├── .gitignore ├── LAMM_supplementary.pdf ├── Large-Scale_Multi-Session_Point-Cloud_Map_Merging.pdf ├── M-detector ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── CMakeLists.txt ├── LICENSE ├── Log │ ├── dbg.txt │ ├── fast_lio_time_log_analysis.m │ ├── guide.md │ ├── imu.txt │ ├── mat_out.txt │ ├── mat_pre.txt │ ├── plot.py │ └── pos_log.txt ├── cmake │ ├── FindGlog.cmake │ └── packages.cmake ├── config │ ├── L515.yaml │ ├── avia.yaml │ ├── avia0.yaml │ ├── avia1.yaml │ ├── avia2.yaml │ ├── avia3.yaml │ ├── avia_bp.yaml │ ├── avia_counting.yaml │ ├── avia_multi.yaml │ ├── avia_odom.yaml │ ├── avia_outdoor.yaml │ ├── avia_survillence.yaml │ ├── avia_tracking.yaml │ ├── config_multi_mapping.yaml │ ├── config_velo_nclt.yaml │ ├── config_wildplace.yaml │ ├── covcer1.yaml │ ├── demo_avia.yaml │ ├── demo_case.yaml │ ├── demo_kitti01.yaml │ ├── demo_nuscenes.yaml │ ├── demo_tracking.yaml │ ├── demo_waymo.yaml │ ├── horizon.yaml │ ├── iphone.yaml │ ├── kitti.yaml │ ├── kitti0.yaml │ ├── kitti1.yaml │ ├── kitti2.yaml │ ├── kitti3.yaml │ ├── kitti4.yaml │ ├── kitti5.yaml │ ├── kitti6.yaml │ ├── kitti7.yaml │ ├── kitti8.yaml │ ├── kitti9.yaml │ ├── kitti_mapping.yaml │ ├── load_config.yaml │ ├── load_config_avia.yaml │ ├── load_config_test.yaml │ ├── miniCF.yaml │ ├── nuscenes.yaml │ ├── nuscenes0.yaml │ ├── nuscenes1.yaml │ ├── nuscenes2.yaml │ ├── nuscenes3.yaml │ ├── nuscenes4.yaml │ ├── nuscenes5.yaml │ ├── nuscenes6.yaml │ ├── nuscenes7.yaml │ ├── ouster64.yaml │ ├── sim.yaml │ ├── velody16.yaml │ ├── velody16_ncll.yaml │ ├── velodyne.yaml │ ├── waymo.yaml │ ├── waymo0.yaml │ ├── waymo1.yaml │ ├── waymo2.yaml │ ├── waymo3.yaml │ ├── waymo4.yaml │ ├── waymo5.yaml │ ├── waymo6.yaml │ └── waymo7.yaml ├── include │ ├── Exp_mat.h │ ├── FOV_Checker │ │ ├── FOV_Checker.cpp │ │ └── FOV_Checker.h │ ├── IKFoM_toolkit │ │ ├── esekfom │ │ │ ├── esekfom.hpp │ │ │ └── util.hpp │ │ └── mtk │ │ │ ├── build_manifold.hpp │ │ │ ├── src │ │ │ ├── SubManifold.hpp │ │ │ ├── mtkmath.hpp │ │ │ └── vectview.hpp │ │ │ ├── startIdx.hpp │ │ │ └── types │ │ │ ├── S2.hpp │ │ │ ├── SOn.hpp │ │ │ ├── vect.hpp │ │ │ └── wrapped_cv_mat.hpp │ ├── cluster_predict │ │ ├── DBSCAN_kdtree.h │ │ ├── EA_disk.h │ │ ├── KM_assignment.cpp │ │ ├── KM_assignment.h │ │ ├── bbox.h │ │ ├── classification.cpp │ │ ├── classification.h │ │ ├── dbscan.h │ │ ├── hungarian.h │ │ ├── kalman.cpp │ │ ├── kalman.h │ │ ├── tools.hpp │ │ └── voxel_cluster.h │ ├── common_lib.cpp │ ├── common_lib.h │ ├── ikd-Forest │ │ ├── .gitignore │ │ ├── .vscode │ │ │ ├── c_cpp_properties.json │ │ │ └── settings.json │ │ ├── Makefile │ │ ├── README.md │ │ ├── ikd_Forest.cpp │ │ ├── ikd_Forest.h │ │ └── ikd_Forest_Test.cpp │ ├── ikd-Tree │ │ ├── README.md │ │ ├── ikd_Tree.cpp │ │ └── ikd_Tree.h │ ├── ikfom_types.h │ ├── matplotlibcpp.h │ ├── so3_math.h │ ├── tinycolormap.hpp │ ├── types.h │ └── use-ikfom.hpp ├── launch │ ├── cal_lmnet.launch │ ├── cal_recall.launch │ ├── delete_point.launch │ ├── display.launch │ ├── load_cloud.launch │ ├── load_cloud_not_rgb.launch │ ├── load_cloud_rgb.launch │ ├── load_cloud_wildplace.launch │ ├── mapping_L515.launch │ ├── mapping_avia1.launch │ ├── mapping_lasermapping.launch │ ├── mapping_miniCF.launch │ ├── mapping_nuscenes1.launch │ ├── mapping_odom.launch │ ├── mapping_ouster64.launch │ ├── mapping_sim.launch │ ├── mapping_velodyne.launch │ └── pub_cloud.launch ├── msg │ ├── Pose6D.msg │ └── States.msg ├── package.xml ├── rviz_cfg │ ├── .gitignore │ ├── M+demo.rviz │ ├── counting.rviz │ ├── cover1.rviz │ ├── cover_demo.rviz │ ├── demo.rviz │ ├── demo_avia.rviz │ ├── demo_d_3.rviz │ ├── demo_d_avia.rviz │ ├── demo_dataset.rviz │ ├── demo_different.rviz │ ├── front_view.rviz │ ├── lmnet_com.rviz │ ├── loam_livox.rviz │ ├── mapping.rviz │ ├── multi_section.rviz │ ├── reorder_kitti.rviz │ └── survillence.rviz ├── src │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ ├── load_cloud_body_copy.cpp │ │ └── settings.json │ ├── DynObjCluster.cpp │ ├── DynObjCluster.h │ ├── DynObjFilter.cpp │ ├── DynObjFilter.h │ ├── IMU_Processing.hpp │ ├── cal_dyn_obs.py │ ├── cal_lmnet_multi.cpp │ ├── cal_recall_multi.cpp │ ├── change_hz.cpp │ ├── delete_point.cpp │ ├── display_pc.cpp │ ├── display_prediction.cpp │ ├── dynfilter_with_odom.cpp │ ├── evaluate.py │ ├── laserMapping.cpp │ ├── laserMapping.h │ ├── load_cloud_body.cpp │ ├── load_cloud_rgb.cpp │ ├── odom_op.cpp │ ├── parallel_q.h │ ├── pose_file_transfer.cpp │ ├── poses.txt │ ├── preprocess.cpp │ ├── preprocess.h │ ├── pub_cloud.cpp │ ├── ransac_pcl.cpp │ ├── reorder_kitti.cpp │ ├── replay_pointcloud.cpp │ ├── revise_kitti.cpp │ ├── t0 │ ├── t0_opt │ ├── tbbtest.cpp │ └── waymo.sh └── test │ ├── fov_test.cpp │ ├── ikd_Forest_Test.cpp │ └── kd_tree_test.cpp ├── README.md ├── btc_test-master ├── CMakeLists.txt ├── Log │ ├── augument.txt │ ├── log.txt │ ├── log_0.01.txt │ ├── log_bac.txt │ ├── log_mapping.txt │ └── log_section.txt ├── README.md ├── config │ ├── cloud_compression.yaml │ ├── config_avia.yaml │ ├── config_avia_flight.yaml │ ├── config_avia_indoor.yaml │ ├── config_avia_park.yaml │ ├── config_avia_park_case.yaml │ ├── config_horizon.yaml │ ├── config_localization.yaml │ ├── config_mid360.yaml │ ├── config_multi_mapping.yaml │ ├── config_multi_mapping_huawei.yaml │ ├── config_multi_mapping_zzh.yaml │ ├── config_plot.yaml │ ├── config_velo_cu.yaml │ ├── config_velo_kitti.yaml │ ├── config_velo_kitti02.yaml │ ├── config_velo_kitti360.yaml │ ├── config_velo_kitti_case.yaml │ ├── config_velo_kitti_fine.yaml │ ├── config_velo_kitti_multi_211.yaml │ ├── config_velo_mulran copy.yaml │ ├── config_velo_mulran.yaml │ ├── config_velo_nclt.yaml │ ├── config_velo_sejong.yaml │ ├── config_wild_place.yaml │ ├── config_wild_place_case.yaml │ └── lidar_to_camera.yaml ├── gt │ ├── kaist03.txt │ ├── kitti00.json │ ├── kitti00_gt.txt │ ├── kitti02_gt.txt │ ├── kitti05_gt.txt │ ├── kitti08.json │ ├── kitti08_gt.txt │ ├── kitti360_02.txt │ ├── kitti_00.txt │ ├── kitti_02.txt │ ├── kitti_05.txt │ ├── kitti_08.txt │ ├── loop_node.txt │ ├── pose_optimize_with_loop_kitti02.json │ ├── pose_optimize_with_loop_kitti05.json │ └── revisit02_gt.txt ├── include │ ├── CustomMsg.h │ ├── CustomPoint.h │ ├── multi_mapping.h │ ├── std.h │ ├── std_ba.h │ ├── std_pgo.h │ └── util_class.hpp ├── launch │ ├── load_cloud.launch │ └── rgb_multi_mapping.launch ├── package.xml ├── rviz_cfg │ ├── ba.rviz │ ├── case_demo.rviz │ ├── compression.rviz │ ├── debug.rviz │ ├── descriptor_matching.rviz │ ├── localization.rviz │ ├── loop.rviz │ ├── multi_section.rviz │ ├── plot.rviz │ ├── show_btc.rviz │ ├── video_demo.rviz │ └── wild_place.rviz └── src │ ├── load_cloud_rgb.cpp │ ├── name.py │ ├── rgb_multi_mapping.cpp │ ├── std.cpp │ ├── std_ba.cpp │ └── std_pgo.cpp ├── img └── image-20250118151716324.png └── livox_ros_driver ├── .gitignore ├── LICENSE.txt ├── README.md ├── README_CN.md ├── images └── broadcast_code.png └── livox_ros_driver ├── CMakeLists.txt ├── cmake └── version.cmake ├── common ├── FastCRC │ ├── FastCRC.h │ ├── FastCRC_tables.hpp │ ├── FastCRCsw.cpp │ ├── LICENSE.md │ └── README.md ├── comm │ ├── comm_device.h │ ├── comm_protocol.cpp │ ├── comm_protocol.h │ ├── gps_protocol.cpp │ ├── gps_protocol.h │ ├── protocol.h │ ├── sdk_protocol.cpp │ └── sdk_protocol.h ├── rapidjson │ ├── allocators.h │ ├── cursorstreamwrapper.h │ ├── document.h │ ├── encodedstream.h │ ├── encodings.h │ ├── error │ │ ├── en.h │ │ └── error.h │ ├── filereadstream.h │ ├── filewritestream.h │ ├── fwd.h │ ├── internal │ │ ├── biginteger.h │ │ ├── clzll.h │ │ ├── diyfp.h │ │ ├── dtoa.h │ │ ├── ieee754.h │ │ ├── itoa.h │ │ ├── meta.h │ │ ├── pow10.h │ │ ├── regex.h │ │ ├── stack.h │ │ ├── strfunc.h │ │ ├── strtod.h │ │ └── swap.h │ ├── istreamwrapper.h │ ├── memorybuffer.h │ ├── memorystream.h │ ├── msinttypes │ │ ├── inttypes.h │ │ └── stdint.h │ ├── ostreamwrapper.h │ ├── pointer.h │ ├── prettywriter.h │ ├── rapidjson.h │ ├── reader.h │ ├── schema.h │ ├── stream.h │ ├── stringbuffer.h │ └── writer.h └── rapidxml │ ├── rapidxml.hpp │ ├── rapidxml_iterators.hpp │ ├── rapidxml_print.hpp │ └── rapidxml_utils.hpp ├── config ├── display_hub_points.rviz ├── display_lidar_points.rviz ├── livox_hub_config.json └── livox_lidar_config.json ├── launch ├── livox_hub.launch ├── livox_hub_msg.launch ├── livox_hub_rviz.launch ├── livox_lidar.launch ├── livox_lidar_msg.launch ├── livox_lidar_rviz.launch ├── livox_template.launch ├── lvx_to_rosbag.launch └── lvx_to_rosbag_rviz.launch ├── livox_ros_driver ├── include │ └── livox_ros_driver.h ├── lddc.cpp ├── lddc.h ├── ldq.cpp ├── ldq.h ├── lds.cpp ├── lds.h ├── lds_hub.cpp ├── lds_hub.h ├── lds_lidar.cpp ├── lds_lidar.h ├── lds_lvx.cpp ├── lds_lvx.h ├── livox_ros_driver.cpp ├── lvx_file.cpp └── lvx_file.h ├── msg ├── CustomMsg.msg └── CustomPoint.msg ├── package.xml └── timesync ├── timesync.cpp ├── timesync.h └── user_uart ├── user_uart.cpp └── user_uart.h /.gitignore: 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