├── CMakeLists.txt ├── LICENSE ├── Log ├── guide.md ├── imu_pbp.txt ├── mat_out.txt └── pos_log.txt ├── README.md ├── config ├── avia.yaml ├── horizon.yaml ├── mid360.yaml ├── ouster64.yaml └── velody16.yaml ├── include ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── IKFoM │ ├── .gitignore │ ├── .vscode │ │ └── settings.json │ ├── IKFoM_toolkit │ │ ├── .vscode │ │ │ └── settings.json │ │ ├── esekfom │ │ │ ├── .vscode │ │ │ │ └── settings.json │ │ │ ├── esekfom.hpp │ │ │ └── util.hpp │ │ └── mtk │ │ │ ├── build_manifold.hpp │ │ │ ├── src │ │ │ ├── SubManifold.hpp │ │ │ ├── mtkmath.hpp │ │ │ └── vectview.hpp │ │ │ ├── startIdx.hpp │ │ │ └── types │ │ │ ├── S2.hpp │ │ │ ├── SEn.hpp │ │ │ ├── SOn.hpp │ │ │ ├── vect.hpp │ │ │ └── wrapped_cv_mat.hpp │ ├── LICENSE │ └── README.md ├── common_lib.h ├── ivox │ ├── eigen_types.h │ ├── hilbert.hpp │ ├── ivox3d.h │ └── ivox3d_node.hpp ├── matplotlibcpp.h └── so3_math.h ├── launch └── point_lio.launch.py ├── msg └── 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