├── .gitignore ├── CMakeLists.txt ├── README.md ├── app ├── CMakeLists.txt └── run_livo.cc ├── cmake ├── FindEigen.cmake ├── FindGlog.cmake └── packages.cmake ├── config ├── fastlivo.yaml ├── fastlivo2.yaml └── r3live.yaml ├── img ├── experiment1.png ├── experiment2.png └── overview1.png ├── launch ├── fastlivo.launch ├── fastlivo2.launch └── r3live.launch ├── livo ├── CMakeLists.txt ├── common │ ├── CMakeLists.txt │ ├── ikfom.cc │ ├── ikfom.h │ └── mtk │ │ ├── lie_algebra.cc │ │ ├── lie_algebra.h │ │ ├── s2.cc │ │ ├── s2.h │ │ ├── se3.cc │ │ ├── se3.h │ │ ├── so3.cc │ │ └── so3.h ├── livo.cc ├── livo.h ├── log.h ├── map │ └── CMakeLists.txt ├── point_type.h ├── pub_sub.cc ├── sensor │ ├── CMakeLists.txt │ ├── cam │ │ ├── CMakeLists.txt │ │ ├── cam_handler.cc │ │ ├── cam_handler.h │ │ └── edge_drawing │ │ │ ├── edge_drawing.cpp │ │ │ ├── edge_drawing.hpp │ │ │ └── edge_drawing_common.hpp │ ├── imu │ │ ├── CMakeLists.txt │ │ ├── imu_handler.cc │ │ ├── imu_handler.h │ │ ├── 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