├── .gitignore ├── LICENSE ├── README.md ├── datasets └── .gitkeep ├── documents ├── 3d_printting.jpg ├── dataset_1.jpg ├── dataset_2.jpg ├── dataset_3.jpg ├── demo_video.jpg ├── interface.jpg ├── pcb_assembly.jpg ├── pcb_preview.jpg ├── result.jpg ├── result2.jpg ├── result3.jpg ├── rviz_config.png ├── teaser_hardware.jpg ├── teaser_overview.jpg └── teaser_slam.jpg ├── hardware ├── Firmware │ └── stm32f103c8t6.hex ├── Mechanical │ ├── assembly.FCStd │ ├── center_mounting_structure_hesai.step │ ├── center_mounting_structure_ra16.step │ ├── motor_mounting_base.step │ └── stand.step └── PCB │ ├── EasyEDA_PCB_control_board.json │ └── EasyEDA_PCB_host_machine_interface.json └── software ├── alpha_lidar_ws ├── .catkin_workspace └── src │ ├── CMakeLists.txt │ └── state_estimation │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── config │ ├── hesai16_rotation.yaml │ ├── hesai16_rotation_outdoor.yaml │ ├── mid360.yaml │ ├── rs16_rotation_v2.yaml │ ├── rs16_rotation_v2_outdoor.yaml │ └── rviz_cfg │ │ ├── .gitignore │ │ ├── hesai16.rviz │ │ ├── raw.rviz │ │ ├── raw_hesai16.rviz │ │ ├── raw_rs16.rviz │ │ └── rs16.rviz │ ├── include │ ├── Exp_mat.h │ ├── IKFoM_toolkit │ │ ├── esekfom │ │ │ ├── esekfom.hpp │ │ │ └── util.hpp │ │ └── mtk │ │ │ ├── build_manifold.hpp │ │ │ ├── src │ │ │ ├── SubManifold.hpp │ │ │ ├── mtkmath.hpp │ │ │ └── vectview.hpp │ │ │ ├── startIdx.hpp │ │ │ └── types │ │ │ ├── S2.hpp │ │ │ ├── SOn.hpp │ │ │ ├── vect.hpp │ │ │ └── wrapped_cv_mat.hpp │ ├── common_lib.h │ ├── matplotlibcpp.h │ ├── so3_math.h │ ├── use-ikfom.hpp │ └── voxel_map_util.hpp │ ├── launch │ ├── debug_lidar_driver.launch │ ├── mapping_hesai.launch │ ├── mapping_hesai_outdoor.launch │ ├── mapping_robosense.launch │ └── mapping_robosense_outdoor.launch │ ├── package.xml │ ├── scripts │ ├── evaluation.py │ └── logger.py │ └── src │ ├── IMU_Processing.hpp │ ├── converter │ ├── pandar_to_velodyne.cpp │ └── rs_to_velodyne.cpp │ ├── preprocess.cpp │ ├── preprocess.h │ └── 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