├── .dockerignore ├── .gitignore ├── 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 └── test_visualizaer.cc /.dockerignore: -------------------------------------------------------------------------------- 1 | docker 2 | .git 3 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/README.md -------------------------------------------------------------------------------- /cmake/FindGflags.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/cmake/FindGflags.cmake -------------------------------------------------------------------------------- /cmake/FindGlog.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/cmake/FindGlog.cmake -------------------------------------------------------------------------------- /config/indoor_test_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/config/indoor_test_config.yaml -------------------------------------------------------------------------------- /config/outdoor_test_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/config/outdoor_test_config.yaml -------------------------------------------------------------------------------- /config/outdoor_test_config_64.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/config/outdoor_test_config_64.yaml -------------------------------------------------------------------------------- /docker/1.Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/docker/1.Dockerfile -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/docker/Dockerfile -------------------------------------------------------------------------------- /docker/build_docker.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/docker/build_docker.sh -------------------------------------------------------------------------------- /docker/run_docker.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/docker/run_docker.sh -------------------------------------------------------------------------------- /include/3rdparty/sophus/LICENSE.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/LICENSE.txt -------------------------------------------------------------------------------- /include/3rdparty/sophus/average.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/average.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/common.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/common.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/example_ensure_handler.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/example_ensure_handler.cpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/geometry.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/geometry.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/interpolate.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/interpolate.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/interpolate_details.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/interpolate_details.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/num_diff.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/num_diff.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/rotation_matrix.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/rotation_matrix.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/rxso2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/rxso2.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/rxso3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/rxso3.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/se2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/se2.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/se3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/se3.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/sim2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/sim2.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/sim3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/sim3.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/sim_details.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/sim_details.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/so2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/so2.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/so3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/so3.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/test_macros.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/test_macros.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/types.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/types.hpp -------------------------------------------------------------------------------- /include/3rdparty/sophus/velocities.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/3rdparty/sophus/velocities.hpp -------------------------------------------------------------------------------- /include/factor/GravityLocalParameterization.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/GravityLocalParameterization.h -------------------------------------------------------------------------------- /include/factor/ImuFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/ImuFactor.h -------------------------------------------------------------------------------- /include/factor/ImuGravityFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/ImuGravityFactor.h -------------------------------------------------------------------------------- /include/factor/MarginalizationFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/MarginalizationFactor.h -------------------------------------------------------------------------------- /include/factor/PivotPointPlaneFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/PivotPointPlaneFactor.h -------------------------------------------------------------------------------- /include/factor/PlaneProjectionFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/PlaneProjectionFactor.h -------------------------------------------------------------------------------- /include/factor/PlaneToPlaneFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/PlaneToPlaneFactor.h -------------------------------------------------------------------------------- /include/factor/PointDistanceFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/PointDistanceFactor.h -------------------------------------------------------------------------------- /include/factor/PoseLocalParameterization.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/PoseLocalParameterization.h -------------------------------------------------------------------------------- /include/factor/PriorFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/factor/PriorFactor.h -------------------------------------------------------------------------------- /include/feature_manager/FeatureManager.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/feature_manager/FeatureManager.h -------------------------------------------------------------------------------- /include/imu_processor/Estimator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/imu_processor/Estimator.h -------------------------------------------------------------------------------- /include/imu_processor/ImuInitializer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/imu_processor/ImuInitializer.h -------------------------------------------------------------------------------- /include/imu_processor/ImuInitializer_viorb.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/imu_processor/ImuInitializer_viorb.h -------------------------------------------------------------------------------- /include/imu_processor/IntegrationBase.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/imu_processor/IntegrationBase.h -------------------------------------------------------------------------------- /include/imu_processor/MeasurementManager.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/imu_processor/MeasurementManager.h -------------------------------------------------------------------------------- /include/map_builder/MapBuilder.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/map_builder/MapBuilder.h -------------------------------------------------------------------------------- /include/point_processor/PointMapping.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/point_processor/PointMapping.h -------------------------------------------------------------------------------- /include/point_processor/PointOdometry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/point_processor/PointOdometry.h -------------------------------------------------------------------------------- /include/point_processor/PointProcessor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/point_processor/PointProcessor.h -------------------------------------------------------------------------------- /include/point_processor/point_types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/point_processor/point_types.h -------------------------------------------------------------------------------- /include/utils/CircularBuffer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/CircularBuffer.h -------------------------------------------------------------------------------- /include/utils/LoadVirtual.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/LoadVirtual.h -------------------------------------------------------------------------------- /include/utils/TicToc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/TicToc.h -------------------------------------------------------------------------------- /include/utils/Twist.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/Twist.h -------------------------------------------------------------------------------- /include/utils/common_ros.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/common_ros.h -------------------------------------------------------------------------------- /include/utils/geometry_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/geometry_utils.h -------------------------------------------------------------------------------- /include/utils/math_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/utils/math_utils.h -------------------------------------------------------------------------------- /include/visualizer/Visualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/include/visualizer/Visualizer.h -------------------------------------------------------------------------------- /launch/16_scans_test.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/16_scans_test.launch -------------------------------------------------------------------------------- /launch/64_scans_test.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/64_scans_test.launch -------------------------------------------------------------------------------- /launch/map_4D.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/map_4D.launch -------------------------------------------------------------------------------- /launch/map_4D_indoor.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/map_4D_indoor.launch -------------------------------------------------------------------------------- /launch/rs32_scans_test.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/rs32_scans_test.launch -------------------------------------------------------------------------------- /launch/test_indoor.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/test_indoor.launch -------------------------------------------------------------------------------- /launch/test_indoor_rs32.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/test_indoor_rs32.launch -------------------------------------------------------------------------------- /launch/test_outdoor.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/test_outdoor.launch -------------------------------------------------------------------------------- /launch/test_outdoor_64.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/launch/test_outdoor_64.launch -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/package.xml -------------------------------------------------------------------------------- /rviz_cfg/lio_baseline.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_baseline.rviz -------------------------------------------------------------------------------- /rviz_cfg/lio_indoor_test.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_indoor_test.rviz -------------------------------------------------------------------------------- /rviz_cfg/lio_map_builder.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_map_builder.rviz -------------------------------------------------------------------------------- /rviz_cfg/lio_map_builder_indoor.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_map_builder_indoor.rviz -------------------------------------------------------------------------------- /rviz_cfg/lio_map_builder_indoor_without_mapping.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_map_builder_indoor_without_mapping.rviz -------------------------------------------------------------------------------- /rviz_cfg/lio_outdoor_test.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_outdoor_test.rviz -------------------------------------------------------------------------------- /rviz_cfg/lio_test.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/rviz_cfg/lio_test.rviz -------------------------------------------------------------------------------- /scripts/debug_plot.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/scripts/debug_plot.sh -------------------------------------------------------------------------------- /scripts/transform_monitor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/scripts/transform_monitor.py -------------------------------------------------------------------------------- /src/estimator_node.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/estimator_node.cc -------------------------------------------------------------------------------- /src/factor/GravityLocalParameterization.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/GravityLocalParameterization.cc -------------------------------------------------------------------------------- /src/factor/MarginalizationFactor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/MarginalizationFactor.cc -------------------------------------------------------------------------------- /src/factor/PivotPointPlaneFactor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/PivotPointPlaneFactor.cc -------------------------------------------------------------------------------- /src/factor/PlaneProjectionFactor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/PlaneProjectionFactor.cc -------------------------------------------------------------------------------- /src/factor/PlaneToPlaneFactor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/PlaneToPlaneFactor.cc -------------------------------------------------------------------------------- /src/factor/PointDistanceFactor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/PointDistanceFactor.cc -------------------------------------------------------------------------------- /src/factor/PoseLocalParameterization.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/PoseLocalParameterization.cc -------------------------------------------------------------------------------- /src/factor/PriorFactor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/factor/PriorFactor.cc -------------------------------------------------------------------------------- /src/feature_manager/FeatureManager.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/feature_manager/FeatureManager.cc -------------------------------------------------------------------------------- /src/imu_processor/Estimator.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/imu_processor/Estimator.cc -------------------------------------------------------------------------------- /src/imu_processor/ImuInitializer.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/imu_processor/ImuInitializer.cc -------------------------------------------------------------------------------- /src/imu_processor/ImuInitializer_visorb.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/imu_processor/ImuInitializer_visorb.cc -------------------------------------------------------------------------------- /src/imu_processor/MeasurementManager.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/imu_processor/MeasurementManager.cc -------------------------------------------------------------------------------- /src/input_filters_node.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/input_filters_node.cc -------------------------------------------------------------------------------- /src/map_builder/MapBuilder.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/map_builder/MapBuilder.cc -------------------------------------------------------------------------------- /src/map_builder_node.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/map_builder_node.cc -------------------------------------------------------------------------------- /src/mapping_node.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/mapping_node.cc -------------------------------------------------------------------------------- /src/odometry_node.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/odometry_node.cc -------------------------------------------------------------------------------- /src/point_processor/PointMapping.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/point_processor/PointMapping.cc -------------------------------------------------------------------------------- /src/point_processor/PointOdometry.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/point_processor/PointOdometry.cc -------------------------------------------------------------------------------- /src/point_processor/PointProcessor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/point_processor/PointProcessor.cc -------------------------------------------------------------------------------- /src/processor_node.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/processor_node.cc -------------------------------------------------------------------------------- /src/save_bag_to_pcd.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/save_bag_to_pcd.cc -------------------------------------------------------------------------------- /src/visualizer/Visualizer.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/src/visualizer/Visualizer.cc -------------------------------------------------------------------------------- /test/data/imu_pose_vel.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/data/imu_pose_vel.txt -------------------------------------------------------------------------------- /test/data/imu_pose_vel_noise.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/data/imu_pose_vel_noise.txt -------------------------------------------------------------------------------- /test/test_imu_processor/test_circular_buffer.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_imu_processor/test_circular_buffer.cc -------------------------------------------------------------------------------- /test/test_imu_processor/test_imu_factor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_imu_processor/test_imu_factor.cc -------------------------------------------------------------------------------- /test/test_imu_processor/test_measurement_manager.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_imu_processor/test_measurement_manager.cc -------------------------------------------------------------------------------- /test/test_point_processor/test_point_mapping.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_point_processor/test_point_mapping.cc -------------------------------------------------------------------------------- /test/test_point_processor/test_point_odometry.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_point_processor/test_point_odometry.cc -------------------------------------------------------------------------------- /test/test_point_processor/test_point_processor.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_point_processor/test_point_processor.cc -------------------------------------------------------------------------------- /test/test_rotations.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_rotations.cc -------------------------------------------------------------------------------- /test/test_visualizaer.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChaoqinRobotics/lio-mapping/HEAD/test/test_visualizaer.cc --------------------------------------------------------------------------------