├── FAST_LIO ├── CMakeLists.txt ├── LICENSE ├── Log │ ├── guide.md │ ├── mat_out.txt │ └── mat_pre.txt ├── README.md ├── config │ └── fast_lio.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 │ ├── common_lib.h │ ├── kd_tree │ │ ├── kd_tree.cpp │ │ └── kd_tree.h │ ├── matplotlibcpp.h │ └── so3_math.h ├── launch │ ├── mapping_avia.launch │ ├── mapping_avia_gdb.launch │ ├── mapping_avia_outdoor.launch │ └── replay.launch ├── msg │ ├── Pose6D.msg │ └── States.msg ├── package.xml ├── rviz_cfg │ ├── .gitignore │ └── loam_livox.rviz ├── src │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── IMU_Processing.hpp │ ├── feature_extract.cpp │ ├── kd_tree_test.cpp │ └── laserMapping.cpp └── tools │ ├── plot.py │ └── plot_state.py ├── LICENSE ├── README.md ├── 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 ├── 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