├── .devcontainer └── devcontainer.json ├── .github └── stale.yml ├── LICENCE ├── README.md ├── camera_model ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── instruction ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── filr_cam.yaml ├── lio_config.yaml └── rviz │ ├── vins_rviz_config.rviz │ ├── vins_rviz_config_ouster.rviz │ └── vins_rviz_config_sample.rviz ├── docker ├── Dockerfile ├── build ├── ros-entrypoint.sh ├── run └── run_gpu ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── paper └── r2live_ral_final.pdf ├── pics ├── cover.png ├── indoor_aggressive_bag_res.png ├── main_building.png └── video_cover.jpg ├── r2live ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── launch │ └── demo.launch ├── msg │ ├── Pose6D.msg │ └── States.msg ├── package.xml └── src │ ├── LM_Strategy.hpp │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── estimator_optimization.cpp │ ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── lidar_prior.hpp │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── projection_td_factor.cpp │ └── projection_td_factor.h │ ├── fast_lio │ ├── IMU_Processing.hpp │ ├── fast_lio.hpp │ ├── include │ │ ├── Exp_mat.h │ │ ├── FOV_Checker │ │ │ ├── FOV_Checker.cpp │ │ │ └── FOV_Checker.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 │ ├── laserMapping.cpp │ ├── preprocess.cpp │ └── preprocess.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── initial │ ├── initial_aligment.cpp │ ├── initial_alignment.h │ ├── initial_ex_rotation.cpp │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h │ ├── parameters.cpp │ ├── parameters.h │ ├── tools │ ├── os_compatible.hpp │ ├── r2live_sophus │ │ ├── average.hpp │ │ ├── common.hpp │ │ ├── example_ensure_handler.cpp │ │ ├── formatstring.hpp │ │ ├── geometry.hpp │ │ ├── interpolate.hpp │ │ ├── interpolate_details.hpp │ │ ├── local_parameterization_se3.hpp │ │ ├── local_parameterization_split_se3.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 │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp │ ├── tools_angleaxis_ad.h │ ├── tools_ceres.hpp │ ├── tools_color_printf.hpp │ ├── tools_data_io.hpp │ ├── 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