├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── Log ├── fast_lio_time_log_analysis.m ├── guide.md └── plot.py ├── README.md ├── config ├── avia.yaml ├── mid360.yaml └── ouster64.yaml ├── doc ├── detail.gif ├── init.gif └── test.gif ├── include ├── Exp_mat.h ├── IKFoM_toolkit │ ├── esekfom │ │ ├── esekfom.hpp │ │ └── util.hpp │ └── mtk │ │ ├── build_manifold.hpp │ │ ├── src │ │ ├── SubManifold.hpp │ │ ├── mtkmath.hpp │ │ └── vectview.hpp │ │ ├── startIdx.hpp │ │ └── types │ │ ├── S2.hpp │ │ ├── SOn.hpp │ │ ├── vect.hpp │ │ └── wrapped_cv_mat.hpp ├── Scancontext │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── Scancontext.cpp │ ├── Scancontext.h │ ├── nanoflann.hpp │ └── tictoc.h ├── common_lib.h ├── fast_localization │ └── Pose6D.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── matplotlibcpp.h ├── so3_math.h └── use-ikfom.hpp ├── launch ├── gdb_debug_example.launch ├── localization_avia.launch ├── localization_mid360.launch ├── localization_mid360_debug.launch ├── localization_ouster64.launch └── localization_ouster64_debug.launch ├── msg └── Pose6D.msg ├── package.xml ├── rviz_cfg ├── .gitignore └── loam_livox.rviz └── src ├── IMU_Processing.hpp ├── laserMapping.cpp ├── preprocess.cpp └── preprocess.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/.gitmodules -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/LICENSE -------------------------------------------------------------------------------- /Log/fast_lio_time_log_analysis.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/Log/fast_lio_time_log_analysis.m -------------------------------------------------------------------------------- /Log/guide.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/Log/guide.md -------------------------------------------------------------------------------- /Log/plot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/Log/plot.py -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/README.md -------------------------------------------------------------------------------- /config/avia.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/config/avia.yaml -------------------------------------------------------------------------------- /config/mid360.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/config/mid360.yaml -------------------------------------------------------------------------------- /config/ouster64.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/config/ouster64.yaml -------------------------------------------------------------------------------- /doc/detail.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/doc/detail.gif -------------------------------------------------------------------------------- /doc/init.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/doc/init.gif -------------------------------------------------------------------------------- /doc/test.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/doc/test.gif -------------------------------------------------------------------------------- /include/Exp_mat.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/Exp_mat.h -------------------------------------------------------------------------------- /include/IKFoM_toolkit/esekfom/esekfom.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/esekfom/esekfom.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/esekfom/util.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/esekfom/util.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/build_manifold.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/build_manifold.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/src/SubManifold.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/src/SubManifold.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/src/mtkmath.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/src/mtkmath.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/src/vectview.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/src/vectview.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/startIdx.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/startIdx.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/types/S2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/types/S2.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/types/SOn.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/types/SOn.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/types/vect.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/types/vect.hpp -------------------------------------------------------------------------------- /include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp -------------------------------------------------------------------------------- /include/Scancontext/KDTreeVectorOfVectorsAdaptor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/Scancontext/KDTreeVectorOfVectorsAdaptor.h -------------------------------------------------------------------------------- /include/Scancontext/Scancontext.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/Scancontext/Scancontext.cpp -------------------------------------------------------------------------------- /include/Scancontext/Scancontext.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/Scancontext/Scancontext.h -------------------------------------------------------------------------------- /include/Scancontext/nanoflann.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/Scancontext/nanoflann.hpp -------------------------------------------------------------------------------- /include/Scancontext/tictoc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/Scancontext/tictoc.h -------------------------------------------------------------------------------- /include/common_lib.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/common_lib.h -------------------------------------------------------------------------------- /include/fast_localization/Pose6D.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/fast_localization/Pose6D.h -------------------------------------------------------------------------------- /include/ikd-Tree/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/ikd-Tree/README.md -------------------------------------------------------------------------------- /include/ikd-Tree/ikd_Tree.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/ikd-Tree/ikd_Tree.cpp -------------------------------------------------------------------------------- /include/ikd-Tree/ikd_Tree.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/ikd-Tree/ikd_Tree.h -------------------------------------------------------------------------------- /include/matplotlibcpp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/matplotlibcpp.h -------------------------------------------------------------------------------- /include/so3_math.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/so3_math.h -------------------------------------------------------------------------------- /include/use-ikfom.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/include/use-ikfom.hpp -------------------------------------------------------------------------------- /launch/gdb_debug_example.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/launch/gdb_debug_example.launch -------------------------------------------------------------------------------- /launch/localization_avia.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/launch/localization_avia.launch -------------------------------------------------------------------------------- /launch/localization_mid360.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/launch/localization_mid360.launch -------------------------------------------------------------------------------- /launch/localization_mid360_debug.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/launch/localization_mid360_debug.launch -------------------------------------------------------------------------------- /launch/localization_ouster64.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/launch/localization_ouster64.launch -------------------------------------------------------------------------------- /launch/localization_ouster64_debug.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/launch/localization_ouster64_debug.launch -------------------------------------------------------------------------------- /msg/Pose6D.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/msg/Pose6D.msg -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/package.xml -------------------------------------------------------------------------------- /rviz_cfg/.gitignore: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /rviz_cfg/loam_livox.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/rviz_cfg/loam_livox.rviz -------------------------------------------------------------------------------- /src/IMU_Processing.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/src/IMU_Processing.hpp -------------------------------------------------------------------------------- /src/laserMapping.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/src/laserMapping.cpp -------------------------------------------------------------------------------- /src/preprocess.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/src/preprocess.cpp -------------------------------------------------------------------------------- /src/preprocess.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YWL0720/FAST-LOCALIZATION/HEAD/src/preprocess.h --------------------------------------------------------------------------------