├── CMakeLists.txt ├── README.md ├── cmake ├── CMakeLists.txt ├── FindCSparse.cmake ├── FindCholmod.cmake ├── FindGlog.cmake └── packages.cmake ├── config ├── mapping_m copy.yaml └── mapping_m.yaml ├── doc ├── comparison.png ├── overview.png ├── park1-01.png ├── park1-02.png └── result.png ├── launch ├── run.launch └── rviz.rviz ├── package.xml ├── scripts └── all_time.py ├── src ├── CMakeLists.txt ├── algo │ ├── CMakeLists.txt │ ├── eskf.hpp │ ├── quat_ops.h │ ├── static_imu_init.cc │ └── static_imu_init.h ├── apps │ ├── CMakeLists.txt │ ├── common_utility.cpp │ ├── common_utility.hpp │ └── main_ada.cpp ├── common │ ├── CMakeLists.txt │ ├── cloudMap.hpp │ ├── config.cpp │ ├── config.hpp │ ├── eigen_types.h │ ├── global_flags.cc │ ├── global_flags.h │ ├── lidar_utils.h │ ├── map.cpp │ ├── map.hpp │ ├── math_utils.h │ ├── mutexDeque.hpp │ ├── timer │ │ ├── timer.cc │ │ └── timer.h │ ├── utility.cpp │ ├── utility.h │ ├── utils.cpp │ ├── utils.h │ ├── utils_trans.cpp │ └── utils_trans.h ├── lio │ ├── CMakeLists.txt │ ├── lidarFactor.cpp │ ├── lidarFactor.h │ ├── lidarodom.cpp │ ├── lidarodom.h │ ├── lio_utils.cpp │ ├── lio_utils.h │ ├── poseParameterization.cpp │ └── poseParameterization.h ├── preprocess │ ├── CMakeLists.txt │ └── cloud_convert │ │ ├── cloud_convert.cc │ │ ├── cloud_convert.h │ │ ├── cloud_convert2.cc │ │ ├── cloud_convert2.h │ │ └── cloud_convert_interface.hpp └── tools │ ├── imu.h │ ├── message_def.h │ ├── nav_state.h │ ├── odom.h │ ├── point_types.h │ ├── saveTrajectory.hpp │ ├── sys_utils.h │ └── tool_color_printf.hpp └── thirdparty ├── livox_ros_driver ├── CMakeLists.txt ├── msg │ ├── CustomMsg.msg │ └── CustomPoint.msg └── package.xml ├── sophus ├── average.hpp ├── common.hpp ├── example_ensure_handler.cpp ├── formatstring.hpp ├── geometry.hpp ├── interpolate.hpp ├── interpolate_details.hpp ├── num_diff.hpp ├── rotation_matrix.hpp ├── rxso2.hpp ├── rxso3.hpp ├── se2.hpp ├── se3.hpp ├── sim2.hpp ├── sim3.hpp ├── sim_details.hpp ├── so2.hpp ├── so3.hpp ├── test_macros.hpp ├── types.hpp └── velocities.hpp └── 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 /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/Adaptive-LIO/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/Adaptive-LIO/HEAD/README.md -------------------------------------------------------------------------------- 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