├── .clang-format ├── .clang-tidy ├── .github ├── check_style.sh ├── clang_git_format │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── clang_git_format │ │ ├── __init__.py │ │ ├── clang_format.py │ │ ├── config.py │ │ ├── custom_exceptions.py │ │ ├── repo.py │ │ └── utils.py │ └── format_code.py ├── python_clang_format_reqs.txt └── workflows │ ├── build-ros.yml │ └── check-clang-format.yml ├── .gitignore ├── .vscode └── settings.json ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps └── mola-lidar-odometry-cli.cpp ├── colcon_defaults.yaml ├── docs ├── imgs │ ├── gui_parts.png │ ├── mola_lidar_odometry_architecture.png │ └── mola_system_scheme.png ├── imgs_sources │ └── gui_parts.odp ├── mola_lidar_odometry.rst ├── mola_lo_apps.rst ├── mola_lo_pipelines.rst └── mola_lo_ros_node.rst ├── eval ├── .gitignore ├── cli_kitti.sh ├── cli_kitti360.sh ├── cli_kitti_gicp.sh ├── cli_mulran.sh ├── gui_backpack_ual_citeIV.sh ├── gui_paris_luco.sh ├── gui_vlp16_ual_campus_2018_dataset_1.sh └── gui_vlp16_ual_campus_2018_dataset_2.sh ├── formatter.sh ├── module ├── include │ └── mola_lidar_odometry │ │ └── LidarOdometry.h └── src │ ├── LidarOdometry_AdaptiveVariables.cpp │ ├── LidarOdometry_GUI.cpp │ ├── LidarOdometry_InitialLocalization.cpp │ ├── LidarOdometry_Initialize.cpp │ ├── LidarOdometry_Main.cpp │ ├── LidarOdometry_MapServer.cpp │ ├── LidarOdometry_Parameters.cpp │ ├── LidarOdometry_ProcessScan.cpp │ ├── LidarOdometry_Publish.cpp │ ├── LidarOdometry_Relocalization.cpp │ ├── LidarOdometry_SensorCallbacks.cpp │ ├── libcfgpath │ ├── .clang-format │ ├── README.md │ └── cfgpath.h │ └── register.cpp ├── mola-cli-launchs ├── .gitignore ├── lidar_odometry_from_kitti.yaml ├── lidar_odometry_from_kitti360.yaml ├── lidar_odometry_from_kitti_output_ros2.yaml ├── lidar_odometry_from_mulran.yaml ├── lidar_odometry_from_paris_luco.yaml ├── lidar_odometry_from_rawlog.yaml ├── lidar_odometry_from_rosbag2.yaml └── lidar_odometry_ros2.yaml ├── package.xml ├── pipelines ├── .gitignore ├── extras │ ├── lidar3d-dual-map.yaml │ ├── lidar3d-edges.yaml │ ├── lidar3d-kissicp-like.yaml │ ├── localmap_definition_pointmap.ini │ └── rgbd.yaml ├── lidar2d.yaml ├── lidar3d-default.yaml ├── lidar3d-gicp.yaml ├── lidar3d-icp.yaml └── lidar3d-ndt.yaml ├── ros2-launchs ├── kitti-ros2-lidar-odometry.launch.py └── ros2-lidar-odometry.launch.py ├── rviz2 ├── kitti-lidar-odometry.rviz └── lidar-odometry.rviz ├── scripts ├── README.md ├── mola-lo-gui-kitti ├── mola-lo-gui-kitti360 ├── mola-lo-gui-mulran ├── mola-lo-gui-rawlog └── mola-lo-gui-rosbag2 ├── state-estimator-params ├── state-estimation-simple.yaml └── state-estimation-smoother.yaml └── test ├── CMakeLists.txt ├── kitti_00_fragment_gt.tum ├── mulran_KAIST01_fragment_gt.tum ├── rslidar_fragment_gt.tum ├── test_lidar_odometry_rawlog.cpp └── test_lidar_odometry_rosbag2.cpp /.clang-format: -------------------------------------------------------------------------------- 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