├── CMakeLists.txt ├── README.md ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── include ├── aloam_velodyne │ ├── common.h │ └── tic_toc.h └── scancontext │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── Scancontext.cpp │ ├── Scancontext.h │ └── nanoflann.hpp ├── launch ├── aloam_mulran.launch ├── aloam_velodyne_HDL_32.launch ├── aloam_velodyne_HDL_64.launch ├── aloam_velodyne_VLP_16.launch └── kitti_helper.launch ├── package.xml ├── picture ├── anypipe.png ├── indoor.png ├── kaist-03-1.png ├── kaist-03-2.png ├── kaist-03-3.png ├── kaist-03-4.png ├── kaist-03-5.png ├── kaist-03-merged.png ├── kitti.png ├── kitti05.png ├── kitti_gif.gif ├── riverside01.png └── scfastlio.png ├── rviz_cfg └── aloam_velodyne.rviz ├── src ├── kittiHelper.cpp ├── laserMapping.cpp ├── laserOdometry.cpp ├── laserPosegraphOptimization.cpp ├── lidarFactor.hpp └── scanRegistration.cpp └── utils ├── python ├── __pycache__ │ └── pypcdMyUtils.cpython-36.pyc ├── bone_table.npy ├── jet_table.npy ├── makeMergedMap.py └── pypcdMyUtils.py └── sample_data ├── KAIST03 ├── Scans │ ├── 000000.pcd │ ├── 000001.pcd │ ├── 000002.pcd │ ├── 000003.pcd │ ├── 000004.pcd │ ├── 000005.pcd │ ├── 000006.pcd │ ├── 000007.pcd │ ├── 000008.pcd │ ├── 000009.pcd │ ├── 000010.pcd │ ├── 000011.pcd │ ├── 000012.pcd │ ├── 000013.pcd │ ├── 000014.pcd │ ├── 000015.pcd │ ├── 000016.pcd │ ├── 000017.pcd │ ├── 000018.pcd │ ├── 000019.pcd │ └── 000020.pcd ├── optimized_poses.txt └── times.txt └── Seosan01 ├── Scans ├── 000000.pcd ├── 000001.pcd ├── 000002.pcd ├── 000003.pcd ├── 000004.pcd ├── 000005.pcd ├── 000006.pcd ├── 000007.pcd ├── 000008.pcd ├── 000009.pcd ├── 000010.pcd ├── 000011.pcd ├── 000012.pcd ├── 000013.pcd ├── 000014.pcd ├── 000015.pcd ├── 000016.pcd ├── 000017.pcd ├── 000018.pcd ├── 000019.pcd └── 000020.pcd ├── optimized_poses.txt └── times.txt /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gisbi-kim/SC-A-LOAM/HEAD/CMakeLists.txt 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