├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include ├── imu_processor │ ├── data_process.h │ └── gyr_int.h ├── loam_horizon │ ├── common.h │ └── tic_toc.h └── sophus │ ├── 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 ├── launch ├── loam_livox_horizon.launch ├── loam_livox_horizon_ext_imu.launch └── loam_livox_horizon_imu.launch ├── package.xml ├── rviz_cfg ├── fig │ ├── fig-1.png │ ├── rosgraph_imu.png │ └── rosgraph_no_imu.png ├── livox_viz.rviz └── loam_horizon.rviz └── src ├── imu_processor ├── data_process.cpp ├── data_process_node.cpp └── gyr_int.cpp ├── laserMapping.cpp ├── laserOdometry.cpp ├── lidarFactor.hpp ├── livox_repub.cpp └── 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