├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── camera_pinhole.yaml └── lidar_velodyne.yaml ├── doc └── SystemOverview.png ├── include ├── FOV_Checker │ ├── FOV_Checker.cpp │ └── FOV_Checker.h ├── 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 ├── IMU_Processing.h ├── common_lib.h ├── feature.h ├── frame.h ├── ikd-Tree │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── lidar_selection.h ├── map.h ├── point.h ├── preprocess.h ├── so3_math.h ├── use-ikfom.hpp └── wheel_encoder_processing.hpp ├── launch └── localization_velodyne_dataset.launch ├── msg ├── Pose6D.msg ├── States.msg └── encoder.msg ├── package.xml ├── rviz_cfg └── livw_localization.rviz └── src ├── 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