├── .clang-format ├── .github └── workflows │ ├── ci.yml │ └── colcon_test.sh ├── .gitignore ├── LICENSE ├── README.md ├── graph_based_localization ├── CMakeLists.txt ├── README.md ├── config │ └── sliding_window.yaml ├── include │ └── graph_based_localization │ │ ├── graph_optimizer │ │ ├── ceres │ │ │ ├── absolute_pose_factor.hpp │ │ │ ├── imu_pre_integration_factor.hpp │ │ │ ├── marginalization_factor.hpp │ │ │ ├── prvag_local_parameterization.hpp │ │ │ ├── relative_pose_factor.hpp │ │ │ └── utils.hpp │ │ └── ceres_graph_optimizer.hpp │ │ ├── sliding_window.hpp │ │ └── sliding_window_node.hpp ├── launch │ ├── sliding_window.launch.py │ └── sliding_window.rviz ├── package.xml └── src │ ├── graph_optimizer │ └── ceres_graph_optimizer.cpp │ ├── sliding_window.cpp │ ├── sliding_window_main.cpp │ └── sliding_window_node.cpp ├── imu_odometry ├── CMakeLists.txt ├── README.md ├── include │ └── imu_odometry │ │ ├── imu_integration.hpp │ │ └── imu_pre_integration.hpp ├── package.xml └── src │ ├── imu_integration.cpp │ └── imu_pre_integration.cpp ├── kf_based_localization ├── CMakeLists.txt ├── README.md ├── config │ └── lidar_imu_fusion.yaml ├── include │ └── kf_based_localization │ │ ├── kalman_filter │ │ ├── eskf.hpp │ │ ├── imu_integration.hpp │ │ └── kalman_filter_interface.hpp │ │ ├── lidar_imu_fusion.hpp │ │ └── lidar_imu_fusion_node.hpp ├── launch │ ├── lidar_imu_fusion.launch.py │ └── lidar_imu_fusion.rviz ├── package.xml ├── scripts │ ├── evo_ape.sh │ ├── evo_rpe.sh │ └── save_odometry.sh └── src │ ├── kalman_filter │ ├── eskf.cpp │ └── imu_integration.cpp │ ├── lidar_imu_fusion.cpp │ ├── lidar_imu_fusion_main.cpp │ └── lidar_imu_fusion_node.cpp ├── lidar_localization ├── CMakeLists.txt ├── README.md ├── config │ └── lidar_localization.yaml ├── include │ └── lidar_localization │ │ ├── lidar_localization.hpp │ │ └── lidar_localization_node.hpp ├── launch │ ├── lidar_localization.launch.py │ └── lidar_localization.rviz ├── package.xml ├── scripts │ ├── evo_ape.sh │ ├── evo_rpe.sh │ └── save_odometry.sh └── src │ ├── lidar_localization.cpp │ ├── lidar_localization_main.cpp │ └── lidar_localization_node.cpp ├── lidar_mapping ├── CMakeLists.txt ├── README.md ├── config │ ├── back_end.yaml │ └── loop_closure.yaml ├── include │ └── lidar_mapping │ │ ├── back_end.hpp │ │ ├── back_end_node.hpp │ │ ├── graph_optimizer │ │ ├── g2o │ │ │ ├── edge_se3_priorquat.hpp │ │ │ └── edge_se3_priorxyz.hpp │ │ ├── g2o_graph_optimizer.hpp │ │ └── graph_optimizer_interface.hpp │ │ ├── loop_closure.hpp │ │ └── loop_closure_node.hpp ├── launch │ ├── mapping.launch.py │ └── mapping.rviz ├── package.xml ├── scripts │ ├── optimize_map.sh │ ├── save_map.sh │ └── save_scan_context.sh └── src │ ├── back_end.cpp │ ├── back_end_main.cpp │ ├── back_end_node.cpp │ ├── graph_optimizer │ └── g2o_graph_optimizer.cpp │ ├── loop_closure.cpp │ ├── loop_closure_main.cpp │ └── loop_closure_node.cpp ├── lidar_odometry ├── CMakeLists.txt ├── README.md ├── config │ └── lidar_odometry.yaml ├── include │ └── lidar_odometry │ │ ├── lidar_odometry_node.hpp │ │ ├── loam_odometry.hpp │ │ └── simple_odometry.hpp ├── launch │ ├── lidar_odometry.launch.py │ └── lidar_odometry.rviz ├── package.xml ├── scripts │ ├── evo_ape.sh │ ├── evo_rpe.sh │ └── save_odometry.sh └── src │ ├── lidar_odometry_main.cpp │ ├── lidar_odometry_node.cpp │ ├── loam_odometry.cpp │ └── simple_odometry.cpp ├── localization_common ├── CMakeLists.txt ├── include │ └── localization_common │ │ ├── cloud_filter │ │ ├── box_filter.hpp │ │ └── voxel_filter.hpp │ │ ├── cloud_registration │ │ ├── cloud_registration_factory.hpp │ │ ├── cloud_registration_interface.hpp │ │ ├── icp_registration.hpp │ │ ├── icp_svd_registration.hpp │ │ ├── ndt_omp_registration.hpp │ │ └── ndt_registration.hpp │ │ ├── extrinsics_manager.hpp │ │ ├── kitti_preprocess_node.hpp │ │ ├── lidar_key_frame_manager.hpp │ │ ├── lidar_utils.hpp │ │ ├── loam │ │ ├── loam_factor.hpp │ │ ├── loam_feature_extraction.hpp │ │ └── loam_registration.hpp │ │ ├── msg_utils.hpp │ │ ├── odom_data_buffer.hpp │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ ├── gnss_publisher.hpp │ │ ├── imu_publisher.hpp │ │ ├── lidar_frames_publisher.hpp │ │ ├── loop_candidate_publisher.hpp │ │ ├── odometry_publisher.hpp │ │ └── path_publisher.hpp │ │ ├── sensor_data │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ ├── imu_nav_state.hpp │ │ ├── lidar_data.hpp │ │ ├── lidar_frame.hpp │ │ ├── loop_candidate.hpp │ │ ├── odom_data.hpp │ │ ├── pose_data.hpp │ │ └── twist_data.hpp │ │ ├── sensor_data_utils.hpp │ │ ├── simple_evaluator_node.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ ├── lidar_frames_subscriber.hpp │ │ ├── loop_candidate_subscriber.hpp │ │ ├── nav_sat_fix_subscriber.hpp │ │ ├── odometry_subscriber.hpp │ │ └── twist_subscriber.hpp │ │ └── tic_toc.hpp ├── launch │ ├── hello_kitti.launch.py │ └── hello_kitti.rviz ├── package.xml └── src │ ├── cloud_filter │ ├── box_filter.cpp │ └── voxel_filter.cpp │ ├── cloud_registration │ ├── cloud_registration_factory.cpp │ ├── icp_registration.cpp │ ├── icp_svd_registration.cpp │ ├── ndt_omp_registration.cpp │ └── ndt_registration.cpp │ ├── extrinsics_manager.cpp │ ├── kitti_preprocess_main.cpp │ ├── kitti_preprocess_node.cpp │ ├── lidar_key_frame_manager.cpp │ ├── lidar_utils.cpp │ ├── loam │ ├── loam_feature_extraction.cpp │ └── loam_registration.cpp │ ├── msg_utils.cpp │ ├── odom_data_buffer.cpp │ ├── publisher │ ├── cloud_publisher.cpp │ ├── gnss_publisher.cpp │ ├── imu_publisher.cpp │ ├── lidar_frames_publisher.cpp │ ├── loop_candidate_publisher.cpp │ ├── odometry_publisher.cpp │ └── path_publisher.cpp │ ├── sensor_data_utils.cpp │ ├── simple_evaluator_main.cpp │ ├── simple_evaluator_node.cpp │ ├── subscriber │ ├── cloud_subscriber.cpp │ ├── gnss_subscriber.cpp │ ├── imu_subscriber.cpp │ ├── lidar_frames_subscriber.cpp │ ├── loop_candidate_subscriber.cpp │ ├── nav_sat_fix_subscriber.cpp │ ├── odometry_subscriber.cpp │ └── twist_subscriber.cpp │ └── tic_toc.cpp ├── localization_interfaces ├── CMakeLists.txt ├── msg │ ├── GnssData.msg │ ├── LidarFrame.msg │ ├── LidarFrames.msg │ └── LoopCandidate.msg ├── package.xml └── srv │ ├── OptimizeMap.srv │ ├── SaveMap.srv │ ├── SaveOdometry.srv │ └── SaveScanContext.srv ├── loosely_lio_mapping ├── CMakeLists.txt ├── README.md ├── config │ └── lio_back_end.yaml ├── include │ └── loosely_lio_mapping │ │ ├── graph_optimizer │ │ ├── g2o │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ └── vertex_prvag.hpp │ │ ├── g2o_graph_optimizer.hpp │ │ └── graph_optimizer_interface.hpp │ │ ├── lio_back_end.hpp │ │ └── lio_back_end_node.hpp ├── launch │ ├── lio_mapping.launch.py │ └── lio_mapping.rviz ├── package.xml └── src │ ├── graph_optimizer │ └── g2o_graph_optimizer.cpp │ ├── lio_back_end.cpp │ ├── lio_back_end_main.cpp │ └── lio_back_end_node.cpp └── third_party ├── gnss_ins_sim ├── CMakeLists.txt ├── LICENSE ├── README.md ├── gnss_ins_sim │ ├── __init__.py │ ├── allan │ │ ├── __init__.py │ │ └── allan.py │ ├── attitude │ │ ├── __init__.py │ │ └── attitude.py │ ├── docs │ │ ├── gnss-ins-sim-doc.md │ │ └── images │ │ │ ├── ECEF.png │ │ │ ├── NED.png │ │ │ ├── allan_deviation.png │ │ │ ├── mag_si_hi.png │ │ │ ├── motion_profile_demo.png │ │ │ └── simulator.png │ ├── geoparams │ │ ├── WMM.COF │ │ ├── WMM2010.COF │ │ ├── __init__.py │ │ ├── geomag.py │ │ └── geoparams.py │ ├── gui │ │ ├── __init__.py │ │ └── gui_ans.py │ ├── kml_gen │ │ ├── __init__.py │ │ ├── kml_gen.py │ │ └── template.kml │ ├── pathgen │ │ ├── __init__.py │ │ └── pathgen.py │ ├── psd │ │ ├── __init__.py │ │ └── time_series_from_psd.py │ └── sim │ │ ├── __init__.py │ │ ├── imu_model.py │ │ ├── ins_algo.py │ │ ├── ins_algo_manager.py │ │ ├── ins_data_manager.py │ │ ├── ins_sim.py │ │ ├── sim_data.py │ │ └── sim_data_plot.py └── package.xml ├── ndt_omp_ros2 ├── .clang-format ├── CMakeLists.txt ├── 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