├── .clang-format ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── fast_lio_sam ├── CMakeLists.txt ├── config │ ├── config.yaml │ ├── lio_rviz.rviz │ └── sam_rviz.rviz ├── include │ ├── fast_lio_sam.h │ ├── loop_closure.h │ ├── pose_pcd.hpp │ └── utilities.hpp ├── launch │ └── run.launch ├── package.xml └── src │ ├── fast_lio_sam.cpp │ ├── loop_closure.cpp │ └── main.cpp ├── imgs ├── fast1.png ├── fast2.png ├── sam1.png ├── sam2.png └── traj.png └── third_party └── fastlio_config_launch ├── kimera-multi.launch ├── kimera-multi.yaml ├── kitti.launch ├── kitti.yaml ├── mulran.launch ├── mulran.yaml ├── newer-college2020.launch ├── newer-college2020.yaml ├── vbr-colosseo.launch └── vbr-colosseo.yaml /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/.gitmodules -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/.pre-commit-config.yaml -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/README.md -------------------------------------------------------------------------------- /fast_lio_sam/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/CMakeLists.txt -------------------------------------------------------------------------------- /fast_lio_sam/config/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/config/config.yaml -------------------------------------------------------------------------------- /fast_lio_sam/config/lio_rviz.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/config/lio_rviz.rviz -------------------------------------------------------------------------------- /fast_lio_sam/config/sam_rviz.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/config/sam_rviz.rviz -------------------------------------------------------------------------------- /fast_lio_sam/include/fast_lio_sam.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/include/fast_lio_sam.h -------------------------------------------------------------------------------- /fast_lio_sam/include/loop_closure.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/include/loop_closure.h -------------------------------------------------------------------------------- /fast_lio_sam/include/pose_pcd.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/include/pose_pcd.hpp -------------------------------------------------------------------------------- /fast_lio_sam/include/utilities.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/include/utilities.hpp -------------------------------------------------------------------------------- /fast_lio_sam/launch/run.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/launch/run.launch -------------------------------------------------------------------------------- /fast_lio_sam/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/package.xml -------------------------------------------------------------------------------- /fast_lio_sam/src/fast_lio_sam.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/src/fast_lio_sam.cpp -------------------------------------------------------------------------------- /fast_lio_sam/src/loop_closure.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/src/loop_closure.cpp -------------------------------------------------------------------------------- /fast_lio_sam/src/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/fast_lio_sam/src/main.cpp -------------------------------------------------------------------------------- /imgs/fast1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/imgs/fast1.png -------------------------------------------------------------------------------- /imgs/fast2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/imgs/fast2.png -------------------------------------------------------------------------------- /imgs/sam1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/imgs/sam1.png -------------------------------------------------------------------------------- /imgs/sam2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/imgs/sam2.png -------------------------------------------------------------------------------- /imgs/traj.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/imgs/traj.png -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/kimera-multi.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/kimera-multi.launch -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/kimera-multi.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/kimera-multi.yaml -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/kitti.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/kitti.launch -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/kitti.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/kitti.yaml -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/mulran.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/mulran.launch -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/mulran.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/mulran.yaml -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/newer-college2020.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/newer-college2020.launch -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/newer-college2020.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/newer-college2020.yaml -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/vbr-colosseo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/vbr-colosseo.launch -------------------------------------------------------------------------------- /third_party/fastlio_config_launch/vbr-colosseo.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/engcang/FAST-LIO-SAM/HEAD/third_party/fastlio_config_launch/vbr-colosseo.yaml --------------------------------------------------------------------------------