├── .github └── stale.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── doc │ ├── demo.gif │ ├── device-boat.png │ ├── device-hand-2.png │ ├── device-hand.png │ ├── device-jackal.png │ ├── gps-demo.gif │ ├── imu-transform.png │ ├── kitti-demo.gif │ ├── kitti-map.png │ ├── kitti2bag │ │ ├── README.md │ │ └── kitti2bag.py │ ├── loop-closure.gif │ ├── ouster-demo.gif │ ├── ouster-device.jpg │ ├── paper.pdf │ └── system.png └── params.yaml ├── include └── utility.h ├── launch ├── include │ ├── config │ │ ├── robot.urdf.xacro │ │ └── rviz.rviz │ ├── module_loam.launch │ ├── module_navsat.launch │ ├── module_relocolize.launch │ ├── module_robot_state_publisher.launch │ ├── module_rviz.launch │ └── rosconsole │ │ ├── rosconsole_error.conf │ │ ├── rosconsole_info.conf │ │ └── rosconsole_warn.conf ├── run.launch └── run_relocalize.launch ├── msg └── cloud_info.msg ├── package.xml └── src ├── featureExtraction.cpp ├── globalLocalize.cpp ├── imageProjection.cpp ├── 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