├── .clang-format ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Log ├── imu.txt ├── mat_out.txt ├── mat_pre.txt ├── pose_file.txt └── traj.txt ├── PCD ├── .9af0acb1a6763a1865d7d2fec46b791753a073f.cam └── std.bin ├── README.MD ├── README.md ├── app ├── CMakeLists.txt ├── run_loop_online.cpp ├── run_mapping_offline.cc ├── run_mapping_online.cc └── run_redundancy_detection_online.cpp ├── cmake ├── FindGlog.cmake └── packages.cmake ├── config ├── STD │ ├── config_kitti.yaml │ ├── config_livox.yaml │ ├── config_mid70 (copy).yaml │ ├── config_mid70.yaml │ ├── config_online.yaml │ └── config_pgo.yaml ├── avia.yaml ├── avia_voxel.yaml ├── camera_pinhole_avia.yaml ├── camera_pinhole_our.yaml ├── horizon.yaml ├── mid.yaml ├── mid_voxel.yaml ├── ouster64.yaml ├── velodyne.yaml └── velodyne_liosam.yaml ├── doc ├── .DS_Store ├── faster-lio-nclt.png ├── faster-lio.pdf └── fps-fasterlio.png ├── docker ├── .env ├── Dockerfile ├── condarc ├── docker-compose.yml └── ros_entrypoint.sh ├── image ├── 微信图片_20230710091310.jpg └── 微信图片_20230710091334.jpg ├── include ├── 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 ├── backward.hpp ├── common_lib.h ├── feature.h ├── frame.h ├── imu_processing.hpp ├── inital_aligment.hpp ├── ivox3d │ ├── eigen_types.h │ ├── hilbert.hpp │ ├── ivox3d.h │ └── ivox3d_node.hpp ├── laser_mapping.h ├── lidar_selection.h ├── map.h ├── options.h ├── point.h ├── pointcloud_preprocess.h ├── so3_math.h ├── std_detector │ └── STDesc.h ├── tools.hpp ├── use-ikfom.hpp ├── utils.h └── voxel_octree_map │ └── voxel_map_util.hpp ├── launch ├── demo_livox.launch ├── gdb_debug_example.launch ├── loop_online.launch ├── mapping_avia.launch ├── mapping_horizon.launch ├── mapping_mid.launch ├── mapping_mid7.launch ├── mapping_ouster64.launch ├── mapping_velodyne.launch ├── mapping_velodyne_liosam.launch ├── mapping_voxel_avia.launch └── mapping_voxel_mid.launch ├── msg ├── Euler.msg ├── Pose6D.msg └── States.msg ├── package.xml ├── result ├── kdtree.ivox.xlsx ├── plot_bar_time_by_step.py ├── plot_nn.py ├── plot_process_recall.py ├── plot_time.py ├── plot_time_usage.py └── rpe_odom.py ├── rviz_cfg ├── .gitignore ├── loam_livox.rviz ├── online.rviz ├── voxel_LIVO.rviz └── voxel_mapping.rviz ├── script └── record.py ├── src ├── CMakeLists.txt ├── frame.cpp ├── laser_mapping.cc ├── lidar_selection.cpp ├── map.cpp ├── models │ └── STDesc.cpp ├── options.cc ├── point.cpp ├── pointcloud_preprocess.cc └── utils.cc └── thirdparty ├── livox_ros_driver ├── CMakeLists.txt ├── msg │ ├── CustomMsg.msg │ └── CustomPoint.msg └── package.xml ├── tbb-2018-source.tar.gz └── tbb2018_20170726oss_lin.tgz /.clang-format: -------------------------------------------------------------------------------- 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