├── .gitignore ├── README.md ├── README_CN.md ├── doc ├── HesaiXT16.png └── split_map.png └── src ├── CMakeLists.txt └── LIO-Lite ├── 3rdparty ├── livox_ros_driver │ ├── CMakeLists.txt │ ├── msg │ │ ├── CustomMsg.msg │ │ └── CustomPoint.msg │ └── package.xml ├── tbb-2018-source.tar.gz └── tbb2018_20170726oss_lin.tgz ├── CMakeLists.txt ├── cmake ├── FindGlog.cmake └── packages.cmake ├── config ├── M2DGR.yaml ├── hesaixt16.yaml └── mid360.yaml ├── include ├── 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 ├── custom_logs.hpp ├── imu_processing.hpp ├── ivox3d │ ├── eigen_types.h │ ├── hilbert.hpp │ ├── ivox3d.h │ └── ivox3d_node.hpp ├── laser_mapping.h ├── options.h ├── pointcloud_preprocess.h ├── register │ ├── icp.hpp │ └── ndt.hpp ├── so3_math.h ├── use-ikfom.hpp └── utils.h ├── launch ├── M2DGR.launch ├── hesaiXT16.launch ├── include │ ├── local_rviz.rviz │ └── rviz.rviz ├── location_360.launch └── mapping_360.launch ├── logs ├── .gitignore └── .gitkeep ├── maps ├── .gitignore ├── split_map │ └── .gitkeep └── test_split │ └── .gitkeep ├── msg └── Pose6D.msg ├── package.xml ├── script └── remove.py └── src ├── laser_mapping.cc ├── options.cc ├── pointcloud_preprocess.cc ├── run_location_online.cc ├── run_mapping_online.cc ├── test ├── pcd_to_bird_eye.cc ├── test_load.cc └── test_split.cc └── utils.cc /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | devel/ 3 | .catkin_workspace 4 | .vscode/ -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Liansheng-Wang/faster_lio_localization/HEAD/README.md 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