├── CMakeLists.txt ├── PCD └── scans.pcd ├── README.md ├── config ├── ouster64.yaml └── velodyne.yaml ├── doc ├── IMMKF_workflow.png ├── Lio-setup.png ├── New_college.gif ├── SEM_GT.png ├── SEM_IMM.png ├── UNR_SEM.gif ├── UrBan_IMM.png ├── Urban-GT.png └── urban.gif ├── include ├── Exp_mat.h ├── IKFoM_toolkit │ ├── immform │ │ ├── imm_form.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 ├── common_lib.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── matplotlibcpp.h ├── so3_math.h └── use-ikfom.hpp ├── launch ├── ouster64.launch └── velodyne.launch ├── msg └── Pose6D.msg ├── package.xml ├── rviz_cfg └── loam_livox.rviz ├── src ├── IMM_lio.cpp ├── IMU_Processing.hpp ├── preprocess.cpp └── preprocess.h └── supplement_material.pdf /CMakeLists.txt: 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