├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md └── fastlivo ├── CMakeLists.txt ├── config └── avia_resize.yaml ├── launch ├── lio.launch └── livo.launch ├── package.xml ├── rviz └── default.rviz └── src ├── lio_node.cpp ├── lvio_node.cpp ├── map_builder ├── commons.cpp ├── commons.h ├── ieskf.cpp ├── ieskf.h ├── ikd_Tree.cpp ├── ikd_Tree.h ├── image_processor.cpp ├── image_processor.h ├── imu_processor.cpp ├── imu_processor.h ├── lidar_processor.cpp ├── lidar_processor.h ├── map_builder.cpp ├── map_builder.h ├── pinhole_camera.cpp └── pinhole_camera.h ├── test_ieskf.cpp ├── utils.cpp └── utils.h /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/* -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | /opt/ros/noetic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/README.md -------------------------------------------------------------------------------- /fastlivo/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/CMakeLists.txt -------------------------------------------------------------------------------- /fastlivo/config/avia_resize.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/config/avia_resize.yaml -------------------------------------------------------------------------------- /fastlivo/launch/lio.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/launch/lio.launch -------------------------------------------------------------------------------- /fastlivo/launch/livo.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/launch/livo.launch -------------------------------------------------------------------------------- /fastlivo/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/package.xml -------------------------------------------------------------------------------- /fastlivo/rviz/default.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/rviz/default.rviz -------------------------------------------------------------------------------- /fastlivo/src/lio_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/lio_node.cpp -------------------------------------------------------------------------------- /fastlivo/src/lvio_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/lvio_node.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/commons.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/commons.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/commons.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/commons.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/ieskf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/ieskf.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/ieskf.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/ieskf.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/ikd_Tree.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/ikd_Tree.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/ikd_Tree.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/ikd_Tree.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/image_processor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/image_processor.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/image_processor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/image_processor.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/imu_processor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/imu_processor.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/imu_processor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/imu_processor.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/lidar_processor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/lidar_processor.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/lidar_processor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/lidar_processor.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/map_builder.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/map_builder.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/map_builder.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/map_builder.h -------------------------------------------------------------------------------- /fastlivo/src/map_builder/pinhole_camera.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/pinhole_camera.cpp -------------------------------------------------------------------------------- /fastlivo/src/map_builder/pinhole_camera.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/map_builder/pinhole_camera.h -------------------------------------------------------------------------------- /fastlivo/src/test_ieskf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/test_ieskf.cpp -------------------------------------------------------------------------------- /fastlivo/src/utils.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/utils.cpp -------------------------------------------------------------------------------- /fastlivo/src/utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/liangheming/M_FASTLIVO/HEAD/fastlivo/src/utils.h --------------------------------------------------------------------------------