├── .gitignore ├── LICENSE ├── README.md ├── demo.mp4 ├── demo_pic.png ├── mad-icp.gif ├── mad-icp ├── CMakeLists.txt ├── cmake │ ├── FindCSparse.cmake │ ├── FindCholmod.cmake │ ├── FindGlog.cmake │ └── packages.cmake ├── config │ └── mapping_bag.yaml ├── launch │ ├── run_mad.launch │ └── rviz.rviz ├── log │ ├── 1 │ ├── 2 │ ├── 3 │ ├── 4 │ ├── 5 │ ├── 6 │ ├── 7 │ ├── 8 │ ├── 9 │ ├── 10 │ ├── 11 │ ├── 12 │ ├── 13 │ ├── 14 │ ├── 15 │ ├── 16 │ ├── 17 │ ├── 18 │ ├── 19 │ ├── 20 │ ├── 21 │ ├── 22 │ ├── 23 │ ├── 24 │ ├── 25 │ ├── 26 │ ├── 27 │ ├── 28 │ ├── 29 │ ├── 30 │ ├── 31 │ ├── 32 │ ├── 33 │ ├── 34 │ ├── 35 │ ├── 36 │ ├── 37 │ ├── 38 │ ├── 39 │ ├── 40 │ ├── 41 │ ├── 42 │ ├── 43 │ ├── 44 │ ├── 45 │ ├── 46 │ ├── 47 │ ├── 48 │ ├── 49 │ ├── 50 │ ├── 51 │ ├── 52 │ ├── 53 │ ├── 54 │ ├── 55 │ ├── 56 │ ├── 57 │ ├── 58 │ ├── 59 │ ├── 60 │ ├── 61 │ ├── 62 │ ├── 63 │ ├── 64 │ ├── 65 │ ├── 66 │ ├── 67 │ ├── 68 │ ├── 69 │ ├── 70 │ ├── 71 │ ├── 72 │ ├── 73 │ ├── 74 │ ├── 75 │ ├── 76 │ ├── 77 │ ├── 78 │ ├── 79 │ ├── 80 │ ├── 81 │ ├── 82 │ ├── 83 │ ├── 84 │ ├── 85 │ ├── 86 │ ├── 87 │ ├── 88 │ ├── 89 │ ├── 90 │ ├── 91 │ ├── 92 │ ├── 93 │ ├── 94 │ ├── 95 │ ├── 96 │ ├── 97 │ ├── 98 │ ├── 99 │ └── log_time.txt ├── package.xml └── src │ ├── apps │ ├── CMakeLists.txt │ ├── bin_runner.cpp │ ├── cpp_utils │ │ └── parse_cmd_line.h │ └── mad_icp.cpp │ ├── common │ ├── CMakeLists.txt │ ├── eigen_types.h │ ├── global_flags.cc │ ├── global_flags.h │ ├── io_utils.cc │ ├── io_utils.h │ ├── message_def.h │ ├── point_types.h │ ├── sys_utils.h │ ├── timer │ │ ├── timer.cc │ │ └── timer.h │ └── tool_color_printf.hpp │ ├── mad_icp │ ├── CMakeLists.txt │ ├── odometry │ │ ├── CMakeLists.txt │ │ ├── mad_icp.cpp │ │ ├── mad_icp.h │ │ ├── pipeline.cpp │ │ ├── pipeline.h │ │ ├── vel_estimator.cpp │ │ └── vel_estimator.h │ └── tools │ │ ├── CMakeLists.txt │ │ ├── constants.h │ │ ├── frame.h │ │ ├── lie_algebra.h │ │ ├── mad_tree.cpp │ │ ├── mad_tree.h │ │ └── utils.h │ └── preprocess │ ├── CMakeLists.txt │ └── cloud_convert2 │ ├── cloud_convert2.cc │ └── cloud_convert2.h └── paper_with_supplementary.pdf /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/mad-icp/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/mad-icp/HEAD/README.md -------------------------------------------------------------------------------- /demo.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/mad-icp/HEAD/demo.mp4 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