Ordering.h │ │ │ ├── PaStiXSupport │ │ │ └── PaStiXSupport.h │ │ │ ├── PardisoSupport │ │ │ └── PardisoSupport.h │ │ │ ├── QR │ │ │ ├── ColPivHouseholderQR.h │ │ │ ├── ColPivHouseholderQR_MKL.h │ │ │ ├── FullPivHouseholderQR.h │ │ │ ├── HouseholderQR.h │ │ │ └── HouseholderQR_MKL.h │ │ │ ├── SPQRSupport │ │ │ └── SuiteSparseQRSupport.h │ │ │ ├── SVD │ │ │ ├── BDCSVD.h │ │ │ ├── JacobiSVD.h │ │ │ ├── JacobiSVD_MKL.h │ │ │ ├── SVDBase.h │ │ │ └── UpperBidiagonalization.h │ │ │ ├── SparseCholesky │ │ │ ├── SimplicialCholesky.h │ │ │ └── SimplicialCholesky_impl.h │ │ │ ├── SparseCore │ │ │ ├── AmbiVector.h │ │ │ ├── CompressedStorage.h │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ ├── MappedSparseMatrix.h │ │ │ ├── SparseAssign.h │ │ │ ├── SparseBlock.h │ │ │ ├── SparseColEtree.h │ │ │ ├── SparseCompressedBase.h │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ ├── SparseDenseProduct.h │ │ │ ├── SparseDiagonalProduct.h │ │ │ ├── SparseDot.h │ │ │ ├── SparseFuzzy.h │ │ │ ├── SparseMap.h │ │ │ ├── SparseMatrix.h │ │ │ ├── SparseMatrixBase.h │ │ │ ├── SparsePermutation.h │ │ │ ├── SparseProduct.h │ │ │ ├── SparseRedux.h │ │ │ ├── SparseRef.h │ │ │ ├── SparseSelfAdjointView.h │ │ │ ├── SparseSolverBase.h │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ ├── SparseTranspose.h │ │ │ ├── SparseTriangularView.h │ │ │ ├── SparseUtil.h │ │ │ ├── SparseVector.h │ │ │ ├── SparseView.h │ │ │ └── TriangularSolver.h │ │ │ ├── SparseLU │ │ │ ├── SparseLU.h │ │ │ ├── SparseLUImpl.h │ │ │ ├── SparseLU_Memory.h │ │ │ ├── SparseLU_Structs.h │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ ├── SparseLU_Utils.h │ │ │ ├── SparseLU_column_bmod.h │ │ │ ├── SparseLU_column_dfs.h │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ ├── SparseLU_panel_bmod.h │ │ │ ├── SparseLU_panel_dfs.h │ │ │ ├── SparseLU_pivotL.h │ │ │ ├── SparseLU_pruneL.h │ │ │ └── SparseLU_relax_snode.h │ │ │ ├── SparseQR │ │ │ └── SparseQR.h │ │ │ ├── StlSupport │ │ │ ├── StdDeque.h │ │ │ ├── StdList.h │ │ │ ├── StdVector.h │ │ │ └── details.h │ │ │ ├── SuperLUSupport │ │ │ └── SuperLUSupport.h │ │ │ ├── UmfPackSupport │ │ │ └── UmfPackSupport.h │ │ │ ├── misc │ │ │ ├── Image.h │ │ │ ├── Kernel.h │ │ │ └── blas.h │ │ │ └── plugins │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ ├── BlockMethods.h │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ └── MatrixCwiseUnaryOps.h │ │ ├── signature_of_eigen3_matrix_library │ │ └── unsupported │ │ └── Eigen │ │ ├── AdolcForward │ │ ├── AlignedVector3 │ │ ├── ArpackSupport │ │ ├── AutoDiff │ │ ├── BVH │ │ ├── CXX11 │ │ ├── Core │ │ ├── Tensor │ │ ├── TensorSymmetry │ │ └── src │ │ │ ├── Core │ │ │ └── util │ │ │ │ ├── CXX11Meta.h │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ ├── EmulateArray.h │ │ │ │ └── EmulateCXX11Meta.h │ │ │ ├── Tensor │ │ │ ├── Tensor.h │ │ │ ├── TensorArgMax.h │ │ │ ├── TensorAssign.h │ │ │ ├── TensorBase.h │ │ │ ├── TensorBroadcasting.h │ │ │ ├── TensorChipping.h │ │ │ ├── TensorConcatenation.h │ │ │ ├── TensorContraction.h │ │ │ ├── TensorContractionCuda.h │ │ │ ├── TensorContractionThreadPool.h │ │ │ ├── TensorConversion.h │ │ │ ├── TensorConvolution.h │ │ │ ├── TensorCustomOp.h │ │ │ ├── TensorDevice.h │ │ │ ├── TensorDeviceCuda.h │ │ │ ├── TensorDeviceDefault.h │ │ │ ├── TensorDeviceThreadPool.h │ │ │ ├── TensorDimensionList.h │ │ │ ├── TensorDimensions.h │ │ │ ├── TensorEvalTo.h │ │ │ ├── TensorEvaluator.h │ │ │ ├── TensorExecutor.h │ │ │ ├── TensorExpr.h │ │ │ ├── TensorFFT.h │ │ │ ├── TensorFixedSize.h │ │ │ ├── TensorForcedEval.h │ │ │ ├── TensorForwardDeclarations.h │ │ │ ├── TensorFunctors.h │ │ │ ├── TensorGenerator.h │ │ │ ├── TensorIO.h │ │ │ ├── TensorImagePatch.h │ │ │ ├── TensorIndexList.h │ │ │ ├── TensorInflation.h │ │ │ ├── TensorInitializer.h │ │ │ ├── TensorIntDiv.h │ │ │ ├── TensorLayoutSwap.h │ │ │ ├── TensorMacros.h │ │ │ ├── TensorMap.h │ │ │ ├── TensorMeta.h │ │ │ ├── TensorMorphing.h │ │ │ ├── TensorPadding.h │ │ │ ├── TensorPatch.h │ │ │ ├── TensorReduction.h │ │ │ ├── TensorReductionCuda.h │ │ │ ├── TensorRef.h │ │ │ ├── TensorReverse.h │ │ │ ├── TensorShuffling.h │ │ │ ├── TensorStorage.h │ │ │ ├── TensorStriding.h │ │ │ ├── TensorTraits.h │ │ │ ├── TensorUInt128.h │ │ │ └── TensorVolumePatch.h │ │ │ └── TensorSymmetry │ │ │ ├── DynamicSymmetry.h │ │ │ ├── StaticSymmetry.h │ │ │ ├── Symmetry.h │ │ │ └── util │ │ │ └── TemplateGroupTheory.h │ │ ├── FFT │ │ ├── IterativeSolvers │ │ ├── KroneckerProduct │ │ ├── LevenbergMarquardt │ │ ├── MPRealSupport │ │ ├── MatrixFunctions │ │ ├── MoreVectorization │ │ ├── NonLinearOptimization │ │ ├── NumericalDiff │ │ ├── OpenGLSupport │ │ ├── Polynomials │ │ ├── Skyline │ │ ├── SparseExtra │ │ ├── Splines │ │ └── src │ │ ├── AutoDiff │ │ ├── AutoDiffJacobian.h │ │ ├── AutoDiffScalar.h │ │ └── AutoDiffVector.h │ │ ├── BVH │ │ ├── BVAlgorithms.h │ │ └── KdBVH.h │ │ ├── Eigenvalues │ │ └── ArpackSelfAdjointEigenSolver.h │ │ ├── FFT │ │ ├── ei_fftw_impl.h │ │ └── ei_kissfft_impl.h │ │ ├── IterativeSolvers │ │ ├── ConstrainedConjGrad.h │ │ ├── DGMRES.h │ │ ├── GMRES.h │ │ ├── IncompleteLU.h │ │ ├── IterationController.h │ │ ├── MINRES.h │ │ └── Scaling.h │ │ ├── KroneckerProduct │ │ └── KroneckerTensorProduct.h │ │ ├── LevenbergMarquardt │ │ ├── LMcovar.h │ │ ├── LMonestep.h │ │ ├── LMpar.h │ │ ├── LMqrsolv.h │ │ └── LevenbergMarquardt.h │ │ ├── MatrixFunctions │ │ ├── MatrixExponential.h │ │ ├── MatrixFunction.h │ │ ├── MatrixLogarithm.h │ │ ├── MatrixPower.h │ │ ├── MatrixSquareRoot.h │ │ └── StemFunction.h │ │ ├── MoreVectorization │ │ └── MathFunctions.h │ │ ├── NonLinearOptimization │ │ ├── HybridNonLinearSolver.h │ │ ├── LevenbergMarquardt.h │ │ ├── chkder.h │ │ ├── covar.h │ │ ├── dogleg.h │ │ ├── fdjac1.h │ │ ├── lmpar.h │ │ ├── qrsolv.h │ │ ├── r1mpyq.h │ │ ├── r1updt.h │ │ └── rwupdt.h │ │ ├── NumericalDiff │ │ └── NumericalDiff.h │ │ ├── Polynomials │ │ ├── Companion.h │ │ ├── PolynomialSolver.h │ │ └── PolynomialUtils.h │ │ ├── Skyline │ │ ├── SkylineInplaceLU.h │ │ ├── SkylineMatrix.h │ │ ├── SkylineMatrixBase.h │ │ ├── SkylineProduct.h │ │ ├── SkylineStorage.h │ │ └── SkylineUtil.h │ │ ├── SparseExtra │ │ ├── BlockOfDynamicSparseMatrix.h │ │ ├── BlockSparseMatrix.h │ │ ├── DynamicSparseMatrix.h │ │ ├── MarketIO.h │ │ ├── MatrixMarketIterator.h │ │ └── RandomSetter.h │ │ └── Splines │ │ ├── Spline.h │ │ ├── SplineFitting.h │ │ └── SplineFwd.h ├── 02-lidar-mapping │ ├── .gitignore │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── README.md │ ├── doc │ │ └── images │ │ │ ├── 01-error-map-gnss-imu.png │ │ │ ├── 01-error-map-scan-context.png │ │ │ ├── 01-optimized-trajectory-with-loop-closure.png │ │ │ └── 02-localization-init-with-scan-context.png │ └── src │ │ ├── .gitignore │ │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── aloam_velodyne │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── docker │ │ │ ├── Dockerfile │ │ │ ├── Makefile │ │ │ └── run.sh │ │ ├── include │ │ │ └── aloam_velodyne │ │ │ │ ├── common.h │ │ │ │ └── tic_toc.h │ │ ├── launch │ │ │ ├── aloam_velodyne_HDL_32.launch │ │ │ ├── aloam_velodyne_HDL_64.launch │ │ │ ├── aloam_velodyne_VLP_16.launch │ │ │ └── kitti_helper.launch │ │ ├── package.xml │ │ ├── picture │ │ │ ├── kitti.png │ │ │ └── kitti_gif.gif │ │ ├── rviz │ │ │ └── aloam_velodyne.rviz │ │ └── src │ │ │ ├── kittiHelper.cpp │ │ │ ├── laserMapping.cpp │ │ │ ├── laserOdometry.cpp │ │ │ ├── lidarFactor.hpp │ │ │ └── scanRegistration.cpp │ │ └── lidar_localization │ │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ │ ├── CMakeLists.txt │ │ ├── Log │ │ ├── front_end_node.ERROR │ │ └── loop_closing_node.ERROR │ │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── g2o.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ ├── glog.cmake │ │ └── protobuf.cmake │ │ ├── config │ │ ├── mapping │ │ │ ├── back_end.yaml │ │ │ ├── front_end.yaml │ │ │ ├── loop_closing.yaml │ │ │ └── viewer.yaml │ │ ├── matching │ │ │ └── matching.yaml │ │ └── scan_context │ │ │ ├── key_frames.proto │ │ │ ├── ring_keys.proto │ │ │ └── scan_contexts.proto │ │ ├── include │ │ └── lidar_localization │ │ │ ├── data_pretreat │ │ │ └── data_pretreat_flow.hpp │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.hpp │ │ │ │ └── back_end_flow.hpp │ │ │ ├── front_end │ │ │ │ ├── front_end.hpp │ │ │ │ └── front_end_flow.hpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.hpp │ │ │ │ └── loop_closing_flow.hpp │ │ │ └── viewer │ │ │ │ ├── viewer.hpp │ │ │ │ └── viewer_flow.hpp │ │ │ ├── matching │ │ │ ├── matching.hpp │ │ │ └── matching_flow.hpp │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.hpp │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ ├── no_filter.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ ├── edge │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ └── g2o_graph_optimizer.hpp │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ ├── registration │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.hpp │ │ │ └── scan_context_manager │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ ├── key_frames.pb.h │ │ │ │ ├── nanoflann.hpp │ │ │ │ ├── ring_keys.pb.h │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ └── scan_contexts.pb.h │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ ├── imu_publisher.hpp │ │ │ ├── key_frame_publisher.hpp │ │ │ ├── key_frames_publisher.hpp │ │ │ ├── loop_pose_publisher.hpp │ │ │ ├── odometry_publisher.hpp │ │ │ └── tf_broadcaster.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ ├── key_frame.hpp │ │ │ ├── loop_pose.hpp │ │ │ ├── pose_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ ├── key_frame_subscriber.hpp │ │ │ ├── key_frames_subscriber.hpp │ │ │ ├── loop_pose_subscriber.hpp │ │ │ ├── odometry_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ ├── file_manager.hpp │ │ │ ├── print_info.hpp │ │ │ └── tic_toc.hpp │ │ ├── launch │ │ ├── mapping.launch │ │ ├── mapping_with_aloam.launch │ │ ├── matching.launch │ │ └── test_frame.launch │ │ ├── package.xml │ │ ├── rviz │ │ ├── display_bag.rviz │ │ ├── mapping.rviz │ │ ├── matching.rviz │ │ └── test_frame.rviz │ │ ├── src │ │ ├── apps │ │ │ ├── back_end_node.cpp │ │ │ ├── data_pretreat_node.cpp │ │ │ ├── front_end_node.cpp │ │ │ ├── loop_closing_node.cpp │ │ │ ├── matching_node.cpp │ │ │ ├── test_frame_node.cpp │ │ │ └── viewer_node.cpp │ │ ├── data_pretreat │ │ │ └── data_pretreat_flow.cpp │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.cpp │ │ │ │ └── back_end_flow.cpp │ │ │ ├── front_end │ │ │ │ ├── front_end.cpp │ │ │ │ └── front_end_flow.cpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.cpp │ │ │ │ └── loop_closing_flow.cpp │ │ │ └── viewer │ │ │ │ ├── viewer.cpp │ │ │ │ └── viewer_flow.cpp │ │ ├── matching │ │ │ ├── matching.cpp │ │ │ └── matching_flow.cpp │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.cpp │ │ │ │ ├── no_filter.cpp │ │ │ │ └── voxel_filter.cpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ ├── registration │ │ │ │ └── ndt_registration.cpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.cpp │ │ │ └── scan_context_manager │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ └── scan_contexts.pb.cpp │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ ├── key_frame_publisher.cpp │ │ │ ├── key_frames_publisher.cpp │ │ │ ├── loop_pose_publisher.cpp │ │ │ ├── odometry_publisher.cpp │ │ │ └── tf_broadcaster.cpp │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ ├── key_frame.cpp │ │ │ ├── loop_pose.cpp │ │ │ ├── pose_data.cpp │ │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ ├── key_frame_subscriber.cpp │ │ │ ├── key_frames_subscriber.cpp │ │ │ ├── loop_pose_subscriber.cpp │ │ │ ├── odometry_subscriber.cpp │ │ │ └── velocity_subscriber.cpp │ │ ├── tf_listener │ │ │ └── tf_lisener.cpp │ │ └── tools │ │ │ ├── file_manager.cpp │ │ │ └── print_info.cpp │ │ └── srv │ │ ├── optimizeMap.srv │ │ ├── saveMap.srv │ │ └── saveScanContext.srv ├── 03-inertial-measurement-unit │ ├── .gitignore │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── README.md │ ├── doc │ │ ├── .vscode │ │ │ ├── c_cpp_properties.json │ │ │ └── settings.json │ │ ├── 01-allan-variance-analysis--summary.json │ │ ├── 01-allan-variance-curve--acc.png │ │ ├── 01-allan-variance-curve--gyro.png │ │ ├── 02-separated-calibration-results.json │ │ ├── 03-imu-tk-lm-derivation.pdf │ │ ├── 03-imu-tk-lm-overview.png │ │ ├── 03-imu-tk-static-detector.png │ │ ├── 04-imu-integration--0-order-orientation.png │ │ ├── 04-imu-integration--0-order.png │ │ ├── 04-imu-integration--1-order-orientation.png │ │ ├── 04-imu-integration--1-order.png │ │ └── solution-guide │ │ │ ├── MEMS-IMU-Comparison-using-Allan-Variance.pdf │ │ │ ├── README.md │ │ │ └── solution-guide.pdf │ └── src │ │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ │ ├── CMakeLists.txt │ │ ├── gnss_ins_sim │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── motion_def │ │ │ │ ├── allan_variance_analysis.csv │ │ │ │ ├── demo.csv │ │ │ │ └── deterministic_error_calib.csv │ │ │ ├── publisher.yaml │ │ │ ├── recorder_allan_variance_analysis.yaml │ │ │ └── recorder_deterministic_error_calib.yaml │ │ ├── launch │ │ │ ├── publisher.launch │ │ │ ├── recorder_allan_variance_analysis.launch │ │ │ └── recorder_deterministic_error_calib.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── publisher_node.py │ │ │ ├── recorder_node_allan_variance_analysis.py │ │ │ └── recorder_node_deterministic_error.py │ │ ├── imu_calibration │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── imu_calibration.yaml │ │ ├── include │ │ │ ├── CSVWriter.h │ │ │ ├── activity.h │ │ │ ├── allan_variance.h │ │ │ └── node_constants.h │ │ ├── launch │ │ │ └── imu_calibration.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── estimate_deterministic_error.py │ │ │ ├── requirements.txt │ │ │ └── visualize.py │ │ └── src │ │ │ ├── activity.cpp │ │ │ ├── allan_variance.cpp │ │ │ └── node.cpp │ │ ├── imu_integration │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cmake │ │ │ └── glog.cmake │ │ ├── config │ │ │ ├── estimator.yaml │ │ │ └── generator.yaml │ │ ├── include │ │ │ └── imu_integration │ │ │ │ ├── config │ │ │ │ └── config.hpp │ │ │ │ ├── estimator │ │ │ │ └── activity.hpp │ │ │ │ ├── generator │ │ │ │ ├── activity.hpp │ │ │ │ └── node_constants.hpp │ │ │ │ ├── sensor_data │ │ │ │ ├── imu_data.hpp │ │ │ │ └── odom_data.hpp │ │ │ │ └── subscriber │ │ │ │ ├── imu_subscriber.hpp │ │ │ │ └── odom_subscriber.hpp │ │ ├── launch │ │ │ └── imu_integration.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── imu_integration.rviz │ │ └── src │ │ │ ├── estimator │ │ │ ├── activity.cpp │ │ │ └── node.cpp │ │ │ ├── generator │ │ │ ├── activity.cpp │ │ │ └── node.cpp │ │ │ └── subscriber │ │ │ ├── imu_subscriber.cpp │ │ │ └── odom_subscriber.cpp │ │ └── imu_tk │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── apps │ │ ├── .gitignore │ │ ├── test_imu_calib.cpp │ │ ├── test_integration.cpp │ │ └── test_phone_calib.cpp │ │ ├── bin │ │ ├── test_data │ │ │ ├── xsens_acc.mat │ │ │ └── xsens_gyro.mat │ │ ├── test_imu_acc.calib │ │ ├── test_imu_calib │ │ ├── test_imu_gyro.calib │ │ └── test_integration │ │ ├── include │ │ ├── .gitignore │ │ └── imu_tk │ │ │ ├── base.h │ │ │ ├── calibration.h │ │ │ ├── filters.h │ │ │ ├── imu_tk.h │ │ │ ├── integration.h │ │ │ ├── io_utils.h │ │ │ ├── vis_extra │ │ │ ├── gl_camera.h │ │ │ └── opengl_3d_scene.h │ │ │ └── visualization.h │ │ ├── lib │ │ ├── .gitignore │ │ └── libimu_tk.a │ │ └── src │ │ ├── .gitignore │ │ ├── calibration.cpp │ │ ├── filters.cpp │ │ ├── io_utils.cpp │ │ ├── vis_extra │ │ ├── gl_camera.cpp │ │ └── opengl_3d_scene.cpp │ │ └── visualization.cpp ├── 04-imu-lidar-gnss-fusion │ ├── .gitignore │ ├── README.md │ ├── doc │ │ ├── derivations │ │ │ └── IMU-GNSS.pdf │ │ ├── images │ │ │ ├── 01-IMU-lidar-fusion-macro.png │ │ │ ├── 01-IMU-lidar-fusion-micro.png │ │ │ ├── 01-error-state-kalman-filtering--architect.png │ │ │ ├── 01-evo--imu-lidar-fusion-map-plot.png │ │ │ ├── 01-evo--imu-lidar-fusion-time-series-plot.png │ │ │ ├── 01-evo--lidar-only-map-plot.png │ │ │ ├── 01-evo--lidar-only-time-series-plot.png │ │ │ ├── 02-ROS-test-framework--acc.png │ │ │ ├── 02-ROS-test-framework--turning.png │ │ │ ├── 02-eskf-cov--acc.png │ │ │ ├── 02-eskf-cov--const-velocity.png │ │ │ ├── 02-eskf-cov--static.png │ │ │ ├── 02-eskf-cov--turning.png │ │ │ ├── 02-evo-acc--gnss-only.png │ │ │ ├── 02-evo-acc--imu-gnss.png │ │ │ ├── 02-evo-const-velocity--gnss-only.png │ │ │ ├── 02-evo-const-velocity--imu-gnss.png │ │ │ ├── 02-evo-static--gnss-only.png │ │ │ ├── 02-evo-static--imu-gnss.png │ │ │ ├── 02-evo-turning--gnss-only.png │ │ │ └── 02-evo-turning--imu-gnss.png │ │ └── results │ │ │ ├── imu-lidar │ │ │ ├── fused.txt │ │ │ ├── ground_truth.txt │ │ │ └── laser.txt │ │ │ └── observability │ │ │ ├── acc │ │ │ ├── motion.csv │ │ │ ├── motion_som.csv │ │ │ ├── position.csv │ │ │ └── position_som.csv │ │ │ ├── const_velocity │ │ │ ├── position.csv │ │ │ └── position_som.csv │ │ │ ├── static │ │ │ ├── motion.csv │ │ │ ├── motion_som.csv │ │ │ ├── position.csv │ │ │ └── position_som.csv │ │ │ └── turning │ │ │ ├── motion.csv │ │ │ ├── motion_som.csv │ │ │ ├── position.csv │ │ │ └── position_som.csv │ └── src │ │ ├── CMakeLists.txt │ │ ├── gnss_ins_sim │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── motion_def │ │ │ │ ├── acc.csv │ │ │ │ ├── constant_velocity.csv │ │ │ │ ├── static.csv │ │ │ │ └── turning.csv │ │ │ ├── recorder_acc.yaml │ │ │ ├── recorder_constant_velocity.yaml │ │ │ ├── recorder_static.yaml │ │ │ └── recorder_turning.yaml │ │ ├── launch │ │ │ ├── recorder_acc.launch │ │ │ ├── recorder_constant_velocity.launch │ │ │ ├── recorder_static.launch │ │ │ └── recorder_turning.launch │ │ ├── package.xml │ │ └── src │ │ │ └── recorder_node.py │ │ └── lidar_localization │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── g2o.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ ├── glog.cmake │ │ ├── protobuf.cmake │ │ └── sophus.cmake │ │ ├── config │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.yaml │ │ │ └── kitti_filtering.yaml │ │ ├── mapping │ │ │ ├── back_end.yaml │ │ │ ├── front_end.yaml │ │ │ ├── loop_closing.yaml │ │ │ └── viewer.yaml │ │ └── scan_context │ │ │ ├── key_frames.proto │ │ │ ├── ring_keys.proto │ │ │ └── scan_contexts.proto │ │ ├── include │ │ └── lidar_localization │ │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.hpp │ │ │ ├── eskf_preprocess_flow.hpp │ │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ │ └── lidar_preprocess_flow.hpp │ │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.hpp │ │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ │ ├── kitti_filtering.hpp │ │ │ └── kitti_filtering_flow.hpp │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.hpp │ │ │ │ └── back_end_flow.hpp │ │ │ ├── front_end │ │ │ │ ├── front_end.hpp │ │ │ │ └── front_end_flow.hpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.hpp │ │ │ │ └── loop_closing_flow.hpp │ │ │ └── viewer │ │ │ │ ├── viewer.hpp │ │ │ │ └── viewer_flow.hpp │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.hpp │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ ├── no_filter.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ ├── edge │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ └── g2o_graph_optimizer.hpp │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.hpp │ │ │ │ ├── extended_kalman_filter.hpp │ │ │ │ └── kalman_filter.hpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.hpp │ │ │ ├── registration │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.hpp │ │ │ └── scan_context_manager │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ ├── key_frames.pb.h │ │ │ │ ├── nanoflann.hpp │ │ │ │ ├── ring_keys.pb.h │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ └── scan_contexts.pb.h │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ ├── imu_publisher.hpp │ │ │ ├── key_frame_publisher.hpp │ │ │ ├── key_frames_publisher.hpp │ │ │ ├── lidar_measurement_publisher.hpp │ │ │ ├── loop_pose_publisher.hpp │ │ │ ├── odometry_publisher.hpp │ │ │ ├── pos_vel_mag_publisher.hpp │ │ │ ├── pos_vel_publisher.hpp │ │ │ └── tf_broadcaster.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ ├── key_frame.hpp │ │ │ ├── lidar_measurement_data.hpp │ │ │ ├── loop_pose.hpp │ │ │ ├── magnetic_field_data.hpp │ │ │ ├── pos_vel_data.hpp │ │ │ ├── pos_vel_mag_data.hpp │ │ │ ├── pose_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ ├── key_frame_subscriber.hpp │ │ │ ├── key_frames_subscriber.hpp │ │ │ ├── lidar_measurement_subscriber.hpp │ │ │ ├── loop_pose_subscriber.hpp │ │ │ ├── magnetic_field_subscriber.hpp │ │ │ ├── odometry_subscriber.hpp │ │ │ ├── pos_vel_mag_subscriber.hpp │ │ │ ├── pos_vel_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ ├── CSVWriter.hpp │ │ │ ├── file_manager.hpp │ │ │ ├── print_info.hpp │ │ │ └── tic_toc.hpp │ │ ├── launch │ │ ├── gnss_ins_sim_localization.launch │ │ ├── kitti_localization.launch │ │ ├── mapping.launch │ │ ├── mapping_with_aloam.launch │ │ ├── matching.launch │ │ └── test_frame.launch │ │ ├── msg │ │ ├── EKFStd.msg │ │ ├── ESKFStd.msg │ │ ├── IMUGNSSMeasurement.msg │ │ ├── LidarMeasurement.msg │ │ ├── PosVel.msg │ │ └── PosVelMag.msg │ │ ├── package.xml │ │ ├── rviz │ │ ├── display_bag.rviz │ │ ├── eskf_analysis.rviz │ │ ├── filtering.rviz │ │ ├── gnss_ins_sim_localization.rviz │ │ ├── mapping.rviz │ │ └── test_frame.rviz │ │ ├── scripts │ │ ├── analyze_observability.py │ │ ├── generate_100hz_oxts.py │ │ ├── kitti2bag.py │ │ └── merge_bags.py │ │ ├── slam_data │ │ └── .gitignore │ │ ├── src │ │ ├── apps │ │ │ ├── back_end_node.cpp │ │ │ ├── data_pretreat_node.cpp │ │ │ ├── eskf_preprocess_node.cpp │ │ │ ├── front_end_node.cpp │ │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ │ ├── kitti_filtering_node.cpp │ │ │ ├── lidar_preprocess_node.cpp │ │ │ ├── loop_closing_node.cpp │ │ │ ├── test_frame_node.cpp │ │ │ └── viewer_node.cpp │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.cpp │ │ │ ├── eskf_preprocess_flow.cpp │ │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ │ └── lidar_preprocess_flow.cpp │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.cpp │ │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ │ ├── kitti_filtering.cpp │ │ │ └── kitti_filtering_flow.cpp │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.cpp │ │ │ │ └── back_end_flow.cpp │ │ │ ├── front_end │ │ │ │ ├── front_end.cpp │ │ │ │ └── front_end_flow.cpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.cpp │ │ │ │ └── loop_closing_flow.cpp │ │ │ └── viewer │ │ │ │ ├── viewer.cpp │ │ │ │ └── viewer_flow.cpp │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.cpp │ │ │ │ ├── no_filter.cpp │ │ │ │ └── voxel_filter.cpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.cpp │ │ │ │ ├── extended_kalman_filter.cpp │ │ │ │ └── kalman_filter.cpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.cpp │ │ │ ├── registration │ │ │ │ └── ndt_registration.cpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.cpp │ │ │ └── scan_context_manager │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ └── scan_contexts.pb.cpp │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ ├── imu_publisher.cpp │ │ │ ├── key_frame_publisher.cpp │ │ │ ├── key_frames_publisher.cpp │ │ │ ├── lidar_measurement_publisher.cpp │ │ │ ├── loop_pose_publisher.cpp │ │ │ ├── odometry_publisher.cpp │ │ │ ├── pos_vel_mag_publisher.cpp │ │ │ ├── pos_vel_publisher.cpp │ │ │ └── tf_broadcaster.cpp │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ ├── key_frame.cpp │ │ │ ├── loop_pose.cpp │ │ │ ├── magnetic_field_data.cpp │ │ │ ├── pose_data.cpp │ │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ ├── key_frame_subscriber.cpp │ │ │ ├── key_frames_subscriber.cpp │ │ │ ├── lidar_measurement_subscriber.cpp │ │ │ ├── loop_pose_subscriber.cpp │ │ │ ├── magnetic_field_subscriber.cpp │ │ │ ├── odometry_subscriber.cpp │ │ │ ├── pos_vel_mag_subscriber.cpp │ │ │ ├── pos_vel_subscriber.cpp │ │ │ └── velocity_subscriber.cpp │ │ ├── tf_listener │ │ │ └── tf_lisener.cpp │ │ └── tools │ │ │ ├── file_manager.cpp │ │ │ └── print_info.cpp │ │ └── srv │ │ ├── optimizeMap.srv │ │ ├── saveMap.srv │ │ ├── saveOdometry.srv │ │ └── saveScanContext.srv ├── 05-imu-fusion-advanced │ ├── .gitignore │ ├── README.md │ ├── doc │ │ ├── images │ │ │ ├── 00-evo--no-constraint--time-series-plot.png │ │ │ ├── 00-evo--with-constraint--time-series-plot.png │ │ │ ├── 01-evo--no-constraint--map-plot.png │ │ │ ├── 01-evo--no-constraint--time-series-plot.png │ │ │ ├── 01-evo--with-constraint--map-plot.png │ │ │ ├── 01-evo--with-constraint--time-series-plot.png │ │ │ ├── 01-kitti-test-drive.png │ │ │ ├── 02-evo--gnss-only--map-plot.png │ │ │ ├── 02-evo--gnss-only--time-series-plot.png │ │ │ ├── 02-evo--imu-gnss--map-plot.png │ │ │ ├── 02-evo--imu-gnss--time-series-plot.png │ │ │ ├── 02-evo--imu-gnss-odo--map-plot.png │ │ │ ├── 02-evo--imu-gnss-odo--time-series-plot.png │ │ │ ├── 02-virtual-test-drive.png │ │ │ ├── 03-evo--gnss-only--map-plot.png │ │ │ ├── 03-evo--gnss-only--time-series-plot.png │ │ │ ├── 03-evo--imu-gnss-mag--map-plot.png │ │ │ ├── 03-evo--imu-gnss-mag--time-series-plot.png │ │ │ ├── 03-evo--imu-gnss-odo--map-plot.png │ │ │ ├── 03-evo--imu-gnss-odo--time-series-plot.png │ │ │ ├── 03-evo--imu-gnss-odo-mag--map-plot.png │ │ │ ├── 03-evo--imu-gnss-odo-mag--time-series-plot.png │ │ │ └── 03-extended-kalman-filtering--architect.png │ │ └── observability │ │ │ ├── 02-eskf--position-observability.csv │ │ │ ├── 02-eskf--position-velocity-observability-som.csv │ │ │ ├── 02-eskf--position-velocity-observability.csv │ │ │ └── 03-iekf--position-velocity-magneto-observability.csv │ └── src │ │ ├── CMakeLists.txt │ │ ├── cloud_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ └── cloud_info.msg │ │ └── package.xml │ │ ├── gnss_ins_sim │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── motion_def │ │ │ │ └── virtual_proving_ground.csv │ │ │ └── recorder_virtual_proving_ground.yaml │ │ ├── launch │ │ │ ├── recorder_acc.launch │ │ │ └── recorder_virtual_proving_ground.launch │ │ ├── package.xml │ │ └── src │ │ │ └── recorder_node.py │ │ ├── lidar_localization │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ ├── PCL.cmake │ │ │ ├── YAML.cmake │ │ │ ├── g2o.cmake │ │ │ ├── geographic.cmake │ │ │ ├── global_defination.cmake │ │ │ ├── glog.cmake │ │ │ ├── protobuf.cmake │ │ │ └── sophus.cmake │ │ ├── config │ │ │ ├── filtering │ │ │ │ ├── gnss_ins_sim_filtering.yaml │ │ │ │ └── kitti_filtering.yaml │ │ │ ├── mapping │ │ │ │ ├── back_end.yaml │ │ │ │ ├── front_end.yaml │ │ │ │ ├── loop_closing.yaml │ │ │ │ └── viewer.yaml │ │ │ └── scan_context │ │ │ │ ├── key_frames.proto │ │ │ │ ├── ring_keys.proto │ │ │ │ └── scan_contexts.proto │ │ ├── include │ │ │ └── lidar_localization │ │ │ │ ├── data_pretreat │ │ │ │ ├── data_pretreat_flow.hpp │ │ │ │ ├── eskf_preprocess_flow.hpp │ │ │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ │ │ └── lidar_preprocess_flow.hpp │ │ │ │ ├── filtering │ │ │ │ ├── gnss_ins_sim_filtering.hpp │ │ │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ │ │ ├── kitti_filtering.hpp │ │ │ │ └── kitti_filtering_flow.hpp │ │ │ │ ├── global_defination │ │ │ │ └── global_defination.h.in │ │ │ │ ├── mapping │ │ │ │ ├── back_end │ │ │ │ │ ├── back_end.hpp │ │ │ │ │ └── back_end_flow.hpp │ │ │ │ ├── front_end │ │ │ │ │ ├── front_end.hpp │ │ │ │ │ └── front_end_flow.hpp │ │ │ │ ├── loop_closing │ │ │ │ │ ├── loop_closing.hpp │ │ │ │ │ └── loop_closing_flow.hpp │ │ │ │ └── viewer │ │ │ │ │ ├── viewer.hpp │ │ │ │ │ └── viewer_flow.hpp │ │ │ │ ├── models │ │ │ │ ├── cloud_filter │ │ │ │ │ ├── box_filter.hpp │ │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ │ ├── no_filter.hpp │ │ │ │ │ └── voxel_filter.hpp │ │ │ │ ├── graph_optimizer │ │ │ │ │ ├── g2o │ │ │ │ │ │ ├── edge │ │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ │ └── g2o_graph_optimizer.hpp │ │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ │ ├── kalman_filter │ │ │ │ │ ├── error_state_kalman_filter.hpp │ │ │ │ │ ├── extended_kalman_filter.hpp │ │ │ │ │ └── kalman_filter.hpp │ │ │ │ ├── mag_table │ │ │ │ │ └── geo_mag_declination.hpp │ │ │ │ ├── registration │ │ │ │ │ ├── ndt_registration.hpp │ │ │ │ │ └── registration_interface.hpp │ │ │ │ ├── scan_adjust │ │ │ │ │ └── distortion_adjust.hpp │ │ │ │ └── scan_context_manager │ │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ │ ├── key_frames.pb.h │ │ │ │ │ ├── nanoflann.hpp │ │ │ │ │ ├── ring_keys.pb.h │ │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ │ └── scan_contexts.pb.h │ │ │ │ ├── publisher │ │ │ │ ├── cloud_publisher.hpp │ │ │ │ ├── imu_publisher.hpp │ │ │ │ ├── key_frame_publisher.hpp │ │ │ │ ├── key_frames_publisher.hpp │ │ │ │ ├── lidar_measurement_publisher.hpp │ │ │ │ ├── loop_pose_publisher.hpp │ │ │ │ ├── odometry_publisher.hpp │ │ │ │ ├── pos_vel_mag_publisher.hpp │ │ │ │ ├── pos_vel_publisher.hpp │ │ │ │ └── tf_broadcaster.hpp │ │ │ │ ├── sensor_data │ │ │ │ ├── cloud_data.hpp │ │ │ │ ├── gnss_data.hpp │ │ │ │ ├── imu_data.hpp │ │ │ │ ├── key_frame.hpp │ │ │ │ ├── lidar_measurement_data.hpp │ │ │ │ ├── loop_pose.hpp │ │ │ │ ├── magnetic_field_data.hpp │ │ │ │ ├── pos_vel_data.hpp │ │ │ │ ├── pos_vel_mag_data.hpp │ │ │ │ ├── pose_data.hpp │ │ │ │ └── velocity_data.hpp │ │ │ │ ├── subscriber │ │ │ │ ├── cloud_subscriber.hpp │ │ │ │ ├── gnss_subscriber.hpp │ │ │ │ ├── imu_subscriber.hpp │ │ │ │ ├── key_frame_subscriber.hpp │ │ │ │ ├── key_frames_subscriber.hpp │ │ │ │ ├── lidar_measurement_subscriber.hpp │ │ │ │ ├── loop_pose_subscriber.hpp │ │ │ │ ├── magnetic_field_subscriber.hpp │ │ │ │ ├── odometry_subscriber.hpp │ │ │ │ ├── pos_vel_mag_subscriber.hpp │ │ │ │ ├── pos_vel_subscriber.hpp │ │ │ │ └── velocity_subscriber.hpp │ │ │ │ ├── tf_listener │ │ │ │ └── tf_listener.hpp │ │ │ │ └── tools │ │ │ │ ├── CSVWriter.hpp │ │ │ │ ├── file_manager.hpp │ │ │ │ ├── print_info.hpp │ │ │ │ └── tic_toc.hpp │ │ ├── launch │ │ │ ├── gnss_ins_sim_localization.launch │ │ │ ├── kitti_localization.launch │ │ │ ├── mapping.launch │ │ │ ├── mapping_with_aloam.launch │ │ │ ├── matching.launch │ │ │ └── test_frame.launch │ │ ├── msg │ │ │ ├── EKFStd.msg │ │ │ ├── ESKFStd.msg │ │ │ ├── IMUGNSSMeasurement.msg │ │ │ ├── LidarMeasurement.msg │ │ │ ├── PosVel.msg │ │ │ └── PosVelMag.msg │ │ ├── package.xml │ │ ├── rviz │ │ │ ├── display_bag.rviz │ │ │ ├── eskf_analysis.rviz │ │ │ ├── filtering.rviz │ │ │ ├── gnss_ins_sim_localization.rviz │ │ │ ├── mapping.rviz │ │ │ └── test_frame.rviz │ │ ├── scripts │ │ │ ├── analyze_observability.py │ │ │ ├── generate_100hz_oxts.py │ │ │ ├── kitti2bag.py │ │ │ └── merge_bags.py │ │ ├── slam_data │ │ │ └── .gitignore │ │ ├── src │ │ │ ├── apps │ │ │ │ ├── back_end_node.cpp │ │ │ │ ├── data_pretreat_node.cpp │ │ │ │ ├── eskf_preprocess_node.cpp │ │ │ │ ├── front_end_node.cpp │ │ │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ │ │ ├── kitti_filtering_node.cpp │ │ │ │ ├── lidar_preprocess_node.cpp │ │ │ │ ├── loop_closing_node.cpp │ │ │ │ ├── test_frame_node.cpp │ │ │ │ └── viewer_node.cpp │ │ │ ├── data_pretreat │ │ │ │ ├── data_pretreat_flow.cpp │ │ │ │ ├── eskf_preprocess_flow.cpp │ │ │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ │ │ └── lidar_preprocess_flow.cpp │ │ │ ├── filtering │ │ │ │ ├── gnss_ins_sim_filtering.cpp │ │ │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ │ │ ├── kitti_filtering.cpp │ │ │ │ └── kitti_filtering_flow.cpp │ │ │ ├── mapping │ │ │ │ ├── back_end │ │ │ │ │ ├── back_end.cpp │ │ │ │ │ └── back_end_flow.cpp │ │ │ │ ├── front_end │ │ │ │ │ ├── front_end.cpp │ │ │ │ │ └── front_end_flow.cpp │ │ │ │ ├── loop_closing │ │ │ │ │ ├── loop_closing.cpp │ │ │ │ │ └── loop_closing_flow.cpp │ │ │ │ └── viewer │ │ │ │ │ ├── viewer.cpp │ │ │ │ │ └── viewer_flow.cpp │ │ │ ├── models │ │ │ │ ├── cloud_filter │ │ │ │ │ ├── box_filter.cpp │ │ │ │ │ ├── no_filter.cpp │ │ │ │ │ └── voxel_filter.cpp │ │ │ │ ├── graph_optimizer │ │ │ │ │ ├── g2o │ │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ │ ├── kalman_filter │ │ │ │ │ ├── error_state_kalman_filter.cpp │ │ │ │ │ ├── extended_kalman_filter.cpp │ │ │ │ │ └── kalman_filter.cpp │ │ │ │ ├── mag_table │ │ │ │ │ └── geo_mag_declination.cpp │ │ │ │ ├── registration │ │ │ │ │ └── ndt_registration.cpp │ │ │ │ ├── scan_adjust │ │ │ │ │ └── distortion_adjust.cpp │ │ │ │ └── scan_context_manager │ │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ │ └── scan_contexts.pb.cpp │ │ │ ├── publisher │ │ │ │ ├── cloud_publisher.cpp │ │ │ │ ├── imu_publisher.cpp │ │ │ │ ├── key_frame_publisher.cpp │ │ │ │ ├── key_frames_publisher.cpp │ │ │ │ ├── lidar_measurement_publisher.cpp │ │ │ │ ├── loop_pose_publisher.cpp │ │ │ │ ├── odometry_publisher.cpp │ │ │ │ ├── pos_vel_mag_publisher.cpp │ │ │ │ ├── pos_vel_publisher.cpp │ │ │ │ └── tf_broadcaster.cpp │ │ │ ├── sensor_data │ │ │ │ ├── gnss_data.cpp │ │ │ │ ├── imu_data.cpp │ │ │ │ ├── key_frame.cpp │ │ │ │ ├── loop_pose.cpp │ │ │ │ ├── magnetic_field_data.cpp │ │ │ │ ├── pose_data.cpp │ │ │ │ └── velocity_data.cpp │ │ │ ├── subscriber │ │ │ │ ├── cloud_subscriber.cpp │ │ │ │ ├── gnss_subscriber.cpp │ │ │ │ ├── imu_subscriber.cpp │ │ │ │ ├── key_frame_subscriber.cpp │ │ │ │ ├── key_frames_subscriber.cpp │ │ │ │ ├── lidar_measurement_subscriber.cpp │ │ │ │ ├── loop_pose_subscriber.cpp │ │ │ │ ├── magnetic_field_subscriber.cpp │ │ │ │ ├── odometry_subscriber.cpp │ │ │ │ ├── pos_vel_mag_subscriber.cpp │ │ │ │ ├── pos_vel_subscriber.cpp │ │ │ │ └── velocity_subscriber.cpp │ │ │ ├── tf_listener │ │ │ │ └── tf_lisener.cpp │ │ │ └── tools │ │ │ │ ├── file_manager.cpp │ │ │ │ └── print_info.cpp │ │ └── srv │ │ │ ├── optimizeMap.srv │ │ │ ├── saveMap.srv │ │ │ ├── saveOdometry.srv │ │ │ └── saveScanContext.srv │ │ └── lins │ │ ├── .kdev4 │ │ ├── kflio.kdev4 │ │ └── lins.kdev4 │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ ├── exp_config │ │ │ └── exp_port.yaml │ │ └── rviz_config │ │ │ └── lins_rviz_config.rviz │ │ ├── doc │ │ ├── paper.pdf │ │ └── sensor │ │ │ └── fig_lidar.png │ │ ├── include │ │ ├── Estimator.h │ │ ├── KalmanFilter.hpp │ │ ├── MapRingBuffer.h │ │ ├── StateEstimator.hpp │ │ ├── integrationBase.h │ │ ├── math_utils.h │ │ ├── parameters.h │ │ ├── sensor_utils.hpp │ │ ├── tic_toc.h │ │ └── utility.h │ │ ├── launch │ │ └── exp_launch │ │ │ └── run_port_exp.launch │ │ ├── lins.kdev4 │ │ ├── package.xml │ │ └── src │ │ ├── image_projection_node.cpp │ │ ├── lib │ │ ├── Estimator.cpp │ │ └── parameters.cpp │ │ ├── lidar_mapping_node.cpp │ │ ├── lins_fusion_node.cpp │ │ └── transform_fusion_node.cpp ├── 06-graph-optimization │ ├── .gitignore │ ├── README.md │ ├── doc │ │ ├── derivation │ │ │ └── odo-pre-integration.pdf │ │ └── images │ │ │ ├── 01-evo-lidar-frontend--map-plot.png │ │ │ ├── 01-evo-lidar-frontend--time-series-plot.png │ │ │ ├── 01-evo-optimized--map-plot.png │ │ │ ├── 01-evo-optimized--time-series-plot.png │ │ │ ├── 01-localization-demo-a.png │ │ │ ├── 01-localization-demo-b.png │ │ │ ├── 01-localization-demo-c.png │ │ │ ├── 01-localization-demo-d.png │ │ │ ├── 01-localization-demo-e.png │ │ │ ├── 01-localization-demo-f.png │ │ │ ├── 01-optimized-trajectory-using-lio.png │ │ │ ├── 02-a-pre-integration-update.png │ │ │ ├── 02-b-error-propagation.png │ │ │ ├── 02-c-residual.png │ │ │ ├── 03-evo-lidar-frontend--map-plot.png │ │ │ ├── 03-evo-lidar-frontend--time-series-plot.png │ │ │ ├── 03-evo-optimized--map-plot.png │ │ │ ├── 03-evo-optimized--time-series-plot.png │ │ │ └── 03-optimized-trajectory-using-lio-with-odo-pre-integration.png │ └── src │ │ ├── CMakeLists.txt │ │ └── lidar_localization │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── g2o.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ ├── glog.cmake │ │ ├── protobuf.cmake │ │ └── sophus.cmake │ │ ├── config │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.yaml │ │ │ └── kitti_filtering.yaml │ │ ├── mapping │ │ │ ├── back_end.yaml │ │ │ ├── front_end.yaml │ │ │ ├── lio_back_end.yaml │ │ │ ├── loop_closing.yaml │ │ │ └── viewer.yaml │ │ └── scan_context │ │ │ ├── key_frames.proto │ │ │ ├── ring_keys.proto │ │ │ └── scan_contexts.proto │ │ ├── include │ │ └── lidar_localization │ │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.hpp │ │ │ ├── eskf_preprocess_flow.hpp │ │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ │ └── lidar_preprocess_flow.hpp │ │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.hpp │ │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ │ ├── kitti_filtering.hpp │ │ │ └── kitti_filtering_flow.hpp │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.hpp │ │ │ │ ├── back_end_flow.hpp │ │ │ │ ├── lio_back_end.hpp │ │ │ │ └── lio_back_end_flow.hpp │ │ │ ├── front_end │ │ │ │ ├── front_end.hpp │ │ │ │ └── front_end_flow.hpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.hpp │ │ │ │ └── loop_closing_flow.hpp │ │ │ └── viewer │ │ │ │ ├── viewer.hpp │ │ │ │ └── viewer_flow.hpp │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.hpp │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ ├── no_filter.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ ├── edge │ │ │ │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ │ │ │ ├── edge_prvag_odo_pre_integration.hpp │ │ │ │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ ├── g2o_graph_optimizer.hpp │ │ │ │ │ └── vertex │ │ │ │ │ │ └── vertex_prvag.hpp │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.hpp │ │ │ │ ├── extended_kalman_filter.hpp │ │ │ │ └── kalman_filter.hpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.hpp │ │ │ ├── pre_integrator │ │ │ │ ├── imu_pre_integrator.hpp │ │ │ │ ├── odo_pre_integrator.hpp │ │ │ │ └── pre_integrator.hpp │ │ │ ├── registration │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.hpp │ │ │ └── scan_context_manager │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ ├── key_frames.pb.h │ │ │ │ ├── nanoflann.hpp │ │ │ │ ├── ring_keys.pb.h │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ └── scan_contexts.pb.h │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ ├── imu_publisher.hpp │ │ │ ├── key_frame_publisher.hpp │ │ │ ├── key_frames_publisher.hpp │ │ │ ├── lidar_measurement_publisher.hpp │ │ │ ├── loop_pose_publisher.hpp │ │ │ ├── odometry_publisher.hpp │ │ │ ├── pos_vel_mag_publisher.hpp │ │ │ ├── pos_vel_publisher.hpp │ │ │ └── tf_broadcaster.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ ├── key_frame.hpp │ │ │ ├── lidar_measurement_data.hpp │ │ │ ├── loop_pose.hpp │ │ │ ├── magnetic_field_data.hpp │ │ │ ├── pos_vel_data.hpp │ │ │ ├── pos_vel_mag_data.hpp │ │ │ ├── pose_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ ├── key_frame_subscriber.hpp │ │ │ ├── key_frames_subscriber.hpp │ │ │ ├── lidar_measurement_subscriber.hpp │ │ │ ├── loop_pose_subscriber.hpp │ │ │ ├── magnetic_field_subscriber.hpp │ │ │ ├── odometry_subscriber.hpp │ │ │ ├── pos_vel_mag_subscriber.hpp │ │ │ ├── pos_vel_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ ├── CSVWriter.hpp │ │ │ ├── file_manager.hpp │ │ │ ├── print_info.hpp │ │ │ └── tic_toc.hpp │ │ ├── launch │ │ ├── gnss_ins_sim_localization.launch │ │ ├── kitti_localization.launch │ │ ├── lio_mapping.launch │ │ ├── mapping.launch │ │ ├── mapping_with_aloam.launch │ │ ├── matching.launch │ │ └── test_frame.launch │ │ ├── msg │ │ ├── EKFStd.msg │ │ ├── ESKFStd.msg │ │ ├── IMUGNSSMeasurement.msg │ │ ├── LidarMeasurement.msg │ │ ├── PosVel.msg │ │ └── PosVelMag.msg │ │ ├── package.xml │ │ ├── rviz │ │ ├── display_bag.rviz │ │ ├── eskf_analysis.rviz │ │ ├── filtering.rviz │ │ ├── gnss_ins_sim_localization.rviz │ │ ├── mapping.rviz │ │ └── test_frame.rviz │ │ ├── scripts │ │ ├── analyze_observability.py │ │ ├── generate_100hz_oxts.py │ │ ├── kitti2bag.py │ │ └── merge_bags.py │ │ ├── slam_data │ │ └── .gitignore │ │ ├── src │ │ ├── apps │ │ │ ├── back_end_node.cpp │ │ │ ├── data_pretreat_node.cpp │ │ │ ├── eskf_preprocess_node.cpp │ │ │ ├── front_end_node.cpp │ │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ │ ├── kitti_filtering_node.cpp │ │ │ ├── lidar_preprocess_node.cpp │ │ │ ├── lio_back_end_node.cpp │ │ │ ├── loop_closing_node.cpp │ │ │ ├── test_frame_node.cpp │ │ │ └── viewer_node.cpp │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.cpp │ │ │ ├── eskf_preprocess_flow.cpp │ │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ │ └── lidar_preprocess_flow.cpp │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.cpp │ │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ │ ├── kitti_filtering.cpp │ │ │ └── kitti_filtering_flow.cpp │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.cpp │ │ │ │ ├── back_end_flow.cpp │ │ │ │ ├── lio_back_end.cpp │ │ │ │ └── lio_back_end_flow.cpp │ │ │ ├── front_end │ │ │ │ ├── front_end.cpp │ │ │ │ └── front_end_flow.cpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.cpp │ │ │ │ └── loop_closing_flow.cpp │ │ │ └── viewer │ │ │ │ ├── viewer.cpp │ │ │ │ └── viewer_flow.cpp │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.cpp │ │ │ │ ├── no_filter.cpp │ │ │ │ └── voxel_filter.cpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.cpp │ │ │ │ ├── extended_kalman_filter.cpp │ │ │ │ └── kalman_filter.cpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.cpp │ │ │ ├── pre_integrator │ │ │ │ ├── imu_pre_integrator.cpp │ │ │ │ └── odo_pre_integrator.cpp │ │ │ ├── registration │ │ │ │ └── ndt_registration.cpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.cpp │ │ │ └── scan_context_manager │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ └── scan_contexts.pb.cpp │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ ├── imu_publisher.cpp │ │ │ ├── key_frame_publisher.cpp │ │ │ ├── key_frames_publisher.cpp │ │ │ ├── lidar_measurement_publisher.cpp │ │ │ ├── loop_pose_publisher.cpp │ │ │ ├── odometry_publisher.cpp │ │ │ ├── pos_vel_mag_publisher.cpp │ │ │ ├── pos_vel_publisher.cpp │ │ │ └── tf_broadcaster.cpp │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ ├── key_frame.cpp │ │ │ ├── loop_pose.cpp │ │ │ ├── magnetic_field_data.cpp │ │ │ ├── pose_data.cpp │ │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ ├── key_frame_subscriber.cpp │ │ │ ├── key_frames_subscriber.cpp │ │ │ ├── lidar_measurement_subscriber.cpp │ │ │ ├── loop_pose_subscriber.cpp │ │ │ ├── magnetic_field_subscriber.cpp │ │ │ ├── odometry_subscriber.cpp │ │ │ ├── pos_vel_mag_subscriber.cpp │ │ │ ├── pos_vel_subscriber.cpp │ │ │ └── velocity_subscriber.cpp │ │ ├── tf_listener │ │ │ └── tf_lisener.cpp │ │ └── tools │ │ │ ├── file_manager.cpp │ │ │ └── print_info.cpp │ │ └── srv │ │ ├── optimizeMap.srv │ │ ├── saveMap.srv │ │ ├── saveOdometry.srv │ │ └── saveScanContext.srv ├── 07-sliding-window │ ├── .gitignore │ ├── README.md │ ├── doc │ │ ├── derivation │ │ │ ├── 01-loam-jacobians.pdf │ │ │ └── 02-ceres-implementation.pdf │ │ ├── images │ │ │ ├── 01-loam-jacobians.png │ │ │ ├── 02-a-residuals--imu-pre-integration.png │ │ │ ├── 02-a-residuals--map-matching-or-gnss-position.png │ │ │ ├── 02-a-residuals--relative-pose-from-lidar-frontend.png │ │ │ ├── 02-a-residuals--sliding-window-marginalization.png │ │ │ ├── 03-evo-lidar-frontend--map-plot.png │ │ │ ├── 03-evo-lidar-frontend--time-series-plot.png │ │ │ ├── 03-evo-optimized--map-plot.png │ │ │ └── 03-evo-optimized--time-series-plot.png │ │ └── solution-guide │ │ │ └── solution-guide.pdf │ └── src │ │ ├── CMakeLists.txt │ │ ├── lidar_localization │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ ├── PCL.cmake │ │ │ ├── YAML.cmake │ │ │ ├── ceres.cmake │ │ │ ├── g2o.cmake │ │ │ ├── geographic.cmake │ │ │ ├── global_defination.cmake │ │ │ ├── glog.cmake │ │ │ ├── protobuf.cmake │ │ │ └── sophus.cmake │ │ ├── config │ │ │ ├── filtering │ │ │ │ ├── gnss_ins_sim_filtering.yaml │ │ │ │ └── kitti_filtering.yaml │ │ │ ├── mapping │ │ │ │ ├── back_end.yaml │ │ │ │ ├── front_end.yaml │ │ │ │ ├── lio_mapping.yaml │ │ │ │ ├── loop_closing.yaml │ │ │ │ └── viewer.yaml │ │ │ ├── matching │ │ │ │ ├── matching.yaml │ │ │ │ └── sliding_window.yaml │ │ │ └── scan_context │ │ │ │ ├── index.bin │ │ │ │ ├── key_frames.proto │ │ │ │ ├── ring_keys.proto │ │ │ │ └── scan_contexts.proto │ │ ├── include │ │ │ └── lidar_localization │ │ │ │ ├── data_pretreat │ │ │ │ ├── data_pretreat_flow.hpp │ │ │ │ ├── eskf_preprocess_flow.hpp │ │ │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ │ │ └── lidar_preprocess_flow.hpp │ │ │ │ ├── filtering │ │ │ │ ├── gnss_ins_sim_filtering.hpp │ │ │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ │ │ ├── kitti_filtering.hpp │ │ │ │ └── kitti_filtering_flow.hpp │ │ │ │ ├── global_defination │ │ │ │ └── global_defination.h.in │ │ │ │ ├── mapping │ │ │ │ ├── back_end │ │ │ │ │ ├── back_end.hpp │ │ │ │ │ ├── back_end_flow.hpp │ │ │ │ │ ├── lio_mapping.hpp │ │ │ │ │ └── lio_mapping_flow.hpp │ │ │ │ ├── front_end │ │ │ │ │ ├── front_end.hpp │ │ │ │ │ └── front_end_flow.hpp │ │ │ │ ├── loop_closing │ │ │ │ │ ├── loop_closing.hpp │ │ │ │ │ └── loop_closing_flow.hpp │ │ │ │ └── viewer │ │ │ │ │ ├── viewer.hpp │ │ │ │ │ └── viewer_flow.hpp │ │ │ │ ├── matching │ │ │ │ ├── back_end │ │ │ │ │ ├── sliding_window.hpp │ │ │ │ │ └── sliding_window_flow.hpp │ │ │ │ └── front_end │ │ │ │ │ ├── matching.hpp │ │ │ │ │ └── matching_flow.hpp │ │ │ │ ├── models │ │ │ │ ├── cloud_filter │ │ │ │ │ ├── box_filter.hpp │ │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ │ ├── no_filter.hpp │ │ │ │ │ └── voxel_filter.hpp │ │ │ │ ├── graph_optimizer │ │ │ │ │ ├── g2o │ │ │ │ │ │ ├── edge │ │ │ │ │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ │ │ │ │ ├── edge_prvag_odo_pre_integration.hpp │ │ │ │ │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ │ │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ │ ├── g2o_graph_optimizer.hpp │ │ │ │ │ │ └── vertex │ │ │ │ │ │ │ └── vertex_prvag.hpp │ │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ │ ├── kalman_filter │ │ │ │ │ ├── error_state_kalman_filter.hpp │ │ │ │ │ ├── extended_kalman_filter.hpp │ │ │ │ │ └── kalman_filter.hpp │ │ │ │ ├── mag_table │ │ │ │ │ └── geo_mag_declination.hpp │ │ │ │ ├── pre_integrator │ │ │ │ │ ├── imu_pre_integrator.hpp │ │ │ │ │ ├── odo_pre_integrator.hpp │ │ │ │ │ └── pre_integrator.hpp │ │ │ │ ├── registration │ │ │ │ │ ├── ndt_registration.hpp │ │ │ │ │ └── registration_interface.hpp │ │ │ │ ├── scan_adjust │ │ │ │ │ └── distortion_adjust.hpp │ │ │ │ ├── scan_context_manager │ │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ │ ├── key_frames.pb.h │ │ │ │ │ ├── nanoflann.hpp │ │ │ │ │ ├── ring_keys.pb.h │ │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ │ └── scan_contexts.pb.h │ │ │ │ └── sliding_window │ │ │ │ │ ├── ceres_sliding_window.hpp │ │ │ │ │ ├── factors │ │ │ │ │ ├── factor_prvag_imu_pre_integration.hpp │ │ │ │ │ ├── factor_prvag_map_matching_pose.hpp │ │ │ │ │ ├── factor_prvag_marginalization.hpp │ │ │ │ │ └── factor_prvag_relative_pose.hpp │ │ │ │ │ ├── params │ │ │ │ │ └── param_prvag.hpp │ │ │ │ │ └── utils │ │ │ │ │ └── utils.hpp │ │ │ │ ├── publisher │ │ │ │ ├── cloud_publisher.hpp │ │ │ │ ├── imu_publisher.hpp │ │ │ │ ├── key_frame_publisher.hpp │ │ │ │ ├── key_frames_publisher.hpp │ │ │ │ ├── lidar_measurement_publisher.hpp │ │ │ │ ├── loop_pose_publisher.hpp │ │ │ │ ├── odometry_publisher.hpp │ │ │ │ ├── pos_vel_mag_publisher.hpp │ │ │ │ ├── pos_vel_publisher.hpp │ │ │ │ └── tf_broadcaster.hpp │ │ │ │ ├── sensor_data │ │ │ │ ├── cloud_data.hpp │ │ │ │ ├── gnss_data.hpp │ │ │ │ ├── imu_data.hpp │ │ │ │ ├── key_frame.hpp │ │ │ │ ├── lidar_measurement_data.hpp │ │ │ │ ├── loop_pose.hpp │ │ │ │ ├── magnetic_field_data.hpp │ │ │ │ ├── pos_vel_data.hpp │ │ │ │ ├── pos_vel_mag_data.hpp │ │ │ │ ├── pose_data.hpp │ │ │ │ └── velocity_data.hpp │ │ │ │ ├── subscriber │ │ │ │ ├── cloud_subscriber.hpp │ │ │ │ ├── gnss_subscriber.hpp │ │ │ │ ├── imu_subscriber.hpp │ │ │ │ ├── key_frame_subscriber.hpp │ │ │ │ ├── key_frames_subscriber.hpp │ │ │ │ ├── lidar_measurement_subscriber.hpp │ │ │ │ ├── loop_pose_subscriber.hpp │ │ │ │ ├── magnetic_field_subscriber.hpp │ │ │ │ ├── odometry_subscriber.hpp │ │ │ │ ├── pos_vel_mag_subscriber.hpp │ │ │ │ ├── pos_vel_subscriber.hpp │ │ │ │ └── velocity_subscriber.hpp │ │ │ │ ├── tf_listener │ │ │ │ └── tf_listener.hpp │ │ │ │ └── tools │ │ │ │ ├── CSVWriter.hpp │ │ │ │ ├── file_manager.hpp │ │ │ │ ├── print_info.hpp │ │ │ │ └── tic_toc.hpp │ │ ├── launch │ │ │ ├── gnss_ins_sim_localization.launch │ │ │ ├── kitti_localization.launch │ │ │ ├── lio_localization.launch │ │ │ ├── lio_mapping.launch │ │ │ ├── mapping.launch │ │ │ ├── mapping_with_aloam.launch │ │ │ ├── matching.launch │ │ │ └── test_frame.launch │ │ ├── msg │ │ │ ├── EKFStd.msg │ │ │ ├── ESKFStd.msg │ │ │ ├── IMUGNSSMeasurement.msg │ │ │ ├── LidarMeasurement.msg │ │ │ ├── PosVel.msg │ │ │ └── PosVelMag.msg │ │ ├── package.xml │ │ ├── rviz │ │ │ ├── display_bag.rviz │ │ │ ├── eskf_analysis.rviz │ │ │ ├── filtering.rviz │ │ │ ├── gnss_ins_sim_localization.rviz │ │ │ ├── lio_localization.rviz │ │ │ ├── mapping.rviz │ │ │ └── test_frame.rviz │ │ ├── scripts │ │ │ ├── analyze_observability.py │ │ │ ├── generate_100hz_oxts.py │ │ │ ├── kitti2bag.py │ │ │ └── merge_bags.py │ │ ├── slam_data │ │ │ └── .gitignore │ │ ├── src │ │ │ ├── apps │ │ │ │ ├── back_end_node.cpp │ │ │ │ ├── data_pretreat_node.cpp │ │ │ │ ├── eskf_preprocess_node.cpp │ │ │ │ ├── front_end_node.cpp │ │ │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ │ │ ├── kitti_filtering_node.cpp │ │ │ │ ├── lidar_preprocess_node.cpp │ │ │ │ ├── lio_mapping_node.cpp │ │ │ │ ├── lio_matching_node.cpp │ │ │ │ ├── loop_closing_node.cpp │ │ │ │ ├── sliding_window_node.cpp │ │ │ │ ├── test_frame_node.cpp │ │ │ │ └── viewer_node.cpp │ │ │ ├── data_pretreat │ │ │ │ ├── data_pretreat_flow.cpp │ │ │ │ ├── eskf_preprocess_flow.cpp │ │ │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ │ │ └── lidar_preprocess_flow.cpp │ │ │ ├── filtering │ │ │ │ ├── gnss_ins_sim_filtering.cpp │ │ │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ │ │ ├── kitti_filtering.cpp │ │ │ │ └── kitti_filtering_flow.cpp │ │ │ ├── mapping │ │ │ │ ├── back_end │ │ │ │ │ ├── back_end.cpp │ │ │ │ │ ├── back_end_flow.cpp │ │ │ │ │ ├── lio_mapping.cpp │ │ │ │ │ └── lio_mapping_flow.cpp │ │ │ │ ├── front_end │ │ │ │ │ ├── front_end.cpp │ │ │ │ │ └── front_end_flow.cpp │ │ │ │ ├── loop_closing │ │ │ │ │ ├── loop_closing.cpp │ │ │ │ │ └── loop_closing_flow.cpp │ │ │ │ └── viewer │ │ │ │ │ ├── viewer.cpp │ │ │ │ │ └── viewer_flow.cpp │ │ │ ├── matching │ │ │ │ ├── back_end │ │ │ │ │ ├── sliding_window.cpp │ │ │ │ │ └── sliding_window_flow.cpp │ │ │ │ └── front_end │ │ │ │ │ ├── matching.cpp │ │ │ │ │ └── matching_flow.cpp │ │ │ ├── models │ │ │ │ ├── cloud_filter │ │ │ │ │ ├── box_filter.cpp │ │ │ │ │ ├── no_filter.cpp │ │ │ │ │ └── voxel_filter.cpp │ │ │ │ ├── graph_optimizer │ │ │ │ │ ├── g2o │ │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ │ ├── kalman_filter │ │ │ │ │ ├── error_state_kalman_filter.cpp │ │ │ │ │ ├── extended_kalman_filter.cpp │ │ │ │ │ └── kalman_filter.cpp │ │ │ │ ├── mag_table │ │ │ │ │ └── geo_mag_declination.cpp │ │ │ │ ├── pre_integrator │ │ │ │ │ ├── imu_pre_integrator.cpp │ │ │ │ │ └── odo_pre_integrator.cpp │ │ │ │ ├── registration │ │ │ │ │ └── ndt_registration.cpp │ │ │ │ ├── scan_adjust │ │ │ │ │ └── distortion_adjust.cpp │ │ │ │ ├── scan_context_manager │ │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ │ └── scan_contexts.pb.cpp │ │ │ │ └── sliding_window │ │ │ │ │ └── ceres_sliding_window.cpp │ │ │ ├── publisher │ │ │ │ ├── cloud_publisher.cpp │ │ │ │ ├── imu_publisher.cpp │ │ │ │ ├── key_frame_publisher.cpp │ │ │ │ ├── key_frames_publisher.cpp │ │ │ │ ├── lidar_measurement_publisher.cpp │ │ │ │ ├── loop_pose_publisher.cpp │ │ │ │ ├── odometry_publisher.cpp │ │ │ │ ├── pos_vel_mag_publisher.cpp │ │ │ │ ├── pos_vel_publisher.cpp │ │ │ │ └── tf_broadcaster.cpp │ │ │ ├── sensor_data │ │ │ │ ├── gnss_data.cpp │ │ │ │ ├── imu_data.cpp │ │ │ │ ├── key_frame.cpp │ │ │ │ ├── loop_pose.cpp │ │ │ │ ├── magnetic_field_data.cpp │ │ │ │ ├── pose_data.cpp │ │ │ │ └── velocity_data.cpp │ │ │ ├── subscriber │ │ │ │ ├── cloud_subscriber.cpp │ │ │ │ ├── gnss_subscriber.cpp │ │ │ │ ├── imu_subscriber.cpp │ │ │ │ ├── key_frame_subscriber.cpp │ │ │ │ ├── key_frames_subscriber.cpp │ │ │ │ ├── lidar_measurement_subscriber.cpp │ │ │ │ ├── loop_pose_subscriber.cpp │ │ │ │ ├── magnetic_field_subscriber.cpp │ │ │ │ ├── odometry_subscriber.cpp │ │ │ │ ├── pos_vel_mag_subscriber.cpp │ │ │ │ ├── pos_vel_subscriber.cpp │ │ │ │ └── velocity_subscriber.cpp │ │ │ ├── tf_listener │ │ │ │ └── tf_lisener.cpp │ │ │ └── tools │ │ │ │ ├── file_manager.cpp │ │ │ │ └── print_info.cpp │ │ └── srv │ │ │ ├── optimizeMap.srv │ │ │ ├── saveMap.srv │ │ │ ├── saveOdometry.srv │ │ │ └── saveScanContext.srv │ │ └── lio_mapping │ │ ├── .dockerignore │ │ ├── .gitignore │ │ ├── CATKIN_IGNORE │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── cmake │ │ ├── FindGflags.cmake │ │ └── FindGlog.cmake │ │ ├── config │ │ ├── indoor_test_config.yaml │ │ ├── outdoor_test_config.yaml │ │ └── outdoor_test_config_64.yaml │ │ ├── docker │ │ ├── 1.Dockerfile │ │ ├── Dockerfile │ │ ├── build_docker.sh │ │ └── run_docker.sh │ │ ├── include │ │ ├── 3rdparty │ │ │ └── sophus │ │ │ │ ├── LICENSE.txt │ │ │ │ ├── average.hpp │ │ │ │ ├── common.hpp │ │ │ │ ├── example_ensure_handler.cpp │ │ │ │ ├── geometry.hpp │ │ │ │ ├── interpolate.hpp │ │ │ │ ├── interpolate_details.hpp │ │ │ │ ├── num_diff.hpp │ │ │ │ ├── rotation_matrix.hpp │ │ │ │ ├── rxso2.hpp │ │ │ │ ├── rxso3.hpp │ │ │ │ ├── se2.hpp │ │ │ │ ├── se3.hpp │ │ │ │ ├── sim2.hpp │ │ │ │ ├── sim3.hpp │ │ │ │ ├── sim_details.hpp │ │ │ │ ├── so2.hpp │ │ │ │ ├── so3.hpp │ │ │ │ ├── test_macros.hpp │ │ │ │ ├── types.hpp │ │ │ │ └── velocities.hpp │ │ ├── factor │ │ │ ├── GravityLocalParameterization.h │ │ │ ├── ImuFactor.h │ │ │ ├── ImuGravityFactor.h │ │ │ ├── MarginalizationFactor.h │ │ │ ├── PivotPointPlaneFactor.h │ │ │ ├── PlaneProjectionFactor.h │ │ │ ├── PlaneToPlaneFactor.h │ │ │ ├── PointDistanceFactor.h │ │ │ ├── PoseLocalParameterization.h │ │ │ └── PriorFactor.h │ │ ├── feature_manager │ │ │ └── FeatureManager.h │ │ ├── imu_processor │ │ │ ├── Estimator.h │ │ │ ├── ImuInitializer.h │ │ │ ├── ImuInitializer_viorb.h │ │ │ ├── IntegrationBase.h │ │ │ └── MeasurementManager.h │ │ ├── map_builder │ │ │ └── MapBuilder.h │ │ ├── point_processor │ │ │ ├── PointMapping.h │ │ │ ├── PointOdometry.h │ │ │ ├── PointProcessor.h │ │ │ └── point_types.h │ │ ├── utils │ │ │ ├── CircularBuffer.h │ │ │ ├── LoadVirtual.h │ │ │ ├── TicToc.h │ │ │ ├── Twist.h │ │ │ ├── common_ros.h │ │ │ ├── geometry_utils.h │ │ │ └── math_utils.h │ │ └── visualizer │ │ │ └── Visualizer.h │ │ ├── launch │ │ ├── 16_scans_test.launch │ │ ├── 64_scans_test.launch │ │ ├── map_4D.launch │ │ ├── map_4D_indoor.launch │ │ ├── rs32_scans_test.launch │ │ ├── test_indoor.launch │ │ ├── test_indoor_rs32.launch │ │ ├── test_outdoor.launch │ │ └── test_outdoor_64.launch │ │ ├── package.xml │ │ ├── rviz_cfg │ │ ├── lio_baseline.rviz │ │ ├── lio_indoor_test.rviz │ │ ├── lio_map_builder.rviz │ │ ├── lio_map_builder_indoor.rviz │ │ ├── lio_map_builder_indoor_without_mapping.rviz │ │ ├── lio_outdoor_test.rviz │ │ └── lio_test.rviz │ │ ├── scripts │ │ ├── debug_plot.sh │ │ └── transform_monitor.py │ │ ├── src │ │ ├── estimator_node.cc │ │ ├── factor │ │ │ ├── GravityLocalParameterization.cc │ │ │ ├── MarginalizationFactor.cc │ │ │ ├── PivotPointPlaneFactor.cc │ │ │ ├── PlaneProjectionFactor.cc │ │ │ ├── PlaneToPlaneFactor.cc │ │ │ ├── PointDistanceFactor.cc │ │ │ ├── PoseLocalParameterization.cc │ │ │ └── PriorFactor.cc │ │ ├── feature_manager │ │ │ └── FeatureManager.cc │ │ ├── imu_processor │ │ │ ├── Estimator.cc │ │ │ ├── ImuInitializer.cc │ │ │ ├── ImuInitializer_visorb.cc │ │ │ └── MeasurementManager.cc │ │ ├── input_filters_node.cc │ │ ├── map_builder │ │ │ └── MapBuilder.cc │ │ ├── map_builder_node.cc │ │ ├── mapping_node.cc │ │ ├── odometry_node.cc │ │ ├── point_processor │ │ │ ├── PointMapping.cc │ │ │ ├── PointOdometry.cc │ │ │ └── PointProcessor.cc │ │ ├── processor_node.cc │ │ ├── save_bag_to_pcd.cc │ │ └── visualizer │ │ │ └── Visualizer.cc │ │ └── test │ │ ├── data │ │ ├── imu_pose_vel.txt │ │ └── imu_pose_vel_noise.txt │ │ ├── test_imu_processor │ │ ├── test_circular_buffer.cc │ │ ├── test_imu_factor.cc │ │ └── test_measurement_manager.cc │ │ ├── test_point_processor │ │ ├── test_point_mapping.cc │ │ ├── test_point_odometry.cc │ │ └── test_point_processor.cc │ │ ├── test_rotations.cc │ │ └── 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