├── FAST-LIO ├── CMakeLists.txt ├── LICENSE ├── Log │ ├── H_OUT.txt │ ├── imu.txt │ ├── plot.py │ └── pos_log.txt ├── README.md ├── config │ ├── avia.yaml │ ├── horizon.yaml │ ├── ouster64.yaml │ ├── ouster64_mulran.yaml │ ├── robosense.yaml │ └── velodyne.yaml ├── doc │ ├── Fast_LIO_2.pdf │ ├── overview_fastlio2.svg │ ├── real_experiment2.gif │ ├── uav01.jpg │ ├── uav_ground.pdf │ └── ulhkwh_fastlio.gif ├── include │ ├── Exp_mat.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-Tree │ │ ├── README.md │ │ ├── ikd_Tree.cpp │ │ └── ikd_Tree.h │ ├── matplotlibcpp.h │ ├── so3_math.h │ └── use-ikfom.hpp ├── launch │ ├── fast_lio_slam_rviz.launch │ ├── gdb_debug_example.launch │ ├── mapping_avia.launch │ ├── mapping_horizon.launch │ ├── mapping_ouster64.launch │ ├── mapping_ouster64_mulran.launch │ ├── mapping_robosense.launch │ └── mapping_velodyne.launch ├── msg │ └── Pose6D.msg ├── package.xml ├── rviz_cfg │ ├── .gitignore │ └── loam_livox.rviz └── src │ ├── IMU_Processing.hpp │ ├── laserMapping.cpp │ ├── preprocess.cpp │ └── preprocess.h ├── IMAGE ├── Overview.png └── motivations.png ├── README.md └── SC-PGO ├── CMakeLists.txt ├── README.md ├── Thirdparty ├── Sophus │ ├── .clang-format │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.rst │ ├── Sophus.code-workspace │ ├── SophusConfig.cmake.in │ ├── appveyor.yml │ ├── cmake_modules │ │ └── FindEigen3.cmake │ ├── doxyfile │ ├── doxyrest-config.lua │ ├── examples │ │ ├── CMakeLists.txt │ │ └── HelloSO3.cpp │ ├── generate_stubs.py │ ├── make_docs.sh │ ├── package.xml │ ├── rst-dir │ │ ├── conf.py │ │ ├── page_index.rst │ │ └── pysophus.rst │ ├── run_format.sh │ ├── scripts │ │ ├── install_docs_deps.sh │ │ ├── install_linux_deps.sh │ │ ├── install_linux_fmt_deps.sh │ │ ├── install_osx_deps.sh │ │ └── run_cpp_tests.sh │ ├── setup.py │ ├── sophus │ │ ├── average.hpp │ │ ├── cartesian.hpp │ │ ├── ceres_local_parameterization.hpp │ │ ├── ceres_manifold.hpp │ │ ├── ceres_typetraits.hpp │ │ ├── common.hpp │ │ ├── example_ensure_handler.cpp │ │ ├── geometry.hpp │ │ ├── interpolate.hpp │ │ ├── interpolate_details.hpp │ │ ├── num_diff.hpp │ │ ├── rotation_matrix.hpp │ │ ├── rxso2.hpp │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim2.hpp │ │ ├── sim3.hpp │ │ ├── sim_details.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── spline.hpp │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp │ ├── sophus_pybind-stubs │ │ ├── py.typed │ │ └── sophus_pybind.pyi │ ├── sophus_pybind │ │ ├── README │ │ ├── SE3PyBind.h │ │ ├── SO3PyBind.h │ │ ├── SophusPyBind.h │ │ ├── bindings.cpp │ │ ├── examples │ │ │ └── sophus_quickstart_tutorial.ipynb │ │ └── tests │ │ │ └── sophusPybindTests.py │ ├── sympy │ │ ├── cpp_gencode │ │ │ ├── Se2_Dx_exp_x.cpp │ │ │ ├── Se2_Dx_log_this.cpp │ │ │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── Se3_Dx_exp_x.cpp │ │ │ ├── Se3_Dx_log_this.cpp │ │ │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── So2_Dx_exp_x.cpp │ │ │ ├── So2_Dx_log_exp_x_times_this_at_0.cpp │ │ │ ├── So2_Dx_log_this.cpp │ │ │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ │ │ ├── So3_Dx_exp_x.cpp │ │ │ ├── So3_Dx_log_exp_x_times_this_at_0.cpp │ │ │ ├── So3_Dx_log_this.cpp │ │ │ └── So3_Dx_this_mul_exp_x_at_0.cpp │ │ ├── run_tests.sh │ │ └── sophus │ │ │ ├── __init__.py │ │ │ ├── complex.py │ │ │ ├── cse_codegen.py │ │ │ ├── dual_quaternion.py │ │ │ ├── matrix.py │ │ │ ├── quaternion.py │ │ │ ├── se2.py │ │ │ ├── se3.py │ │ │ ├── so2.py │ │ │ └── so3.py │ └── test │ │ ├── CMakeLists.txt │ │ ├── ceres │ │ ├── CMakeLists.txt │ │ ├── test_ceres_rxso2.cpp │ │ ├── test_ceres_rxso3.cpp │ │ ├── test_ceres_se2.cpp │ │ ├── test_ceres_se3.cpp │ │ ├── test_ceres_sim2.cpp │ │ ├── test_ceres_sim3.cpp │ │ ├── test_ceres_so2.cpp │ │ ├── test_ceres_so3.cpp │ │ └── tests.hpp │ │ └── core │ │ ├── CMakeLists.txt │ │ ├── test_cartesian2.cpp │ │ ├── test_cartesian3.cpp │ │ ├── test_common.cpp │ │ ├── test_geometry.cpp │ │ ├── test_rxso2.cpp │ │ ├── test_rxso3.cpp │ │ ├── test_se2.cpp │ │ ├── test_se3.cpp │ │ ├── test_sim2.cpp │ │ ├── test_sim3.cpp │ │ ├── test_so2.cpp │ │ ├── test_so3.cpp │ │ ├── test_velocities.cpp │ │ └── tests.hpp └── tessil-src │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── appveyor.yml │ ├── cmake │ └── tsl-robin-mapConfig.cmake.in │ ├── doxygen.conf │ ├── include │ └── tsl │ │ ├── robin_growth_policy.h │ │ ├── robin_hash.h │ │ ├── robin_map.h │ │ └── robin_set.h │ ├── tests │ ├── CMakeLists.txt │ ├── custom_allocator_tests.cpp │ ├── main.cpp │ ├── policy_tests.cpp │ ├── robin_map_tests.cpp │ ├── robin_set_tests.cpp │ └── utils.h │ └── tsl-robin-map.natvis ├── include ├── aloam_velodyne │ ├── common.h │ └── tic_toc.h ├── mapmanager.hpp └── scancontext │ ├── 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