├── .gitignore ├── CMakeLists.txt ├── CMakeLists1 ├── CMakeLists2 ├── LICENSE ├── README.md ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── include ├── BoW3D │ ├── BoW3D.h │ ├── Frame.h │ └── LinK3D_Extractor.h ├── CSF │ ├── CMakeLists.txt │ ├── CSF.cpp │ ├── CSF.h │ ├── Cfg.h │ ├── Cloth.cpp │ ├── Cloth.h │ ├── Constraint.cpp │ ├── Constraint.h │ ├── Particle.cpp │ ├── Particle.h │ ├── Rasterization.cpp │ ├── Rasterization.h │ ├── Vec3.h │ ├── XYZReader.cpp │ ├── XYZReader.h │ ├── c2cdist.cpp │ ├── c2cdist.h │ ├── point_cloud.cpp │ └── point_cloud.h ├── ICP_ceres │ └── ICP_ceres.h ├── aloam_velodyne │ ├── common.h │ ├── rotation.h │ └── tic_toc.h └── utility │ ├── common.h │ ├── myso3.cpp │ ├── myso3.hpp │ └── tic_toc.h ├── launch ├── aloam_rslidar_80.launch ├── aloam_union_ctx.launch ├── aloam_union_velodyne_HDL_64.launch ├── aloam_velodyne_HDL_32.launch ├── aloam_velodyne_HDL_64.launch ├── aloam_velodyne_VLP_16.launch └── kitti_helper.launch ├── link3d+ceres_svd_ICP.MP4 ├── loam+link3d.MP4 ├── package.xml ├── picture ├── kitti.png └── kitti_gif.gif ├── rviz_cfg ├── aloam+link3d.rviz ├── aloam_union.rviz └── aloam_velodyne.rviz └── src ├── BALM.cpp ├── BackEnd_BALM.cpp ├── BackEnd_BALM_ctx.cpp ├── BoW3D.cpp ├── Frame.cpp ├── FrontEnd.cpp ├── FrontEnd_Link3D.cpp ├── FrontEnd_Link3D_ctx.cpp ├── ICP_ceres.cpp ├── LinK3D_Extractor.cpp ├── ScanToMap.cpp ├── ScanToMap_CSF.cpp ├── ScanToMap_CSF_ctx.cpp ├── balmclass.hpp ├── kittiHelper.cpp ├── laserMapping.cpp ├── laserOdometry.cpp ├── lidarFactor.hpp ├── origin_balm_only_back_comments.cpp ├── origin_balmclass_comments.hpp ├── scanRegistration.cpp └── tools.hpp /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/ -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 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