├── CMakeLists.txt ├── LICENSE ├── README.md ├── figure ├── ape_aloam.png ├── ape_floam.png ├── image1.png ├── image2.png ├── image3.png ├── image4.png ├── three_traj.png └── time.png ├── include ├── TicToc.hpp ├── featureExtractClass.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── laserMappingClass.h ├── laserOdomClass.h ├── laserProcessingClass.h ├── lidar.h ├── lidarOpt.h ├── lidarOptimization.h ├── odomEstimationClass.h ├── 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 └── utils.h ├── launch ├── floam.launch ├── floam_mapping.launch ├── floam_test.launch ├── floam_test2.launch └── floam_velodyne.launch ├── package.xml ├── rviz ├── floam.rviz ├── floam_mapping.rviz ├── floam_velodyne.rviz └── test.rviz └── src ├── featureExtractClass.cpp ├── featureExtractNode.cpp ├── laserMappingClass.cpp ├── laserMappingNode.cpp ├── laserOdomClass.cpp ├── laserOdomNode.cpp ├── laserProcessingClass.cpp ├── laserProcessingNode.cpp ├── lidar.cpp ├── lidarOpt.cpp ├── lidarOptimization.cpp ├── odomEstimationClass.cpp ├── odomEstimationNode.cpp └── utils.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/fast-lo/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/fast-lo/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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