├── CMakeLists.txt ├── LI-Init-LICENSE ├── README.md ├── Supplementary └── Supplementary Material.pdf ├── config ├── hilti │ ├── Basement_3.yaml │ └── Basement_4.yaml ├── m2dgr │ ├── velodyne_m2dgr_gate01.yaml │ ├── velodyne_m2dgr_hall04.yaml │ ├── velodyne_m2dgr_lift04.yaml │ ├── velodyne_m2dgr_rotation02.yaml │ └── velodyne_m2dgr_street08.yaml ├── ouster64.yaml ├── s3e │ ├── velodyne_s3e_bob_lab01.yaml │ └── velodyne_s3e_bob_lab02.yaml └── velodyne16.yaml ├── docker ├── Dockerfile ├── container_run.sh └── ros_entrypoint.sh ├── figs └── GRIL-Calib-overview.png ├── include ├── Fusion │ ├── CMakeLists.txt │ ├── Fusion.h │ ├── FusionAhrs.c │ ├── FusionAhrs.h │ ├── FusionAxes.h │ ├── FusionCalibration.h │ ├── FusionCompass.c │ ├── FusionCompass.h │ ├── FusionMath.h │ ├── FusionOffset.c │ └── FusionOffset.h ├── Gril_Calib │ ├── Gril_Calib.cpp │ └── Gril_Calib.h ├── GroundSegmentation │ ├── patchworkpp.hpp │ └── utils.hpp ├── IMU_Processing.hpp ├── color.h ├── common_lib.h ├── ikd-Tree │ 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