├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── cmake └── FindEigen.cmake ├── launch ├── r3live_bag.launch ├── r3live_bag_ouster.launch └── r3live_reconstruct_mesh.launch ├── package.xml └── src ├── loam ├── IMU_Processing.cpp ├── IMU_Processing.hpp ├── LiDAR_front_end.cpp └── include │ ├── FOV_Checker │ ├── FOV_Checker.cpp │ └── FOV_Checker.h │ ├── common_lib.h │ ├── kd_tree │ ├── ikd_Tree.cpp │ └── ikd_Tree.h │ ├── matplotlibcpp.h │ ├── os_compatible.hpp │ └── so3_math.h ├── meshing ├── MVS │ ├── Camera.cpp │ ├── Camera.h │ ├── Common.h │ ├── Common │ │ ├── AABB.h │ │ ├── AABB.inl │ │ ├── AutoEstimator.h │ │ ├── AutoPtr.h │ │ ├── CMakeLists.txt │ │ ├── Common.cpp │ │ ├── Common.h │ │ ├── Config.h │ │ ├── ConfigTable.cpp │ │ ├── ConfigTable.h │ │ ├── CriticalSection.h │ │ ├── EventQueue.cpp │ │ ├── EventQueue.h │ │ ├── FastDelegate.h │ │ ├── FastDelegateBind.h │ │ ├── FastDelegateCPP11.h │ │ ├── File.h │ │ ├── Filters.h │ │ ├── HTMLDoc.h │ │ ├── HalfFloat.h │ │ ├── Hash.h │ │ ├── LinkLib.h │ │ ├── List.h │ │ ├── Log.cpp │ │ ├── Log.h │ │ ├── MemFile.h │ │ ├── OBB.h │ │ ├── OBB.inl │ │ ├── Octree.h │ │ ├── Octree.inl │ │ ├── Plane.h │ │ ├── Plane.inl │ │ ├── Queue.h │ │ ├── Random.h │ │ ├── Ray.h │ │ ├── Ray.inl │ │ ├── Rotation.h │ │ ├── Rotation.inl │ │ ├── SML.cpp │ │ ├── SML.h │ │ ├── Sampler.inl │ │ ├── Semaphore.h │ │ ├── SharedPtr.h │ │ ├── Sphere.h │ │ ├── Sphere.inl │ │ ├── Streams.h │ │ ├── Strings.h │ │ ├── Thread.h │ │ ├── Timer.cpp │ │ ├── Timer.h │ │ ├── Types.cpp │ │ ├── Types.h │ │ ├── Types.inl │ │ ├── Util.cpp │ │ ├── Util.h │ │ └── Util.inl │ ├── IBFS.cpp │ ├── IBFS.h │ ├── Image.cpp │ ├── Image.h │ ├── Mesh.cpp │ ├── Mesh.h │ ├── OBJ.cpp │ ├── OBJ.h │ ├── PLY.cpp │ ├── PLY.h │ ├── Platform.cpp │ ├── Platform.h │ ├── PointCloud.cpp │ └── PointCloud.h ├── build_mesh.hpp └── vcg │ ├── complex │ ├── algorithms │ │ ├── attribute_seam.h │ │ ├── autoalign_4pcs.h │ │ ├── bitquad_creation.h │ │ ├── bitquad_optimization.h │ │ ├── bitquad_support.h │ │ ├── clean.h │ │ ├── clip.h │ │ ├── closest.h │ │ ├── clustering.h │ │ ├── crease_cut.h │ │ ├── create │ │ │ ├── advancing_front.h │ │ │ ├── ball_pivoting.h │ │ │ ├── emc_lookup_table.h │ │ │ ├── extended_marching_cubes.h │ │ │ ├── extrude.h │ │ │ ├── marching_cubes.h │ │ │ ├── mc_lookup_table.h │ │ │ ├── mc_trivial_walker.h │ │ │ ├── platonic.h │ │ │ ├── readme.txt │ │ │ ├── resampler.h │ │ │ └── zonohedron.h │ │ ├── cylinder_clipping.h │ │ ├── edge_collapse.h │ │ ├── geodesic.h │ │ ├── halfedge_quad_clean.h │ │ ├── harmonic.h │ │ ├── hole.h │ │ ├── inertia.h │ │ ├── inside.h │ │ ├── intersection.h │ │ ├── local_optimization.h │ │ ├── local_optimization │ │ │ ├── quad_diag_collapse.h │ │ │ ├── tetra_edge_collapse.h │ │ │ ├── tri_edge_collapse.h │ │ │ ├── tri_edge_collapse_quadric.h │ │ │ ├── tri_edge_collapse_quadric_tex.h │ │ │ └── tri_edge_flip.h │ │ ├── nring.h │ │ ├── outline_support.h │ │ ├── overlap_estimation.h │ │ ├── parametrization │ │ │ ├── distortion.h │ │ │ ├── poisson_solver.h │ │ │ ├── tangent_field_operators.h │ │ │ ├── uv_utils.h │ │ │ └── voronoi_atlas.h │ │ ├── point_sampling.h │ │ ├── pointcloud_normal.h │ │ ├── polygon_polychord_collapse.h │ │ ├── polygon_support.h │ │ ├── refine.h │ │ ├── refine_loop.h │ │ ├── smooth.h │ │ ├── stat.h │ │ ├── symmetry.h │ │ ├── textcoord_optimization.h │ │ ├── update │ │ │ ├── bounding.h │ │ │ ├── color.h │ │ │ ├── component_ep.h │ │ │ ├── curvature.h │ │ │ ├── curvature_fitting.h │ │ │ ├── fitmaps.h │ │ │ ├── flag.h │ │ │ ├── halfedge_indexed.h │ │ │ ├── halfedge_topology.h │ │ │ ├── normal.h │ │ │ ├── position.h │ │ │ ├── quality.h │ │ │ ├── selection.h │ │ │ ├── texture.h │ │ │ └── topology.h │ │ └── voronoi_processing.h │ ├── all_types.h │ ├── allocate.h │ ├── append.h │ ├── base.h │ ├── complex.h │ ├── exception.h │ └── used_types.h │ ├── connectors │ ├── halfedge_pos.h │ ├── hedge.h │ └── hedge_component.h │ ├── container │ ├── container_allocation_table.h │ ├── derivation_chain.h │ ├── entries_allocation_table.h │ ├── simple_temporary_data.h │ └── vector_occ.h │ ├── math │ ├── base.h │ ├── camera.h │ ├── disjoint_set.h │ ├── eigen.h │ ├── eigen_matrix_addons.h │ ├── eigen_matrixbase_addons.h │ ├── factorial.h │ ├── gen_normal.h │ ├── histogram.h │ ├── legendre.h │ ├── linear.h │ ├── matrix33.h │ ├── matrix44.h │ ├── old_deprecated_matrix.h │ ├── old_lin_algebra.h │ ├── old_matrix.h │ ├── old_matrix33.h │ ├── old_matrix44.h │ ├── perlin_noise.h │ ├── polar_decomposition.h │ ├── quadric.h │ ├── quadric5.h │ ├── quaternion.h │ ├── random_generator.h │ ├── shot.h │ ├── similarity.h │ ├── similarity2.h │ └── spherical_harmonics.h │ ├── simplex │ ├── edge │ │ ├── base.h │ │ ├── component.h │ │ ├── distance.h │ │ ├── pos.h │ │ └── topology.h │ ├── face │ │ ├── base.h │ │ ├── component.h │ │ ├── component_ep.h │ │ ├── component_occ.h │ │ ├── component_ocf.h │ │ ├── component_polygon.h │ │ ├── distance.h │ │ ├── jumping_pos.h │ │ ├── pos.h │ │ └── topology.h │ ├── tetrahedron │ │ ├── base.h │ │ ├── component.h │ │ ├── pos.h │ │ └── tetrahedron.h │ └── vertex │ │ ├── base.h │ │ ├── component.h │ │ ├── component_occ.h │ │ ├── component_ocf.h │ │ ├── component_sph.h │ │ └── distance.h │ ├── space │ ├── box.h │ ├── box2.h │ ├── box3.h │ ├── color4.h │ ├── colorspace.h │ ├── deprecated_point.h │ ├── deprecated_point2.h │ ├── deprecated_point3.h │ ├── deprecated_point4.h │ ├── distance2.h │ ├── distance3.h │ ├── fitting3.h │ ├── index │ │ ├── aabb_binary_tree │ │ │ ├── aabb_binary_tree.h │ │ │ ├── base.h │ │ │ ├── closest.h │ │ │ ├── frustum_cull.h │ │ │ ├── kclosest.h │ │ │ └── ray.h │ │ ├── base.h │ │ ├── grid_closest.h │ │ ├── grid_static_obj.h │ │ ├── grid_static_ptr.h │ │ ├── grid_util.h │ │ ├── index2D │ │ │ ├── base_2d.h │ │ │ ├── grid_closest_2D.h │ │ │ ├── grid_util_2D.h │ │ │ └── spatial_hashing_2D.h │ │ ├── kdtree │ │ │ ├── kdtree.h │ │ │ ├── mlsutils.h │ │ │ └── priorityqueue.h │ │ ├── octree.h │ │ ├── octree_template.h │ │ ├── perfect_spatial_hashing.h │ │ ├── space_iterators.h │ │ └── spatial_hashing.h │ ├── intersection │ │ ├── predicates.h │ │ └── triangle_triangle3.h │ ├── intersection2.h │ ├── intersection3.h │ ├── line2.h │ ├── line3.h │ ├── obox3.h │ ├── outline2_packer.h │ ├── planar_polygon_tessellation.h │ ├── plane3.h │ ├── point.h │ ├── point2.h │ ├── point3.h │ ├── point4.h │ ├── point_matching.h │ ├── rasterized_outline2_packer.h │ ├── ray2.h │ ├── ray3.h │ ├── rect_packer.h │ ├── segment2.h │ ├── segment3.h │ ├── smallest_enclosing.h │ ├── space.h │ ├── sphere3.h │ ├── tetra3.h │ ├── texcoord2.h │ ├── triangle2.h │ └── triangle3.h │ └── wrap │ ├── bmt │ ├── bmt.cpp │ ├── bmt.h │ └── strip_mesh.h │ ├── callback.h │ ├── dae │ ├── colladaformat.h │ ├── poly_triangulator.h │ ├── util_dae.h │ ├── xmldocumentmanaging.cpp │ └── xmldocumentmanaging.h │ ├── gcache │ ├── cache.h │ ├── controller.h │ ├── dheap.h │ ├── door.h │ ├── provider.h │ └── token.h │ ├── gl │ ├── addons.h │ ├── camera.h │ ├── deprecated_math.h │ ├── deprecated_space.h │ ├── fbo.h │ ├── gl_field.h │ ├── gl_geometry.h │ ├── gl_object.h │ ├── gl_surface.h │ ├── glu_tesselator.h │ ├── glu_tessellator_cap.h │ ├── math.h │ ├── pick.h │ ├── picking.h │ ├── pos.h │ ├── shaders.h │ ├── shot.h │ ├── space.h │ ├── splatting_apss │ │ ├── shaders │ │ │ ├── Finalization.glsl │ │ │ └── Raycasting.glsl │ │ ├── splatrenderer.h │ │ └── splatrenderer.qrc │ ├── tetramesh.h │ └── trimesh.h │ ├── glw │ ├── bookkeeping.h │ ├── buffer.h │ ├── common.h │ ├── config.h │ ├── context.h │ ├── fragmentshader.h │ ├── framebuffer.h │ ├── geometryshader.h │ ├── glheaders.h │ ├── glw.h │ ├── noncopyable.h │ ├── object.h │ ├── objectdeleter.h │ ├── program.h │ ├── renderable.h │ ├── renderbuffer.h │ ├── shader.h │ ├── texture.h │ ├── texture2d.h │ ├── texturecube.h │ ├── type.h │ ├── utility.h │ └── vertexshader.h │ ├── gui │ ├── activecoordinateframe.cpp │ ├── activecoordinateframe.h │ ├── coordinateframe.cpp │ ├── coordinateframe.h │ ├── frustum.h │ ├── rubberband.cpp │ ├── rubberband.h │ ├── trackball.cpp │ ├── trackball.h │ ├── trackmode.cpp │ ├── trackmode.h │ ├── trackrecorder.h │ ├── trackutils.h │ └── view.h │ ├── io_edgemesh │ ├── export_dxf.h │ └── export_svg.h │ ├── io_tetramesh │ ├── export_ply.h │ ├── export_ts.h │ ├── import_ply.h │ ├── import_ts.h │ └── io_ply.h │ ├── io_trimesh │ ├── additionalinfo.h │ ├── export.h │ ├── export_3ds.h │ ├── export_ctm.h │ ├── export_dae.h │ ├── export_dxf.h │ ├── export_fbx.h │ ├── export_field.h │ ├── export_gts.h │ ├── export_idtf.h │ ├── export_iv.h │ ├── export_obj.h │ ├── export_off.h │ ├── export_ply.h │ ├── export_smf.h │ ├── export_stl.h │ ├── export_u3d.h │ ├── export_vmi.h │ ├── export_vrml.h │ ├── how_to_write_an_io_filter.txt │ ├── import.h │ ├── import_asc.h │ ├── import_ctm.h │ ├── import_dae.h │ ├── import_fbx.h │ ├── import_field.h │ ├── import_gts.h │ ├── import_nvm.h │ ├── import_obj.h │ ├── import_off.h │ ├── import_out.h │ ├── import_ply.h │ ├── import_ptx.h │ ├── import_raw.h │ ├── import_smf.h │ ├── import_stl.h │ ├── import_vmi.h │ ├── io_fan_tessellator.h │ ├── io_mask.h │ ├── io_material.h │ └── io_ply.h │ ├── math │ ├── sparse_matrix.h │ └── system_interface_ldl.h │ ├── minpack │ └── minpack.h │ ├── miq │ ├── MIQ.h │ ├── core │ │ ├── auxmath.h │ │ ├── glUtils.h │ │ ├── param_stats.h │ │ ├── poisson_solver.h │ │ ├── seams_initializer.h │ │ ├── sparsesystemdata.h │ │ ├── stiffening.h │ │ └── vertex_indexing.h │ └── quadrangulator.h │ ├── mt │ └── mt.h │ ├── opensg │ └── vertex_component.h │ ├── ply │ ├── plylib.cpp │ ├── plylib.h │ └── plystuff.h │ ├── qt │ ├── Outline2ToQImage.cpp │ ├── Outline2ToQImage.h │ ├── anttweakbarMapper.cpp │ ├── anttweakbarMapper.h │ ├── anttweakbarMapperNew.cpp │ ├── checkGLError.h │ ├── col_qt_convert.h │ ├── device_to_logical.h │ ├── gl_label.h │ ├── img_qt.h │ ├── img_qt_convert.h │ ├── img_qt_io.h │ ├── outline2_rasterizer.cpp │ ├── outline2_rasterizer.h │ ├── shot_qt.h │ ├── to_string.h │ └── trackball.h │ ├── system │ ├── getopt.cpp │ ├── getopt.h │ ├── multithreading │ │ ├── atomic_int.h │ │ ├── atomic_int_apple.h │ │ ├── atomic_int_generic.h │ │ ├── base.h │ │ ├── condition.h │ │ ├── mt.h │ │ ├── mutex.h │ │ ├── rw_lock.h │ │ ├── scoped_mutex_lock.h │ │ ├── scoped_read_lock.h │ │ ├── scoped_write_lock.h │ │ ├── semaphore.h │ │ ├── thread.h │ │ └── util.h │ ├── qgetopt.cpp │ ├── qgetopt.h │ └── time │ │ └── clock.h │ ├── tsai │ ├── tsaimethods.cpp │ └── tsaimethods.h │ └── utils.h ├── optical_flow ├── lkpyramid.cpp └── lkpyramid.hpp ├── r3live.cpp ├── r3live.hpp ├── r3live_lio.cpp ├── r3live_reconstruct_mesh.cpp ├── r3live_vio.cpp ├── rgb_map ├── image_frame.cpp ├── image_frame.hpp ├── offline_map_recorder.cpp ├── offline_map_recorder.hpp ├── pointcloud_rgbd.cpp ├── pointcloud_rgbd.hpp ├── rgbmap_tracker.cpp └── rgbmap_tracker.hpp └── tools ├── common_tools.h ├── lib_sophus ├── average.hpp ├── common.hpp ├── 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