├── .clang-format ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── README.md └── spark_fast_lio ├── CMakeLists.txt ├── LICENSE ├── config ├── avia.yaml ├── dcist_rrg │ └── rrghusky.yaml ├── horizon.yaml ├── kimera_multi │ ├── acl_jackal.yaml │ ├── acl_jackal2.yaml │ ├── apis.yaml │ ├── hathor.yaml │ ├── sobek.yaml │ ├── sparkal1.yaml │ ├── sparkal2.yaml │ └── thoth.yaml ├── ouster.yaml ├── ouster_vbr.yaml ├── velodyne.yaml └── velodyne_mit.yaml ├── include ├── common │ ├── Exp_mat.h │ ├── common_lib.h │ ├── so3_math.h │ └── use-ikfom.hpp ├── imu_processing.hpp ├── preprocess.h └── spark_fast_lio.h ├── launch ├── README.md ├── dcist │ └── mapping_hamilton.launch ├── mapping_dcist_rrg.launch.yaml ├── mapping_kimera_multi.launch.yaml ├── mapping_mit_campus.launch.yaml └── mapping_vbr_colosseo.launch.yaml ├── package.xml ├── rviz ├── dcist_rrg │ └── rrghusky.rviz ├── kimera_multi │ ├── acl_jackal.rviz │ ├── acl_jackal2.rviz │ ├── apis.rviz │ ├── hathor.rviz │ ├── sobek.rviz │ ├── sparkal1.rviz │ ├── sparkal2.rviz │ └── thoth.rviz ├── ouster_vbr.rviz └── velodyne_mit.rviz ├── src ├── preprocess.cpp └── spark_fast_lio.cpp └── third_party ├── 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 └── ikd-Tree ├── README.md ├── ikd_Tree.cpp └── ikd_Tree.h /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/spark-fast-lio/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/spark-fast-lio/HEAD/.gitignore -------------------------------------------------------------------------------- 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