├── CMakeLists.txt ├── Log └── .gitignore ├── README.md ├── config ├── avia.yaml ├── nclt.yaml ├── ntu.yaml ├── offline_pointcloud.yaml └── velodyne.yaml ├── font └── Roboto-Medium.ttf ├── include ├── common_lib.h ├── feature.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── so3_math.h └── types.h ├── launch ├── mapping_avia.launch ├── mapping_nclt.launch ├── mapping_ntu_viral.launch ├── mapping_pointcloud.launch └── mapping_velody64.launch ├── msg ├── Pose6D.msg └── States.msg ├── package.xml ├── paper └── ImMesh_tro.pdf ├── rviz_cfg └── ImMesh.rviz ├── src ├── IMU_Processing.cpp ├── IMU_Processing.h ├── ImMesh_mesh_reconstruction.cpp ├── ImMesh_node.cpp ├── meshing │ ├── delaunay │ │ └── openCV_subdiv2d_index.hpp │ ├── imgui.ini │ ├── mesh_rec_display.cpp │ ├── mesh_rec_display.hpp │ ├── mesh_rec_geometry.cpp │ ├── mesh_rec_geometry.hpp │ ├── optical_flow │ │ ├── lkpyramid.cpp │ │ └── lkpyramid.hpp │ ├── package.xml │ ├── r3live │ │ ├── image_frame.cpp │ │ ├── image_frame.hpp │ │ ├── pointcloud_rgbd.cpp │ │ ├── pointcloud_rgbd.hpp │ │ ├── triangle.cpp │ │ └── triangle.hpp │ └── tinycolormap.hpp ├── preprocess.cpp ├── preprocess.h ├── shader │ ├── image_shader.fs │ ├── image_shader.vs │ ├── learnopengl │ │ ├── animation.h │ │ ├── animator.h │ │ ├── animdata.h │ │ ├── assimp_glm_helpers.h │ │ ├── bone.h │ │ ├── camera.h │ │ ├── entity.h │ │ ├── filesystem.h │ │ ├── mesh.h │ │ ├── model.h │ │ ├── model_animation.h │ │ ├── shader.h │ │ ├── shader_c.h │ │ ├── shader_m.h │ │ ├── shader_s.h │ │ └── shader_t.h │ ├── points_shader.fs │ ├── points_shader.vs │ ├── points_shader_rgb.fs │ ├── points_shader_rgb.vs │ ├── shader_m.h │ ├── shader_s.h │ ├── stb_image.h │ ├── stb_image_aug.c │ ├── stb_image_aug.h │ ├── tools_my_camera_pose_shader.h │ ├── tools_my_dbg_utility.h │ ├── tools_my_point_shader.h │ ├── tools_my_shader_common.h │ ├── tools_my_texture_triangle_shader.h │ ├── triangle_facets.fs │ └── triangle_facets.vs ├── tools │ ├── common_tools.h │ ├── imgui │ │ ├── imconfig.h │ │ ├── imgui.cpp │ │ ├── imgui.h │ │ ├── imgui_demo.cpp │ │ ├── imgui_draw.cpp │ │ ├── imgui_impl_allegro5.cpp │ │ ├── imgui_impl_allegro5.h │ │ ├── imgui_impl_android.cpp │ │ ├── imgui_impl_android.h │ │ ├── imgui_impl_dx10.cpp │ │ ├── imgui_impl_dx10.h │ │ ├── imgui_impl_dx11.cpp │ │ ├── imgui_impl_dx11.h │ │ ├── imgui_impl_dx12.cpp │ │ ├── imgui_impl_dx12.h │ │ ├── imgui_impl_dx9.cpp │ │ ├── imgui_impl_dx9.h │ │ ├── imgui_impl_glfw.cpp │ │ ├── imgui_impl_glfw.h │ │ ├── imgui_impl_glut.cpp │ │ ├── imgui_impl_glut.h │ │ ├── imgui_impl_metal.h │ │ ├── imgui_impl_metal.mm │ │ ├── imgui_impl_opengl2.cpp │ │ ├── imgui_impl_opengl2.h │ │ ├── imgui_impl_opengl3.cpp │ │ ├── imgui_impl_opengl3.h │ │ ├── imgui_impl_opengl3_loader.h │ │ ├── imgui_impl_osx.h │ │ ├── imgui_impl_osx.mm │ │ ├── imgui_impl_sdl.cpp │ │ ├── imgui_impl_sdl.h │ │ ├── imgui_impl_sdlrenderer.cpp │ │ ├── imgui_impl_sdlrenderer.h │ │ ├── imgui_impl_vulkan.cpp │ │ ├── imgui_impl_vulkan.h │ │ ├── imgui_impl_wgpu.cpp │ │ ├── imgui_impl_wgpu.h │ │ ├── imgui_impl_win32.cpp │ │ ├── imgui_impl_win32.h │ │ ├── imgui_internal.h │ │ ├── imgui_tables.cpp │ │ ├── imgui_widgets.cpp │ │ ├── imstb_rectpack.h │ │ ├── imstb_textedit.h │ │ └── imstb_truetype.h │ ├── lib_sophus │ │ ├── average.hpp │ │ ├── common.hpp │ │ ├── example_ensure_handler.cpp │ │ ├── formatstring.hpp │ │ ├── geometry.hpp │ │ ├── interpolate.hpp │ │ ├── interpolate_details.hpp │ │ ├── local_parameterization_se3.hpp │ │ ├── local_parameterization_split_se3.hpp │ │ ├── num_diff.hpp │ │ ├── rotation_matrix.hpp │ │ ├── rxso2.hpp │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim2.hpp │ │ ├── sim3.hpp │ │ ├── sim_details.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp │ ├── openGL_libs │ │ ├── gl_draw_founction.hpp │ │ ├── glad.c │ │ ├── glad.h │ │ ├── glad │ │ │ └── glad.h │ │ ├── glformattraits.h │ │ ├── openGL_camera.cpp │ │ ├── openGL_camera.hpp │ │ ├── openGL_camera_view.cpp │ │ └── tinycolormap.hpp │ ├── os_compatible.hpp │ ├── tinycolormap.hpp │ ├── tools_angleaxis_ad.h │ ├── tools_ceres.hpp │ ├── tools_color_printf.hpp │ ├── tools_data_io.hpp │ ├── tools_eigen.hpp │ ├── tools_graphics.hpp │ ├── tools_kd_hash.hpp │ ├── tools_logger.hpp │ ├── tools_mem_used.h │ ├── tools_openCV_3_to_4.hpp │ ├── tools_random.hpp │ ├── tools_ros.hpp │ ├── tools_serialization.hpp │ ├── tools_thread_pool.hpp │ └── tools_timer.hpp ├── voxel_loc.cpp ├── voxel_loc.hpp ├── voxel_mapping.cpp ├── voxel_mapping.hpp └── voxel_mapping_common.cpp └── supply └── Supplementary_material.pdf /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hku-mars/ImMesh/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /Log/.gitignore: -------------------------------------------------------------------------------- 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