├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Log ├── Colmap │ └── sparse │ │ └── 0 │ │ ├── cameras.txt │ │ ├── images.txt │ │ └── points3D.txt ├── PCD │ └── .gitkeep ├── guide.md ├── plot.py └── result │ ├── .gitkeep │ └── ntu_viral │ ├── README.md │ ├── eee_01_gt.txt │ ├── eee_01_prism.txt │ ├── eee_02_gt.txt │ ├── eee_02_prism.txt │ ├── eee_03_gt.txt │ ├── eee_03_prism.txt │ ├── evaluate_viral.py │ ├── nya_01_gt.txt │ ├── nya_01_prism.txt │ ├── nya_02_gt.txt │ ├── nya_02_prism.txt │ ├── nya_03_gt.txt │ ├── nya_03_prism.txt │ ├── sbs_01_gt.txt │ ├── sbs_01_prism.txt │ ├── sbs_02_gt.txt │ ├── sbs_02_prism.txt │ ├── sbs_03_gt.txt │ └── sbs_03_prism.txt ├── README.md ├── Supplementary └── LIVO2_supplementary.pdf ├── config ├── MARS_LVIG.yaml ├── NTU_VIRAL.yaml ├── avia.yaml ├── camera_MARS_LVIG.yaml ├── camera_NTU_VIRAL.yaml └── camera_pinhole.yaml ├── include ├── IMU_Processing.h ├── LIVMapper.h ├── common_lib.h ├── feature.h ├── frame.h ├── livox_ros_driver │ ├── CustomMsg.h │ └── CustomPoint.h ├── preprocess.h ├── utils │ ├── color.h │ ├── so3_math.h │ ├── types.h │ └── utils.h ├── vio.h ├── visual_point.h └── voxel_map.h ├── launch ├── mapping_avia_marslvig.launch.py ├── mapping_aviz.launch.py └── mapping_ouster_ntu.launch.py ├── package.xml ├── pics ├── Framework.png ├── debug_error.png └── rosgraph.png ├── rviz_cfg ├── M300.rviz ├── fast_livo2.rviz └── ntu_viral.rviz ├── scripts ├── colmap_output.sh └── mesh.py └── src ├── IMU_Processing.cpp ├── LIVMapper.cpp ├── frame.cpp ├── main.cpp ├── preprocess.cpp ├── utils.cpp ├── vio.cpp ├── visual_point.cpp └── voxel_map.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | Log/* 2 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Robotic-Developer-Road/FAST-LIVO2/HEAD/CMakeLists.txt 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