├── CMakeLists.txt ├── LICENSE ├── Log ├── IMU_before_filter.txt ├── IMU_meas.txt ├── LiDAR_meas.txt ├── Lidar_before_filter.txt ├── Lidar_omg_after_rot.txt ├── acc_cost.txt ├── imu.txt ├── mat_out.txt └── plot.py ├── README.md ├── config ├── avia.yaml ├── horizon.yaml ├── mid360.yaml ├── ouster.yaml ├── pandar.yaml ├── robosense.yaml └── velodyne.yaml ├── docker ├── Dockerfile ├── docker_start.md └── ros_entrypoint.sh ├── image ├── Excitation.gif ├── Extrinsic calibration.png ├── device.png ├── pipeline.png ├── point_map.png ├── point_map1.png ├── temporal calibration.png └── video_cover.png ├── include ├── LI_init │ ├── LI_init.cpp │ └── LI_init.h ├── color.h ├── common_lib.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── matplotlibcpp.h ├── scope_timer.hpp └── so3_math.h ├── launch ├── hesai_pandarXT.launch ├── livox_avia.launch ├── livox_horizon.launch ├── livox_mid360.launch ├── ouster.launch ├── robosense.launch └── velodyne.launch ├── matlab_code └── 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