├── README.md ├── fast_lio-sam_loop-gps.png └── fast_lio-sam_loop-gps ├── CMakeLists.txt ├── LICENSE ├── Log ├── dbg.txt ├── fast_lio_time_log_analysis.m ├── guide.md ├── imu.txt ├── mat_out.txt ├── mat_pre.txt ├── plot.py └── pos_log.txt ├── README.md ├── ThirdParty └── GeographicLib │ ├── CMakeLists.txt │ ├── include │ ├── Config.h │ ├── Constants.hpp │ ├── Geocentric.hpp │ ├── LocalCartesian.hpp │ └── Math.hpp │ └── src │ ├── Geocentric.cpp │ ├── LocalCartesian.cpp │ └── Math.cpp ├── config ├── 00_fast_lio_sam_loop_gps_demo.yaml ├── avia.yaml ├── horizon.yaml ├── mid360.yaml ├── ouster64.yaml ├── pandarXT32.yaml ├── rs16.yaml ├── velodyne.yaml └── vlp_gps.yaml ├── 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 ├── core │ ├── back_end_impl.hpp │ └── fast_lio_impl.hpp ├── ikd-Tree │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── matplotlibcpp.h ├── so3_math.h ├── tic_toc.h └── use-ikfom.hpp ├── launch ├── mapping_velodyne.launch ├── mapping_velodyne_gps.launch └── start_driver_rslidar.launch ├── msg └── Pose6D.msg ├── package.xml ├── result └── timestamps.txt ├── rviz_cfg ├── hav_mseba.rviz ├── lio.rviz ├── loam_livox.rviz ├── show.rviz └── show2.rviz ├── src ├── IMU_Processing.hpp ├── laserMapping.cpp ├── preprocess.cpp ├── preprocess.h ├── simpleGpsOdom.cpp └── utility.h └── srv └── save_map.srv /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Hero941215/fast_lio-sam_loop-gps/HEAD/README.md -------------------------------------------------------------------------------- /fast_lio-sam_loop-gps.png: -------------------------------------------------------------------------------- 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