├── 01-ICP-svd-basic ├── .gitignore ├── .idea │ ├── .gitignore │ └── misc.xml ├── CMakeLists.txt ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ └── glog.cmake ├── config │ ├── dataset │ │ └── config.yaml │ └── front_end │ │ └── config.yaml ├── include │ └── lidar_localization │ │ ├── front_end │ │ ├── front_end.hpp │ │ └── front_end_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── cloud_filter_interface.hpp │ │ │ └── voxel_filter.hpp │ │ └── registration │ │ │ ├── icp_registration.hpp │ │ │ ├── my_icp_registration.hpp │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── nanoflann │ │ └── nanoflann.hpp │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ └── odometry_publisher.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ └── tools │ │ └── file_manager.hpp ├── launch │ └── front_end.launch ├── package.xml ├── rviz │ └── front_end.rviz ├── src │ ├── front_end │ │ ├── front_end.cpp │ │ └── front_end_flow.cpp │ ├── front_end_node.cpp │ ├── models │ │ ├── cloud_filter │ │ │ └── voxel_filter.cpp │ │ └── registration │ │ │ ├── icp_registration.cpp │ │ │ ├── my_icp_registration.cpp │ │ │ └── ndt_registration.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ └── odometry_publisher.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ └── file_manager.cpp └── srv │ └── saveMap.srv ├── 01-ICP-svd ├── .gitignore ├── .idea │ ├── .gitignore │ └── misc.xml ├── CMakeLists.txt ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ └── glog.cmake ├── config │ ├── dataset │ │ └── config.yaml │ └── front_end │ │ └── config.yaml ├── include │ └── lidar_localization │ │ ├── front_end │ │ ├── front_end.hpp │ │ └── front_end_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── cloud_filter_interface.hpp │ │ │ └── voxel_filter.hpp │ │ └── registration │ │ │ ├── icp_registration.hpp │ │ │ ├── my_icp_registration.hpp │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── nanoflann │ │ └── nanoflann.hpp │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ └── odometry_publisher.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ └── tools │ │ └── file_manager.hpp ├── launch │ └── front_end.launch ├── package.xml ├── rviz │ └── front_end.rviz ├── src │ ├── front_end │ │ ├── front_end.cpp │ │ └── front_end_flow.cpp │ ├── front_end_node.cpp │ ├── models │ │ ├── cloud_filter │ │ │ └── voxel_filter.cpp │ │ └── registration │ │ │ ├── icp_registration.cpp │ │ │ ├── my_icp_registration.cpp │ │ │ └── ndt_registration.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ └── odometry_publisher.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ └── file_manager.cpp └── srv │ └── saveMap.srv ├── 02-loams ├── .gitignore ├── CMakeLists.txt ├── README.md └── src │ ├── CMakeLists.txt │ └── lidar_localization │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── ceres.cmake │ ├── eigen3.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ ├── glog.cmake │ └── sophus.cmake │ ├── config │ ├── dataset │ │ └── config.yaml │ └── front_end │ │ └── config.yaml │ ├── include │ └── lidar_localization │ │ ├── evaluation │ │ └── evaluation_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── cloud_filter_interface.hpp │ │ │ └── voxel_filter.hpp │ │ ├── loam │ │ │ └── aloam_factor.hpp │ │ └── registration │ │ │ ├── icp_registration.hpp │ │ │ ├── icp_svd_registration.hpp │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ └── odometry_publisher.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ ├── pose_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ ├── odometry_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ ├── tools │ │ └── file_manager.hpp │ │ └── utils │ │ ├── common.h │ │ └── tic_toc.h │ ├── launch │ └── front_end.launch │ ├── package.xml │ ├── rviz │ └── front_end.rviz │ ├── slam_data │ └── trajectory │ │ ├── ground_truth.txt │ │ └── laser_odom.txt │ ├── src │ ├── aloam_laser_odometry_node.cpp │ ├── aloam_mapping_node.cpp │ ├── aloam_scan_registration_node.cpp │ ├── evaluation │ │ └── evaluation_flow.cpp │ ├── evaluation_node.cpp │ ├── models │ │ ├── cloud_filter │ │ │ └── voxel_filter.cpp │ │ └── registration │ │ │ ├── icp_registration.cpp │ │ │ ├── icp_svd_registration.cpp │ │ │ └── ndt_registration.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ └── odometry_publisher.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ ├── pose_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ ├── odometry_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ └── file_manager.cpp │ └── srv │ └── saveMap.srv ├── 03-localization with map ├── CMakeLists.txt └── lidar_localization │ ├── CMakeLists.txt │ ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── g2o.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ ├── glog.cmake │ └── protobuf.cmake │ ├── config │ ├── mapping │ │ ├── back_end.yaml │ │ ├── front_end.yaml │ │ ├── loop_closing.yaml │ │ └── viewer.yaml │ ├── matching │ │ └── matching.yaml │ └── scan_context │ │ ├── key_frames.proto │ │ ├── ring_keys.proto │ │ └── scan_contexts.proto │ ├── include │ └── lidar_localization │ │ ├── data_pretreat │ │ └── data_pretreat_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── mapping │ │ ├── back_end │ │ │ ├── back_end.hpp │ │ │ └── back_end_flow.hpp │ │ ├── front_end │ │ │ ├── front_end.hpp │ │ │ └── front_end_flow.hpp │ │ ├── loop_closing │ │ │ ├── loop_closing.hpp │ │ │ └── loop_closing_flow.hpp │ │ └── viewer │ │ │ ├── viewer.hpp │ │ │ └── viewer_flow.hpp │ │ ├── matching │ │ ├── matching.hpp │ │ └── matching_flow.hpp │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.hpp │ │ │ ├── cloud_filter_interface.hpp │ │ │ ├── no_filter.hpp │ │ │ └── voxel_filter.hpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ ├── edge │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ └── g2o_graph_optimizer.hpp │ │ │ └── interface_graph_optimizer.hpp │ │ ├── registration │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.hpp │ │ └── scan_context_manager │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ ├── key_frames.pb.h │ │ │ ├── nanoflann.hpp │ │ │ ├── ring_keys.pb.h │ │ │ ├── scan_context_manager.hpp │ │ │ └── scan_contexts.pb.h │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ ├── imu_publisher.hpp │ │ ├── key_frame_publisher.hpp │ │ ├── key_frames_publisher.hpp │ │ ├── loop_pose_publisher.hpp │ │ ├── odometry_publisher.hpp │ │ └── tf_broadcaster.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ ├── key_frame.hpp │ │ ├── loop_pose.hpp │ │ ├── pose_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ ├── key_frame_subscriber.hpp │ │ ├── key_frames_subscriber.hpp │ │ ├── loop_pose_subscriber.hpp │ │ ├── odometry_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ └── tools │ │ ├── file_manager.hpp │ │ ├── print_info.hpp │ │ └── tic_toc.hpp │ ├── launch │ ├── mapping.launch │ └── matching.launch │ ├── package.xml │ ├── rviz │ ├── mapping.rviz │ └── matching.rviz │ ├── src │ ├── apps │ │ ├── back_end_node.cpp │ │ ├── data_pretreat_node.cpp │ │ ├── front_end_node.cpp │ │ ├── loop_closing_node.cpp │ │ ├── matching_node.cpp │ │ ├── test_frame_node.cpp │ │ └── viewer_node.cpp │ ├── data_pretreat │ │ └── data_pretreat_flow.cpp │ ├── mapping │ │ ├── back_end │ │ │ ├── back_end.cpp │ │ │ └── back_end_flow.cpp │ │ ├── front_end │ │ │ ├── front_end.cpp │ │ │ └── front_end_flow.cpp │ │ ├── loop_closing │ │ │ ├── loop_closing.cpp │ │ │ └── loop_closing_flow.cpp │ │ └── viewer │ │ │ ├── viewer.cpp │ │ │ └── viewer_flow.cpp │ ├── matching │ │ ├── matching.cpp │ │ └── matching_flow.cpp │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.cpp │ │ │ ├── no_filter.cpp │ │ │ └── voxel_filter.cpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ └── interface_graph_optimizer.cpp │ │ ├── registration │ │ │ └── ndt_registration.cpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.cpp │ │ └── scan_context_manager │ │ │ ├── key_frames.pb.cpp │ │ │ ├── ring_keys.pb.cpp │ │ │ ├── scan_context_manager.cpp │ │ │ └── scan_contexts.pb.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ ├── key_frame_publisher.cpp │ │ ├── key_frames_publisher.cpp │ │ ├── loop_pose_publisher.cpp │ │ ├── odometry_publisher.cpp │ │ └── tf_broadcaster.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ ├── key_frame.cpp │ │ ├── loop_pose.cpp │ │ ├── pose_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ ├── key_frame_subscriber.cpp │ │ ├── key_frames_subscriber.cpp │ │ ├── loop_pose_subscriber.cpp │ │ ├── odometry_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ ├── file_manager.cpp │ │ └── print_info.cpp │ └── srv │ ├── optimizeMap.srv │ ├── saveMap.srv │ └── saveScanContext.srv ├── 04-IMU-Calibration └── imu_tk │ ├── .gitignore │ ├── .vscode │ └── settings.json │ ├── CMakeLists.txt │ ├── README.md │ ├── apps │ ├── .gitignore │ ├── test_imu_calib.cpp │ ├── test_integration.cpp │ └── test_phone_calib.cpp │ ├── bin │ ├── test_data │ │ ├── xsens_acc.mat │ │ └── xsens_gyro.mat │ ├── test_imu_acc.calib │ ├── test_imu_calib │ ├── test_imu_gyro.calib │ └── test_integration │ ├── include │ ├── .gitignore │ └── imu_tk │ │ ├── base.h │ │ ├── calibration.h │ │ ├── filters.h │ │ ├── imu_tk.h │ │ ├── integration.h │ │ ├── io_utils.h │ │ ├── vis_extra │ │ ├── gl_camera.h │ │ └── opengl_3d_scene.h │ │ └── visualization.h │ ├── lib │ ├── .gitignore │ └── libimu_tk.a │ └── src │ ├── .gitignore │ ├── calibration.cpp │ ├── filters.cpp │ ├── io_utils.cpp │ ├── vis_extra │ ├── gl_camera.cpp │ └── opengl_3d_scene.cpp │ └── visualization.cpp ├── 05-imu-navigation └── sensor-fusion-for-localization-and-mapping │ ├── README.md │ ├── doc │ └── development-environment.png │ ├── docker-compose.yml │ ├── docker │ ├── README.md │ ├── cpu.Dockerfile │ ├── doc │ │ ├── 01-launch-instance.png │ │ ├── 02-service-health-check.png │ │ ├── 03-access-workspace.png │ │ └── 04-mount-native-workspace-into-docker.png │ ├── environment │ │ └── requirements.txt │ ├── image │ │ ├── etc │ │ │ ├── apt-fast.conf │ │ │ ├── apt │ │ │ │ ├── sources.list │ │ │ │ └── sources.list.d │ │ │ │ │ └── ros-latest.list │ │ │ ├── default │ │ │ │ └── keyboard │ │ │ ├── hosts │ │ │ ├── nginx │ │ │ │ └── sites-enabled │ │ │ │ │ └── default │ │ │ ├── pip.conf │ │ │ ├── resolv.conf │ │ │ └── supervisor │ │ │ │ ├── conf.d │ │ │ │ ├── lxde.conf │ │ │ │ └── webportal.conf │ │ │ │ └── supervisord.conf │ │ ├── root │ │ │ ├── .gtkrc-2.0 │ │ │ └── Desktop │ │ │ │ └── terminator.desktop │ │ ├── startup.sh │ │ ├── usr │ │ │ ├── lib │ │ │ │ └── webportal │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── README.md │ │ │ │ │ ├── app.ini │ │ │ │ │ ├── app.py │ │ │ │ │ ├── application │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── main │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── views.py │ │ │ │ │ ├── static │ │ │ │ │ │ └── tic.jpg │ │ │ │ │ ├── templates │ │ │ │ │ │ ├── aboutus.html │ │ │ │ │ │ ├── index.html │ │ │ │ │ │ └── redirect.html │ │ │ │ │ └── utils │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── log.py │ │ │ │ │ ├── config.py │ │ │ │ │ └── requirements.txt │ │ │ └── share │ │ │ │ └── doro-lxde-wallpapers │ │ │ │ ├── desktop-items-0.conf │ │ │ │ └── theme.jpeg │ │ └── workspace │ │ │ ├── data │ │ │ └── nginx │ │ │ │ └── noVNC.log │ │ │ └── requirements.txt │ └── installers │ │ ├── download-ipopt-installer.sh │ │ └── download-tini.sh │ ├── ubuntu-setup │ ├── README.md │ └── doc │ │ ├── external-disk │ │ ├── README.md │ │ └── images │ │ │ ├── 00-cleanup-a-installer-disk.jpg │ │ │ ├── 00-cleanup-b-ubuntu-disk.jpg │ │ │ ├── 00-cleanup-format-disks.png │ │ │ ├── 01-startup-disk-create--confirm.png │ │ │ ├── 01-startup-disk-create--existing-ubuntu.png │ │ │ ├── 01-startup-disk-create--select-device.png │ │ │ ├── 02-BIOS-boot-config.jpg │ │ │ ├── 02-BIOS-boot-sequence.jpg │ │ │ ├── 02-BIOS-enter.jpg │ │ │ ├── 02-BIOS-setup.jpg │ │ │ ├── 02-BIOS-start-installation.jpg │ │ │ ├── 03-install-ubuntu-a-keyboard.png │ │ │ ├── 03-install-ubuntu-a-language.png │ │ │ ├── 03-install-ubuntu-c-network.png │ │ │ ├── 03-install-ubuntu-d-option.png │ │ │ ├── 03-install-ubuntu-e-type.png │ │ │ ├── 03-install-ubuntu-f-create-new-partition-confirm.png │ │ │ ├── 03-install-ubuntu-f-create-new-partition-result.png │ │ │ ├── 03-install-ubuntu-f-create-new-partition.png │ │ │ ├── 03-install-ubuntu-g-02-boot.png │ │ │ ├── 03-install-ubuntu-g-03-root.png │ │ │ ├── 03-install-ubuntu-g-result.png │ │ │ ├── 03-install-ubuntu-h-confirm.png │ │ │ ├── 03-install-ubuntu-i-region.png │ │ │ ├── 03-install-ubuntu-k-config.png │ │ │ └── 03-install-ubuntu-l-finish.png │ │ └── ubuntu-windows │ │ └── Ubuntu双系统.pdf │ └── workspace │ ├── .gitignore │ ├── README.md │ ├── assignments │ ├── 00-hello-kitti │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── doc │ │ │ ├── demo.png │ │ │ └── terminator.png │ │ └── src │ │ │ ├── CMakeLists.txt │ │ │ └── lidar_localization │ │ │ ├── .gitignore │ │ │ ├── CMakeLists.txt │ │ │ ├── cmake │ │ │ ├── PCL.cmake │ │ │ ├── YAML.cmake │ │ │ ├── geographic.cmake │ │ │ ├── global_defination.cmake │ │ │ └── glog.cmake │ │ │ ├── config │ │ │ ├── dataset │ │ │ │ └── config.yaml │ │ │ └── front_end │ │ │ │ └── config.yaml │ │ │ ├── include │ │ │ └── lidar_localization │ │ │ │ ├── global_defination │ │ │ │ └── global_defination.h.in │ │ │ │ ├── models │ │ │ │ ├── cloud_filter │ │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ │ └── voxel_filter.hpp │ │ │ │ └── registration │ │ │ │ │ ├── icp_registration.hpp │ │ │ │ │ ├── icp_svd_registration.hpp │ │ │ │ │ ├── ndt_registration.hpp │ │ │ │ │ └── registration_interface.hpp │ │ │ │ ├── publisher │ │ │ │ ├── cloud_publisher.hpp │ │ │ │ └── odometry_publisher.hpp │ │ │ │ ├── sensor_data │ │ │ │ ├── cloud_data.hpp │ │ │ │ ├── gnss_data.hpp │ │ │ │ ├── imu_data.hpp │ │ │ │ └── velocity_data.hpp │ │ │ │ ├── subscriber │ │ │ │ ├── cloud_subscriber.hpp │ │ │ │ ├── gnss_subscriber.hpp │ │ │ │ ├── imu_subscriber.hpp │ │ │ │ └── velocity_subscriber.hpp │ │ │ │ ├── tf_listener │ │ │ │ └── tf_listener.hpp │ │ │ │ └── tools │ │ │ │ └── file_manager.hpp │ │ │ ├── launch │ │ │ └── test_frame.launch │ │ │ ├── package.xml │ │ │ ├── rviz │ │ │ └── test_frame.rviz │ │ │ ├── slam_data │ │ │ └── .gitignore │ │ │ └── src │ │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ └── odometry_publisher.cpp │ │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ └── velocity_data.cpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ └── velocity_subscriber.cpp │ │ │ ├── test_frame_node.cpp │ │ │ ├── tf_listener │ │ │ └── tf_lisener.cpp │ │ │ └── tools │ │ │ └── file_manager.cpp │ ├── 05-imu-navigation │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── doc │ │ │ └── images │ │ │ │ ├── demo.png │ │ │ │ └── terminator.png │ │ └── src │ │ │ ├── gnss_ins_sim │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── config │ │ │ │ ├── motion_def │ │ │ │ │ ├── allan_variance_analysis.csv │ │ │ │ │ ├── demo.csv │ │ │ │ │ └── deterministic_error_calib.csv │ │ │ │ ├── publisher.yaml │ │ │ │ ├── recorder_allan_variance_analysis.yaml │ │ │ │ └── recorder_deterministic_error_calib.yaml │ │ │ ├── launch │ │ │ │ ├── publisher.launch │ │ │ │ ├── recorder_allan_variance_analysis.launch │ │ │ │ └── recorder_deterministic_error_calib.launch │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ ├── publisher_node.py │ │ │ │ ├── recorder_node_allan_variance_analysis.py │ │ │ │ └── recorder_node_deterministic_error.py │ │ │ └── imu_integration │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── cmake │ │ │ └── glog.cmake │ │ │ ├── config │ │ │ ├── estimator.yaml │ │ │ └── generator.yaml │ │ │ ├── include │ │ │ └── imu_integration │ │ │ │ ├── config │ │ │ │ └── config.hpp │ │ │ │ ├── estimator │ │ │ │ └── activity.hpp │ │ │ │ ├── generator │ │ │ │ ├── activity.hpp │ │ │ │ └── node_constants.hpp │ │ │ │ ├── sensor_data │ │ │ │ ├── imu_data.hpp │ │ │ │ └── odom_data.hpp │ │ │ │ └── subscriber │ │ │ │ ├── imu_subscriber.hpp │ │ │ │ └── odom_subscriber.hpp │ │ │ ├── launch │ │ │ └── imu_integration.launch │ │ │ ├── package.xml │ │ │ ├── rviz │ │ │ └── imu_integration.rviz │ │ │ └── src │ │ │ ├── estimator │ │ │ ├── activity.cpp │ │ │ └── node.cpp │ │ │ ├── generator │ │ │ ├── activity.cpp │ │ │ └── node.cpp │ │ │ └── subscriber │ │ │ ├── imu_subscriber.cpp │ │ │ └── odom_subscriber.cpp │ └── README.md │ └── data │ └── kitti │ ├── .gitignore │ └── README.md ├── 06-filtering-basic ├── .gitignore ├── .idea │ ├── .gitignore │ ├── 06-filtering-basic.iml │ └── modules.xml ├── README.md ├── doc │ └── images │ │ ├── demo.png │ │ └── terminator.png └── src │ ├── CMakeLists.txt │ └── lidar_localization │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── g2o.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ ├── glog.cmake │ ├── protobuf.cmake │ └── sophus.cmake │ ├── config │ ├── filtering │ │ ├── gnss_ins_sim_filtering.yaml │ │ └── kitti_filtering.yaml │ ├── mapping │ │ ├── back_end.yaml │ │ ├── front_end.yaml │ │ ├── loop_closing.yaml │ │ └── viewer.yaml │ └── scan_context │ │ ├── key_frames.proto │ │ ├── ring_keys.proto │ │ └── scan_contexts.proto │ ├── include │ └── lidar_localization │ │ ├── data_pretreat │ │ ├── data_pretreat_flow.hpp │ │ ├── eskf_preprocess_flow.hpp │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ └── lidar_preprocess_flow.hpp │ │ ├── filtering │ │ ├── gnss_ins_sim_filtering.hpp │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ ├── kitti_filtering.hpp │ │ └── kitti_filtering_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── mapping │ │ ├── back_end │ │ │ ├── back_end.hpp │ │ │ └── back_end_flow.hpp │ │ ├── front_end │ │ │ ├── front_end.hpp │ │ │ └── front_end_flow.hpp │ │ ├── loop_closing │ │ │ ├── loop_closing.hpp │ │ │ └── loop_closing_flow.hpp │ │ └── viewer │ │ │ ├── viewer.hpp │ │ │ └── viewer_flow.hpp │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.hpp │ │ │ ├── cloud_filter_interface.hpp │ │ │ ├── no_filter.hpp │ │ │ └── voxel_filter.hpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ ├── edge │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ └── g2o_graph_optimizer.hpp │ │ │ └── interface_graph_optimizer.hpp │ │ ├── kalman_filter │ │ │ ├── error_state_kalman_filter.hpp │ │ │ ├── extended_kalman_filter.hpp │ │ │ └── kalman_filter.hpp │ │ ├── mag_table │ │ │ └── geo_mag_declination.hpp │ │ ├── registration │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.hpp │ │ └── scan_context_manager │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ ├── key_frames.pb.h │ │ │ ├── nanoflann.hpp │ │ │ ├── ring_keys.pb.h │ │ │ ├── scan_context_manager.hpp │ │ │ └── scan_contexts.pb.h │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ ├── imu_publisher.hpp │ │ ├── key_frame_publisher.hpp │ │ ├── key_frames_publisher.hpp │ │ ├── lidar_measurement_publisher.hpp │ │ ├── loop_pose_publisher.hpp │ │ ├── odometry_publisher.hpp │ │ ├── pos_vel_mag_publisher.hpp │ │ ├── pos_vel_publisher.hpp │ │ └── tf_broadcaster.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ ├── key_frame.hpp │ │ ├── lidar_measurement_data.hpp │ │ ├── loop_pose.hpp │ │ ├── magnetic_field_data.hpp │ │ ├── pos_vel_data.hpp │ │ ├── pos_vel_mag_data.hpp │ │ ├── pose_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ ├── key_frame_subscriber.hpp │ │ ├── key_frames_subscriber.hpp │ │ ├── lidar_measurement_subscriber.hpp │ │ ├── loop_pose_subscriber.hpp │ │ ├── magnetic_field_subscriber.hpp │ │ ├── odometry_subscriber.hpp │ │ ├── pos_vel_mag_subscriber.hpp │ │ ├── pos_vel_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ └── tools │ │ ├── CSVWriter.hpp │ │ ├── file_manager.hpp │ │ ├── print_info.hpp │ │ └── tic_toc.hpp │ ├── launch │ ├── gnss_ins_sim_localization.launch │ ├── kitti_localization.launch │ ├── mapping.launch │ ├── mapping_with_aloam.launch │ ├── matching.launch │ └── test_frame.launch │ ├── msg │ ├── EKFStd.msg │ ├── ESKFStd.msg │ ├── IMUGNSSMeasurement.msg │ ├── LidarMeasurement.msg │ ├── PosVel.msg │ └── PosVelMag.msg │ ├── package.xml │ ├── rviz │ ├── display_bag.rviz │ ├── eskf_analysis.rviz │ ├── filtering.rviz │ ├── gnss_ins_sim_localization.rviz │ ├── mapping.rviz │ └── test_frame.rviz │ ├── scripts │ ├── analyze_observability.py │ ├── generate_100hz_oxts.py │ ├── kitti2bag.py │ └── merge_bags.py │ ├── src │ ├── apps │ │ ├── back_end_node.cpp │ │ ├── data_pretreat_node.cpp │ │ ├── eskf_preprocess_node.cpp │ │ ├── front_end_node.cpp │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ ├── kitti_filtering_node.cpp │ │ ├── lidar_preprocess_node.cpp │ │ ├── loop_closing_node.cpp │ │ ├── test_frame_node.cpp │ │ └── viewer_node.cpp │ ├── data_pretreat │ │ ├── data_pretreat_flow.cpp │ │ ├── eskf_preprocess_flow.cpp │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ └── lidar_preprocess_flow.cpp │ ├── filtering │ │ ├── gnss_ins_sim_filtering.cpp │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ ├── kitti_filtering.cpp │ │ └── kitti_filtering_flow.cpp │ ├── mapping │ │ ├── back_end │ │ │ ├── back_end.cpp │ │ │ └── back_end_flow.cpp │ │ ├── front_end │ │ │ ├── front_end.cpp │ │ │ └── front_end_flow.cpp │ │ ├── loop_closing │ │ │ ├── loop_closing.cpp │ │ │ └── loop_closing_flow.cpp │ │ └── viewer │ │ │ ├── viewer.cpp │ │ │ └── viewer_flow.cpp │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.cpp │ │ │ ├── no_filter.cpp │ │ │ └── voxel_filter.cpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ └── interface_graph_optimizer.cpp │ │ ├── kalman_filter │ │ │ ├── error_state_kalman_filter.cpp │ │ │ ├── extended_kalman_filter.cpp │ │ │ └── kalman_filter.cpp │ │ ├── mag_table │ │ │ └── geo_mag_declination.cpp │ │ ├── registration │ │ │ └── ndt_registration.cpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.cpp │ │ └── scan_context_manager │ │ │ ├── key_frames.pb.cpp │ │ │ ├── ring_keys.pb.cpp │ │ │ ├── scan_context_manager.cpp │ │ │ └── scan_contexts.pb.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ ├── imu_publisher.cpp │ │ ├── key_frame_publisher.cpp │ │ ├── key_frames_publisher.cpp │ │ ├── lidar_measurement_publisher.cpp │ │ ├── loop_pose_publisher.cpp │ │ ├── odometry_publisher.cpp │ │ ├── pos_vel_mag_publisher.cpp │ │ ├── pos_vel_publisher.cpp │ │ └── tf_broadcaster.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ ├── key_frame.cpp │ │ ├── loop_pose.cpp │ │ ├── magnetic_field_data.cpp │ │ ├── pose_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ ├── key_frame_subscriber.cpp │ │ ├── key_frames_subscriber.cpp │ │ ├── lidar_measurement_subscriber.cpp │ │ ├── loop_pose_subscriber.cpp │ │ ├── magnetic_field_subscriber.cpp │ │ ├── odometry_subscriber.cpp │ │ ├── pos_vel_mag_subscriber.cpp │ │ ├── pos_vel_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ ├── file_manager.cpp │ │ └── print_info.cpp │ └── srv │ ├── optimizeMap.srv │ ├── saveMap.srv │ ├── saveOdometry.srv │ └── saveScanContext.srv ├── 08-graph-optimization └── sensor-fusion-for-localization-and-mapping │ ├── README.md │ ├── doc │ └── development-environment.png │ ├── docker-compose.yml │ ├── docker │ ├── README.md │ ├── cpu.Dockerfile │ ├── doc │ │ ├── 01-launch-instance.png │ │ ├── 02-service-health-check.png │ │ ├── 03-access-workspace.png │ │ └── 04-mount-native-workspace-into-docker.png │ ├── environment │ │ └── requirements.txt │ ├── image │ │ ├── etc │ │ │ ├── apt-fast.conf │ │ │ ├── apt │ │ │ │ ├── sources.list │ │ │ │ └── sources.list.d │ │ │ │ │ └── ros-latest.list │ │ │ ├── default │ │ │ │ └── keyboard │ │ │ ├── hosts │ │ │ ├── nginx │ │ │ │ └── sites-enabled │ │ │ │ │ └── default │ │ │ ├── pip.conf │ │ │ ├── resolv.conf │ │ │ └── supervisor │ │ │ │ ├── conf.d │ │ │ │ ├── lxde.conf │ │ │ │ └── webportal.conf │ │ │ │ └── supervisord.conf │ │ ├── root │ │ │ ├── .gtkrc-2.0 │ │ │ └── Desktop │ │ │ │ └── terminator.desktop │ │ ├── startup.sh │ │ ├── usr │ │ │ ├── lib │ │ │ │ └── webportal │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── README.md │ │ │ │ │ ├── app.ini │ │ │ │ │ ├── app.py │ │ │ │ │ ├── application │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── main │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── views.py │ │ │ │ │ ├── static │ │ │ │ │ │ └── tic.jpg │ │ │ │ │ ├── templates │ │ │ │ │ │ ├── aboutus.html │ │ │ │ │ │ ├── index.html │ │ │ │ │ │ └── redirect.html │ │ │ │ │ └── utils │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── log.py │ │ │ │ │ ├── config.py │ │ │ │ │ └── requirements.txt │ │ │ └── share │ │ │ │ └── doro-lxde-wallpapers │ │ │ │ ├── desktop-items-0.conf │ │ │ │ └── theme.jpeg │ │ └── workspace │ │ │ ├── data │ │ │ └── nginx │ │ │ │ └── noVNC.log │ │ │ └── requirements.txt │ └── installers │ │ ├── download-ipopt-installer.sh │ │ └── download-tini.sh │ ├── ubuntu-setup │ ├── README.md │ └── doc │ │ ├── external-disk │ │ ├── README.md │ │ └── images │ │ │ ├── 00-cleanup-a-installer-disk.jpg │ │ │ ├── 00-cleanup-b-ubuntu-disk.jpg │ │ │ ├── 00-cleanup-format-disks.png │ │ │ ├── 01-startup-disk-create--confirm.png │ │ │ ├── 01-startup-disk-create--existing-ubuntu.png │ │ │ ├── 01-startup-disk-create--select-device.png │ │ │ ├── 02-BIOS-boot-config.jpg │ │ │ ├── 02-BIOS-boot-sequence.jpg │ │ │ ├── 02-BIOS-enter.jpg │ │ │ ├── 02-BIOS-setup.jpg │ │ │ ├── 02-BIOS-start-installation.jpg │ │ │ ├── 03-install-ubuntu-a-keyboard.png │ │ │ ├── 03-install-ubuntu-a-language.png │ │ │ ├── 03-install-ubuntu-c-network.png │ │ │ ├── 03-install-ubuntu-d-option.png │ │ │ ├── 03-install-ubuntu-e-type.png │ │ │ ├── 03-install-ubuntu-f-create-new-partition-confirm.png │ │ │ ├── 03-install-ubuntu-f-create-new-partition-result.png │ │ │ ├── 03-install-ubuntu-f-create-new-partition.png │ │ │ ├── 03-install-ubuntu-g-02-boot.png │ │ │ ├── 03-install-ubuntu-g-03-root.png │ │ │ ├── 03-install-ubuntu-g-result.png │ │ │ ├── 03-install-ubuntu-h-confirm.png │ │ │ ├── 03-install-ubuntu-i-region.png │ │ │ ├── 03-install-ubuntu-k-config.png │ │ │ └── 03-install-ubuntu-l-finish.png │ │ └── ubuntu-windows │ │ └── Ubuntu双系统.pdf │ └── workspace │ ├── .gitignore │ ├── README.md │ └── assignments │ ├── 00-hello-kitti │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── doc │ │ ├── demo.png │ │ └── terminator.png │ └── src │ │ ├── CMakeLists.txt │ │ └── lidar_localization │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ └── glog.cmake │ │ ├── config │ │ ├── dataset │ │ │ └── config.yaml │ │ └── front_end │ │ │ └── config.yaml │ │ ├── include │ │ └── lidar_localization │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ └── registration │ │ │ │ ├── icp_registration.hpp │ │ │ │ ├── icp_svd_registration.hpp │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ └── odometry_publisher.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ └── file_manager.hpp │ │ ├── launch │ │ └── test_frame.launch │ │ ├── package.xml │ │ ├── rviz │ │ └── test_frame.rviz │ │ ├── slam_data │ │ └── .gitignore │ │ └── src │ │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ └── odometry_publisher.cpp │ │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ └── velocity_subscriber.cpp │ │ ├── test_frame_node.cpp │ │ ├── tf_listener │ │ └── tf_lisener.cpp │ │ └── tools │ │ └── file_manager.cpp │ ├── 08-graph-optimization │ ├── .gitignore │ ├── README.md │ ├── doc │ │ └── images │ │ │ ├── demo.png │ │ │ └── terminator.png │ └── src │ │ ├── CMakeLists.txt │ │ └── lidar_localization │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── g2o.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ ├── glog.cmake │ │ ├── protobuf.cmake │ │ └── sophus.cmake │ │ ├── config │ │ ├── mapping │ │ │ ├── back_end.yaml │ │ │ ├── front_end.yaml │ │ │ ├── lio_back_end.yaml │ │ │ ├── loop_closing.yaml │ │ │ └── viewer.yaml │ │ └── scan_context │ │ │ ├── key_frames.proto │ │ │ ├── ring_keys.proto │ │ │ └── scan_contexts.proto │ │ ├── include │ │ └── lidar_localization │ │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.hpp │ │ │ ├── eskf_preprocess_flow.hpp │ │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ │ └── lidar_preprocess_flow.hpp │ │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.hpp │ │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ │ ├── kitti_filtering.hpp │ │ │ └── kitti_filtering_flow.hpp │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.hpp │ │ │ │ ├── back_end_flow.hpp │ │ │ │ ├── lio_back_end.hpp │ │ │ │ └── lio_back_end_flow.hpp │ │ │ ├── front_end │ │ │ │ ├── front_end.hpp │ │ │ │ └── front_end_flow.hpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.hpp │ │ │ │ └── loop_closing_flow.hpp │ │ │ └── viewer │ │ │ │ ├── viewer.hpp │ │ │ │ └── viewer_flow.hpp │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.hpp │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ ├── no_filter.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ ├── edge │ │ │ │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ │ │ │ ├── edge_prvag_odo_pre_integration.hpp │ │ │ │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ ├── g2o_graph_optimizer.hpp │ │ │ │ │ └── vertex │ │ │ │ │ │ └── vertex_prvag.hpp │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.hpp │ │ │ │ ├── extended_kalman_filter.hpp │ │ │ │ └── kalman_filter.hpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.hpp │ │ │ ├── pre_integrator │ │ │ │ ├── imu_pre_integrator.hpp │ │ │ │ ├── odo_pre_integrator.hpp │ │ │ │ └── pre_integrator.hpp │ │ │ ├── registration │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.hpp │ │ │ └── scan_context_manager │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ ├── key_frames.pb.h │ │ │ │ ├── nanoflann.hpp │ │ │ │ ├── ring_keys.pb.h │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ └── scan_contexts.pb.h │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ ├── imu_publisher.hpp │ │ │ ├── key_frame_publisher.hpp │ │ │ ├── key_frames_publisher.hpp │ │ │ ├── lidar_measurement_publisher.hpp │ │ │ ├── loop_pose_publisher.hpp │ │ │ ├── odometry_publisher.hpp │ │ │ ├── pos_vel_mag_publisher.hpp │ │ │ ├── pos_vel_publisher.hpp │ │ │ └── tf_broadcaster.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ ├── key_frame.hpp │ │ │ ├── lidar_measurement_data.hpp │ │ │ ├── loop_pose.hpp │ │ │ ├── magnetic_field_data.hpp │ │ │ ├── pos_vel_data.hpp │ │ │ ├── pos_vel_mag_data.hpp │ │ │ ├── pose_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ ├── key_frame_subscriber.hpp │ │ │ ├── key_frames_subscriber.hpp │ │ │ ├── lidar_measurement_subscriber.hpp │ │ │ ├── loop_pose_subscriber.hpp │ │ │ ├── magnetic_field_subscriber.hpp │ │ │ ├── odometry_subscriber.hpp │ │ │ ├── pos_vel_mag_subscriber.hpp │ │ │ ├── pos_vel_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ ├── CSVWriter.hpp │ │ │ ├── file_manager.hpp │ │ │ ├── print_info.hpp │ │ │ └── tic_toc.hpp │ │ ├── launch │ │ └── lio_mapping.launch │ │ ├── msg │ │ ├── EKFStd.msg │ │ ├── ESKFStd.msg │ │ ├── IMUGNSSMeasurement.msg │ │ ├── LidarMeasurement.msg │ │ ├── PosVel.msg │ │ └── PosVelMag.msg │ │ ├── package.xml │ │ ├── rviz │ │ ├── display_bag.rviz │ │ ├── eskf_analysis.rviz │ │ ├── filtering.rviz │ │ ├── gnss_ins_sim_localization.rviz │ │ ├── mapping.rviz │ │ └── test_frame.rviz │ │ ├── scripts │ │ ├── analyze_observability.py │ │ ├── generate_100hz_oxts.py │ │ ├── kitti2bag.py │ │ └── merge_bags.py │ │ ├── slam_data │ │ └── .gitignore │ │ ├── src │ │ ├── apps │ │ │ ├── back_end_node.cpp │ │ │ ├── data_pretreat_node.cpp │ │ │ ├── eskf_preprocess_node.cpp │ │ │ ├── front_end_node.cpp │ │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ │ ├── kitti_filtering_node.cpp │ │ │ ├── lidar_preprocess_node.cpp │ │ │ ├── lio_back_end_node.cpp │ │ │ ├── loop_closing_node.cpp │ │ │ ├── test_frame_node.cpp │ │ │ └── viewer_node.cpp │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.cpp │ │ │ ├── eskf_preprocess_flow.cpp │ │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ │ └── lidar_preprocess_flow.cpp │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.cpp │ │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ │ ├── kitti_filtering.cpp │ │ │ └── kitti_filtering_flow.cpp │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.cpp │ │ │ │ ├── back_end_flow.cpp │ │ │ │ ├── lio_back_end.cpp │ │ │ │ └── lio_back_end_flow.cpp │ │ │ ├── front_end │ │ │ │ ├── front_end.cpp │ │ │ │ └── front_end_flow.cpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.cpp │ │ │ │ └── loop_closing_flow.cpp │ │ │ └── viewer │ │ │ │ ├── viewer.cpp │ │ │ │ └── viewer_flow.cpp │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.cpp │ │ │ │ ├── no_filter.cpp │ │ │ │ └── voxel_filter.cpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.cpp │ │ │ │ ├── extended_kalman_filter.cpp │ │ │ │ └── kalman_filter.cpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.cpp │ │ │ ├── pre_integrator │ │ │ │ ├── imu_pre_integrator.cpp │ │ │ │ └── odo_pre_integrator.cpp │ │ │ ├── registration │ │ │ │ └── ndt_registration.cpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.cpp │ │ │ └── scan_context_manager │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ └── scan_contexts.pb.cpp │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ ├── imu_publisher.cpp │ │ │ ├── key_frame_publisher.cpp │ │ │ ├── key_frames_publisher.cpp │ │ │ ├── lidar_measurement_publisher.cpp │ │ │ ├── loop_pose_publisher.cpp │ │ │ ├── odometry_publisher.cpp │ │ │ ├── pos_vel_mag_publisher.cpp │ │ │ ├── pos_vel_publisher.cpp │ │ │ └── tf_broadcaster.cpp │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ ├── key_frame.cpp │ │ │ ├── loop_pose.cpp │ │ │ ├── magnetic_field_data.cpp │ │ │ ├── pose_data.cpp │ │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ ├── key_frame_subscriber.cpp │ │ │ ├── key_frames_subscriber.cpp │ │ │ ├── lidar_measurement_subscriber.cpp │ │ │ ├── loop_pose_subscriber.cpp │ │ │ ├── magnetic_field_subscriber.cpp │ │ │ ├── odometry_subscriber.cpp │ │ │ ├── pos_vel_mag_subscriber.cpp │ │ │ ├── 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