├── .gitignore ├── .history ├── CMakeLists_20231230194615.txt ├── CMakeLists_20231230194748.txt ├── CMakeLists_20231230194805.txt ├── CMakeLists_20231230195342.txt ├── CMakeLists_20231230204803.txt ├── CMakeLists_20231230204804.txt ├── config │ ├── Husky_lidar_20231205163406.yaml │ ├── Husky_lidar_20231226114112.yaml │ ├── Husky_lidar_20231226114116.yaml │ ├── Husky_lidar_20231226114120.yaml │ ├── Husky_lidar_20231226114123.yaml │ ├── Husky_lidar_20231226114127.yaml │ ├── Husky_lidar_20231226114130.yaml │ ├── Husky_lidar_20231226115158.yaml │ ├── Husky_lidar_20231226115206.yaml │ ├── Husky_lidar_20231226115208.yaml │ ├── Husky_lidar_20231227124650.yaml │ ├── Husky_lidar_20231227124651.yaml │ ├── Husky_lidar_20231227124927.yaml │ ├── Husky_lidar_20231227124942.yaml │ ├── Husky_lidar_20231227125006.yaml │ ├── Husky_lidar_20231227125018.yaml │ ├── Husky_lidar_20231227125031.yaml │ ├── Husky_lidar_20231227125103.yaml │ ├── Husky_lidar_20231227125124.yaml │ ├── Husky_lidar_20231227130438.yaml │ ├── Husky_lidar_20231227151114.yaml │ ├── Husky_lidar_20231227151115.yaml │ ├── Husky_lidar_20231227153739.yaml │ ├── Husky_lidar_20231230202429.yaml │ ├── Husky_lidar_20231230204759.yaml │ └── Husky_lidar_20231230204800.yaml ├── include │ ├── gicp_20231225223119.h │ ├── gicp_20231225234521.h │ ├── gicp_20231225234522.h │ └── gicp_20231225234556.h ├── package_20231227162346.xml ├── package_20231230195356.xml ├── package_20231230204826.xml └── src │ └── lidar_odometry │ ├── mapOptmization_20231225224345.cpp │ ├── mapOptmization_20231225234200.cpp │ ├── mapOptmization_20231225234201.cpp │ ├── mapOptmization_20231226112753.cpp │ ├── mapOptmization_20231226112759.cpp │ ├── mapOptmization_20231226112817.cpp │ ├── mapOptmization_20231226112849.cpp │ ├── mapOptmization_20231226112907.cpp │ ├── mapOptmization_20231226112917.cpp │ ├── mapOptmization_20231226112920.cpp │ ├── mapOptmization_20231226112922.cpp │ ├── mapOptmization_20231226113029.cpp │ ├── mapOptmization_20231226113030.cpp │ ├── mapOptmization_20231226113056.cpp │ ├── mapOptmization_20231226113119.cpp │ ├── mapOptmization_20231226113237.cpp │ ├── mapOptmization_20231226113240.cpp │ ├── mapOptmization_20231226113242.cpp │ ├── mapOptmization_20231226114807.cpp │ ├── mapOptmization_20231226114808.cpp │ ├── mapOptmization_20231226114829.cpp │ ├── mapOptmization_20231226114830.cpp │ ├── mapOptmization_20231226114927.cpp │ ├── mapOptmization_20231226114946.cpp │ ├── mapOptmization_20231226114947.cpp │ ├── mapOptmization_20231226115414.cpp │ ├── mapOptmization_20231226123916.cpp │ ├── mapOptmization_20231226123926.cpp │ ├── mapOptmization_20231226123929.cpp │ ├── mapOptmization_20231226124031.cpp │ ├── mapOptmization_20231226124032.cpp │ ├── mapOptmization_20231226124059.cpp │ ├── mapOptmization_20231226124102.cpp │ ├── mapOptmization_20231226124103.cpp │ ├── mapOptmization_20231226124237.cpp │ ├── mapOptmization_20231226124240.cpp │ ├── mapOptmization_20231226124445.cpp │ ├── mapOptmization_20231226124446.cpp │ ├── mapOptmization_20231226124449.cpp │ ├── mapOptmization_20231226124452.cpp │ ├── mapOptmization_20231226124453.cpp │ ├── mapOptmization_20231226124902.cpp │ ├── mapOptmization_20231226124919.cpp │ ├── mapOptmization_20231226124920.cpp │ ├── mapOptmization_20231226124927.cpp │ ├── mapOptmization_20231226124935.cpp │ ├── mapOptmization_20231226125102.cpp │ ├── mapOptmization_20231226125146.cpp │ ├── mapOptmization_20231226125320.cpp │ ├── mapOptmization_20231226125324.cpp │ ├── mapOptmization_20231226125325.cpp │ ├── mapOptmization_20231226125606.cpp │ ├── mapOptmization_20231226125607.cpp │ ├── mapOptmization_20231226125615.cpp │ ├── mapOptmization_20231226125643.cpp │ ├── mapOptmization_20231226125657.cpp │ ├── mapOptmization_20231226125713.cpp │ ├── mapOptmization_20231226125715.cpp │ ├── mapOptmization_20231226125716.cpp │ ├── mapOptmization_20231226125741.cpp │ ├── mapOptmization_20231226125743.cpp │ ├── mapOptmization_20231226125757.cpp │ ├── mapOptmization_20231226130055.cpp │ ├── mapOptmization_20231226130555.cpp │ ├── mapOptmization_20231226130703.cpp │ ├── mapOptmization_20231226130704.cpp │ ├── mapOptmization_20231227115345.cpp │ ├── mapOptmization_20231227115429.cpp │ ├── mapOptmization_20231227115430.cpp │ ├── mapOptmization_20231227115511.cpp │ ├── mapOptmization_20231227115921.cpp │ ├── mapOptmization_20231227115932.cpp │ ├── mapOptmization_20231227120050.cpp │ ├── mapOptmization_20231227120051.cpp │ ├── mapOptmization_20231227124511.cpp │ ├── mapOptmization_20231227124512.cpp │ ├── mapOptmization_20231227124545.cpp │ ├── mapOptmization_20231227125316.cpp │ ├── mapOptmization_20231227125336.cpp │ ├── mapOptmization_20231227125339.cpp │ ├── mapOptmization_20231227125347.cpp │ ├── mapOptmization_20231227125348.cpp │ ├── mapOptmization_20231227125422.cpp │ ├── mapOptmization_20231227125501.cpp │ ├── mapOptmization_20231227125504.cpp │ ├── mapOptmization_20231227125505.cpp │ ├── mapOptmization_20231227125603.cpp │ ├── mapOptmization_20231227125604.cpp │ ├── mapOptmization_20231227125605.cpp │ ├── mapOptmization_20231227130528.cpp │ ├── mapOptmization_20231227130545.cpp │ ├── mapOptmization_20231227130546.cpp │ ├── mapOptmization_20231227130608.cpp │ ├── mapOptmization_20231227130609.cpp │ ├── mapOptmization_20231227130653.cpp │ ├── mapOptmization_20231227130726.cpp │ ├── mapOptmization_20231227130802.cpp │ ├── mapOptmization_20231227130824.cpp │ ├── mapOptmization_20231227130825.cpp │ ├── mapOptmization_20231227130829.cpp │ ├── mapOptmization_20231227130839.cpp │ ├── mapOptmization_20231227130914.cpp │ ├── mapOptmization_20231227130915.cpp │ ├── mapOptmization_20231227131012.cpp │ ├── mapOptmization_20231227131029.cpp │ ├── mapOptmization_20231227131035.cpp │ ├── mapOptmization_20231227131036.cpp │ ├── mapOptmization_20231227131147.cpp │ ├── mapOptmization_20231227131215.cpp │ ├── mapOptmization_20231227132113.cpp │ ├── mapOptmization_20231227132114.cpp │ ├── mapOptmization_20231227132341.cpp │ ├── mapOptmization_20231227132342.cpp │ ├── mapOptmization_20231227132350.cpp │ ├── mapOptmization_20231227132354.cpp │ ├── mapOptmization_20231227132402.cpp │ ├── mapOptmization_20231227132420.cpp │ ├── mapOptmization_20231227132426.cpp │ ├── mapOptmization_20231227132434.cpp │ ├── mapOptmization_20231227132457.cpp │ ├── mapOptmization_20231227132512.cpp │ ├── mapOptmization_20231227132524.cpp │ ├── mapOptmization_20231227132529.cpp │ ├── mapOptmization_20231227132541.cpp │ ├── mapOptmization_20231227132550.cpp │ ├── mapOptmization_20231227132603.cpp │ ├── mapOptmization_20231227132616.cpp │ ├── mapOptmization_20231227132723.cpp │ ├── mapOptmization_20231227132727.cpp │ ├── mapOptmization_20231227135127.cpp │ ├── mapOptmization_20231227135749.cpp │ ├── mapOptmization_20231227142355.cpp │ ├── mapOptmization_20231227142610.cpp │ ├── mapOptmization_20231227142620.cpp │ ├── mapOptmization_20231227142903.cpp │ ├── mapOptmization_20231227142904.cpp │ ├── mapOptmization_20231227142914.cpp │ ├── utility_20231225224229.h │ ├── utility_20231225232723.h │ ├── utility_20231225233609.h │ ├── utility_20231225233614.h │ ├── utility_20231225233705.h │ ├── utility_20231225233724.h │ ├── utility_20231225233726.h │ ├── utility_20231225233749.h │ ├── utility_20231225233928.h │ ├── utility_20231225233929.h │ ├── utility_20231225234004.h │ ├── utility_20231225234006.h │ ├── utility_20231225234011.h │ ├── utility_20231225234035.h │ ├── utility_20231225234039.h │ ├── utility_20231225234305.h │ ├── utility_20231225234307.h │ ├── utility_20231225234312.h │ ├── utility_20231225234443.h │ ├── utility_20231226112654.h │ ├── utility_20231226112655.h │ ├── utility_20231226112709.h │ ├── utility_20231226112710.h │ ├── utility_20231226112723.h │ ├── utility_20231226112728.h │ ├── utility_20231226112729.h │ ├── utility_20231226113437.h │ ├── utility_20231226113558.h │ ├── utility_20231226113607.h │ ├── utility_20231226113617.h │ ├── utility_20231226113622.h │ ├── utility_20231226113623.h │ ├── utility_20231226113638.h │ ├── utility_20231226113641.h │ ├── utility_20231226113644.h │ ├── utility_20231226113648.h │ ├── utility_20231226113650.h │ ├── utility_20231226113651.h │ ├── utility_20231226113701.h │ ├── utility_20231226113702.h │ ├── utility_20231226113911.h │ ├── utility_20231226114014.h │ ├── utility_20231226114015.h │ ├── utility_20231226114026.h │ ├── utility_20231226114033.h │ ├── utility_20231226114038.h │ ├── utility_20231226114039.h │ ├── utility_20231226114043.h │ ├── utility_20231226114100.h │ ├── utility_20231226114519.h │ ├── utility_20231226114524.h │ ├── utility_20231226114529.h │ ├── utility_20231226114605.h │ ├── utility_20231226114645.h │ ├── utility_20231226114751.h │ ├── utility_20231226114915.h │ ├── utility_20231226114916.h │ ├── utility_20231226114933.h │ ├── utility_20231226114952.h │ ├── utility_20231226114953.h │ ├── utility_20231226115057.h │ ├── utility_20231226115125.h │ ├── utility_20231226115136.h │ ├── utility_20231226115137.h │ ├── utility_20231226115301.h │ ├── utility_20231226115312.h │ ├── utility_20231226115313.h │ ├── utility_20231227125126.h │ ├── utility_20231227125128.h │ ├── utility_20231227125137.h │ ├── utility_20231227125140.h │ ├── utility_20231227125153.h │ ├── utility_20231227125213.h │ ├── utility_20231227125220.h │ ├── utility_20231227125225.h │ ├── utility_20231227125232.h │ └── utility_20231227125243.h ├── CMakeLists.txt ├── LICENSE ├── README.md ├── README_CN.md ├── config ├── Husky_camera.yaml ├── Husky_lidar.yaml ├── KAIST_camera.yaml ├── KAIST_lidar.yaml ├── KITTI_camera.yaml ├── KITTI_lidar.yaml ├── M2DGR_camera.yaml ├── M2DGR_lidar.yaml ├── UrbanNavDataset_camera.yaml ├── UrbanNavDataset_lidar.yaml ├── backbag_camera.yaml ├── backbag_lidar.yaml ├── brief_k10L6.bin ├── brief_pattern.yml ├── extrinsic_parameter_example.pdf ├── fisheye_mask_720x540.jpg ├── ljj_camera.yaml ├── ljj_lidar.yaml ├── params_camera.yaml ├── params_camera_official.yaml ├── params_lidar.yaml └── params_lidar_official.yaml ├── doc ├── fig │ ├── backbag.png │ ├── gate_01.png │ ├── handheld-official.png │ ├── handheld.png │ ├── imu.png │ ├── kaist1.png │ ├── kaist2.png │ ├── kitti.png │ ├── ljj.gif │ ├── official-equipment.png │ └── urbannav.png ├── kaist-help │ ├── README.md │ ├── irp_sen_msgs │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── msg │ │ │ ├── LaserScanArray.msg │ │ │ ├── altimeter.msg │ │ │ ├── encoder.msg │ │ │ ├── fog.msg │ │ │ ├── fog_3axis.msg │ │ │ ├── imu.msg │ │ │ └── vrs.msg │ │ └── package.xml │ └── kaist2bag │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── config │ │ └── config.yaml │ │ ├── launch │ │ └── kaist2bag.launch │ │ ├── package.xml │ │ ├── scripts │ │ └── mergebag.py │ │ └── src │ │ ├── altimeter_converter.cpp │ │ ├── altimeter_converter.h │ │ ├── converter.cpp │ │ ├── converter.h │ │ ├── encoder_converter.cpp │ │ ├── encoder_converter.h │ │ ├── fog_converter.cpp │ │ ├── fog_converter.h │ │ ├── gps_converter.cpp │ │ ├── gps_converter.h │ │ ├── imu_converter.cpp │ │ ├── imu_converter.h │ │ ├── main.cpp │ │ ├── sick_converter.cpp │ │ ├── sick_converter.h │ │ ├── stereo_converter.cpp │ │ ├── stereo_converter.h │ │ ├── velodyne_converter.cpp │ │ ├── velodyne_converter.h │ │ ├── vrs_converter.cpp │ │ └── vrs_converter.h └── paper.pdf ├── docker ├── Dockerfile ├── docker_start.md └── ros_entrypoint.sh ├── eval copy.py ├── eval.py ├── include ├── KDTreeVectorOfVectorsAdaptor.h ├── Scancontext.h ├── gicp.h ├── gicp.hpp ├── gicp_utils.h ├── nanoflann.hpp ├── tictoc.h └── utility.h ├── launch ├── KAIST.launch ├── KITTI.launch ├── M2DGR.launch ├── UrbanNavDataset.launch ├── backbag.launch ├── include │ ├── config │ │ ├── robot.urdf.xacro │ │ └── rviz.rviz │ ├── module_robot_state_publisher.launch │ ├── module_rviz.launch │ ├── module_sam.launch │ └── rosconsole │ │ ├── rosconsole_error.conf │ │ ├── rosconsole_info.conf │ │ └── rosconsole_warn.conf ├── ljj.launch ├── motion_robo.launch ├── run.launch └── run_official.launch ├── msg └── cloud_info.msg ├── package.xml ├── pcd2tum.py └── src ├── .vscode ├── c_cpp_properties.json └── settings.json ├── lidar_odometry ├── Scancontext.cpp ├── featureExtraction.cpp ├── imageProjection.cpp ├── imuPreintegration.cpp ├── mapOptmization.cpp └── utility.h └── visual_odometry ├── visual_estimator ├── estimator.cpp ├── estimator.h ├── estimator_node.cpp ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── projection_td_factor.cpp │ └── projection_td_factor.h ├── feature_manager.cpp ├── feature_manager.h ├── initial │ ├── initial_aligment.cpp │ ├── initial_alignment.h │ ├── initial_ex_rotation.cpp │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h ├── parameters.cpp ├── parameters.h └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── visual_feature ├── camera_models │ ├── Camera.cc │ ├── Camera.h │ ├── CameraFactory.cc │ ├── CameraFactory.h │ ├── CataCamera.cc │ ├── CataCamera.h │ ├── CostFunctionFactory.cc │ ├── CostFunctionFactory.h │ ├── EquidistantCamera.cc │ ├── EquidistantCamera.h │ ├── PinholeCamera.cc │ ├── PinholeCamera.h │ ├── ScaramuzzaCamera.cc │ ├── ScaramuzzaCamera.h │ ├── gpl.cc │ └── gpl.h ├── feature_tracker.cpp ├── feature_tracker.h ├── feature_tracker_node.cpp ├── parameters.cpp ├── parameters.h └── tic_toc.h └── visual_loop ├── ThirdParty ├── DBoW │ ├── BowVector.cpp │ ├── BowVector.h │ ├── DBoW2.h │ ├── FBrief.cpp │ ├── FBrief.h │ ├── FClass.h │ ├── FeatureVector.cpp │ ├── FeatureVector.h │ ├── QueryResults.cpp │ ├── QueryResults.h │ ├── ScoringObject.cpp │ ├── ScoringObject.h │ ├── TemplatedDatabase.h │ └── TemplatedVocabulary.h ├── 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