├── FAST_LIO ├── CMakeLists.txt ├── LICENSE ├── Log │ ├── fast_lio_time_log.csv │ ├── fast_lio_time_log_analysis.m │ ├── guide.md │ ├── imu.txt │ ├── mat_out.txt │ ├── mat_pre.txt │ ├── plot.py │ └── pos_log.txt ├── README.md ├── config │ ├── avia.yaml │ ├── horizon.yaml │ ├── ouster128.yaml │ ├── ouster64.yaml │ ├── ouster64_mulran.yaml │ ├── pandar128.yaml │ ├── velody16.yaml │ ├── velody16_ncll.yaml │ └── xgrids.yaml ├── doc │ ├── avia_scan.png │ ├── avia_scan2.png │ └── results │ │ ├── HKU_HW.png │ │ ├── HKU_LG_Indoor.png │ │ ├── HKU_MB_001.png │ │ ├── HKU_MB_002.png │ │ ├── HKU_MB_map.png │ │ ├── Screenshot from 2020-10-15 20-33-35.png │ │ ├── Screenshot from 2020-10-15 20-35-46.png │ │ ├── Screenshot from 2020-10-15 20-37-48.png │ │ ├── indoor_loam.png │ │ ├── indoor_loam_imu.png │ │ ├── indoor_our.png │ │ ├── long_corrid.png │ │ ├── uav2_path.png │ │ ├── uav2_test_map.png │ │ ├── uav_lg.png │ │ ├── uav_lg_0.png │ │ └── uav_lg_2.png ├── include │ ├── 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 │ ├── 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 │ ├── matplotlibcpp.h │ ├── so3_math.h │ └── use-ikfom.hpp ├── launch │ ├── gdb_debug.launch │ ├── mapping_avia.launch │ ├── mapping_avia_arm.launch │ ├── mapping_avia_outdoor.launch │ ├── mapping_horizon.launch │ ├── mapping_marsdevice.launch │ ├── mapping_ouster64.launch │ ├── mapping_ouster64_mulran.launch │ ├── mapping_velody16.launch │ └── replay.launch ├── map_eva │ ├── ReadMe.txt │ ├── evaluate_map.launch │ └── mapconsistency_eva.cpp ├── msg │ ├── Pose6D.msg │ └── States.msg ├── package.xml ├── plugin_info.xml ├── rviz_cfg │ ├── .gitignore │ ├── loam_livox.rviz │ └── loam_multilevel.rviz ├── src │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── IMU_Processing.hpp │ ├── extra_lib.cpp │ ├── extra_lib.h │ ├── fastlio_plugin.cpp │ ├── fastlio_plugin.h │ ├── laserMapping.cpp │ ├── laserMapping.h │ ├── preprocess.cpp │ └── preprocess.h └── test │ ├── fov_test.cpp │ ├── ikd_Forest_Test.cpp │ └── kd_tree_test.cpp ├── LICENSE ├── README.md ├── STD ├── CMakeLists.txt ├── Log │ ├── augument.txt │ ├── log.txt │ └── log_0.01.txt ├── config │ ├── config_avia.yaml │ ├── config_horizon.yaml │ ├── config_velo_kitti_fine.yaml │ ├── config_velo_mulran.yaml │ ├── config_velo_mulran_multisession.yaml │ ├── config_velo_nclt.yaml │ └── config_wild_place.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 │ ├── std.h │ ├── std_ba.h │ ├── std_pgo.h │ └── util_class.hpp ├── launch │ ├── avia │ │ ├── avia_loop.launch │ │ ├── calc_avia_pose.launch │ │ ├── test_ba.launch │ │ └── test_pgo.launch │ ├── cu │ │ ├── calc_cu_gt.launch │ │ ├── cu_loop.launch │ │ └── test_cu_memory.launch │ ├── kitti360 │ │ ├── calc_kitti360_gt.launch │ │ └── kitti360_loop.launch │ ├── mulran │ │ └── mulran_loop.launch │ ├── multi_section │ │ └── multi_section.launch │ ├── online_loop_detection.launch │ └── wild_place │ │ └── wild_place.launch ├── package.xml ├── plugin_info.xml ├── rviz_cfg │ ├── ba.rviz │ ├── compression.rviz │ ├── loop.rviz │ ├── multi_section.rviz │ └── wild_place.rviz └── src │ ├── avia │ └── calc_avia_pose.cpp │ ├── corner_version │ └── bag_loop.cpp │ ├── cu │ ├── calc_cu_gt.cpp │ ├── cu_loop.cpp │ └── test_cu_memory.cpp │ ├── kitti360 │ ├── calc_kitti360_gt.cpp │ └── kitti360_loop.cpp │ ├── loop_detection.cpp │ ├── loop_detection.h │ ├── loop_detection_plugin.cpp │ ├── loop_detection_plugin.h │ ├── multi_section │ └── multi_section.cpp │ ├── nclt │ ├── calc_nclt_gt.cpp │ └── calc_nclt_pose.cpp │ ├── std.cpp │ ├── std_ba.cpp │ └── wild_place │ └── wild_place.cpp ├── livox_ros_driver-master ├── .gitignore ├── LICENSE.txt ├── README.md ├── README_CN.md ├── images │ └── broadcast_code.png └── livox_ros_driver │ ├── 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 ├── loop_optimization ├── CMakeLists.txt ├── description_images │ ├── LTAOM_pipeline.jpg │ ├── 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