├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── kaist │ ├── urban06.yaml │ ├── urban07.yaml │ ├── urban08.yaml │ ├── urban09.yaml │ ├── urban10.yaml │ ├── urban11.yaml │ ├── urban12.yaml │ ├── urban13.yaml │ ├── urban14.yaml │ ├── urban15.yaml │ └── urban17.yaml ├── nclt.yaml ├── robosense.yaml ├── ulhk_1.yaml ├── ulhk_2.yaml └── utbm.yaml ├── doc ├── demo_gif.gif ├── framework.png ├── method_comparison.png ├── nclt_result.png └── velocity_consistency.png ├── include ├── cloudMap.h ├── cloudProcessing.h ├── imuFactor.h ├── imuProcessing.h ├── lidarFactor.h ├── lioOptimization.h ├── parameters.h ├── poseParameterization.h └── utility.h ├── launch ├── lio_kaist.launch ├── lio_nclt.launch ├── lio_robosense.launch ├── lio_sam.launch ├── lio_ulhk_1.launch ├── lio_ulhk_2.launch └── lio_utbm.launch ├── package.xml ├── rviz_cfg └── visualization.rviz ├── src ├── cloudProcessing.cpp ├── imuFactor.cpp ├── imuProcessing.cpp ├── initialization.cpp ├── lidarFactor.cpp ├── lioOptimization.cpp ├── optimize.cpp ├── parameters.cpp ├── poseParameterization.cpp └── utility.cpp ├── thirdLibrary └── tessil-src │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── appveyor.yml │ ├── cmake │ └── tsl-robin-mapConfig.cmake.in │ ├── doxygen.conf │ ├── include │ └── tsl │ │ ├── robin_growth_policy.h │ │ ├── robin_hash.h │ │ ├── robin_map.h │ │ └── robin_set.h │ ├── tests │ ├── CMakeLists.txt │ ├── custom_allocator_tests.cpp │ ├── main.cpp │ ├── policy_tests.cpp │ ├── robin_map_tests.cpp │ ├── robin_set_tests.cpp │ └── utils.h │ └── tsl-robin-map.natvis └── tools └── nclt_to_rosbag.py /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZikangYuan/semi_elastic_lio/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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