├── Extrinsic.txt ├── LICENSE ├── MA_LIO ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── PCD │ └── save_pcd_location.txt ├── build │ ├── .cmake │ │ └── api │ │ │ └── v1 │ │ │ └── query │ │ │ └── client-vscode │ │ │ └── query.json │ ├── CATKIN_IGNORE │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.22.3 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeOutput.log │ │ ├── FindOpenMP │ │ │ ├── OpenMPCheckVersion.c │ │ │ ├── OpenMPCheckVersion.cpp │ │ │ ├── OpenMPTryFlag.c │ │ │ ├── OpenMPTryFlag.cpp │ │ │ ├── ompver_C.bin │ │ │ └── ompver_CXX.bin │ │ └── cmake.check_cache │ ├── CTestConfiguration.ini │ ├── CTestCustom.cmake │ ├── atomic_configure │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ └── setup.zsh │ ├── catkin │ │ └── catkin_generated │ │ │ └── version │ │ │ └── package.cmake │ ├── catkin_generated │ │ ├── env_cached.sh │ │ ├── generate_cached_setup.py │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── setup_cached.sh │ │ └── stamps │ │ │ └── ma_lio │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ └── package.xml.stamp │ └── devel │ │ ├── .catkin │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── cmake.lock │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ └── setup.zsh ├── config │ ├── City.yaml │ └── UrbanNav.yaml ├── include │ ├── BsplineSE3.h │ ├── 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 │ │ │ ├── SEn.hpp │ │ │ ├── SOn.hpp │ │ │ ├── vect.hpp │ │ │ └── wrapped_cv_mat.hpp │ ├── associate_uct.hpp │ ├── common_lib.h │ ├── ikd-Tree │ │ ├── README.md │ │ ├── ikd_Tree.cpp │ │ └── ikd_Tree.h │ ├── quat_ops.h │ └── so3_math.h ├── launch │ ├── mapping_city.launch │ └── mapping_urban.launch ├── msg │ └── Pose6D.msg ├── package.xml ├── rviz_cfg │ ├── .gitignore │ └── ma_lio.rviz └── src │ ├── BsplineSE3.cpp │ ├── IMU_Processing.hpp │ ├── laserMapping.cpp │ ├── parameters.cpp │ ├── parameters.h │ ├── preprocess.cpp │ ├── preprocess.h │ └── use-ikfom.hpp ├── README.md ├── figs ├── City.gif ├── City01.png ├── City02.png ├── City03.png ├── Dataset.jpg ├── Map.png ├── Urban.gif ├── fig_output.png ├── fig_overview.jpg └── paper.pdf ├── file_player ├── CMakeLists.txt ├── README.md ├── cfg │ └── file_player.cfg ├── include │ └── file_player │ │ ├── color.h │ │ └── datathread.h ├── launch │ └── file_player.launch ├── msg │ └── tmp ├── package.xml ├── src │ ├── CMakeLists.txt │ ├── ROSThread.cpp │ ├── ROSThread.h │ ├── color_code.h │ ├── main.cpp │ ├── mainwindow.cpp │ ├── mainwindow.h │ ├── mainwindow.ui │ ├── resources.qrc │ └── resources │ │ ├── fragmentShader.fsh │ │ ├── fragmentShaderColor.fsh │ │ ├── fragmentShaderOBJ.fsh │ │ ├── vertexShader.vsh │ │ ├── vertexShaderColor.vsh │ │ └── vertexShaderOBJ.vsh └── srv │ └── tmp └── irp_sen_msgs ├── CMakeLists.txt ├── README.md ├── msg ├── Inspva.msg ├── LaserScanArray.msg ├── altimeter.msg ├── encoder.msg ├── fog.msg ├── fog_3axis.msg ├── imu.msg └── vrs.msg └── package.xml /Extrinsic.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/minwoo0611/MA-LIO/HEAD/Extrinsic.txt 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