├── CMakeLists.txt ├── LICENSE ├── LVI-SAM Docker使用图文简介V2.0_1009.pdf ├── README.md ├── README_CN.md ├── config ├── KAIST_camera.yaml ├── KAIST_lidar.yaml ├── KITTI_camera.yaml ├── KITTI_lidar.yaml ├── M2DGR_camera.yaml ├── M2DGR_lidar.yaml ├── UrbanNavDataset_camera.yaml ├── UrbanNavDataset_lidar.yaml ├── backbag_camera.yaml ├── backbag_lidar.yaml ├── brief_k10L6.bin ├── brief_pattern.yml ├── extrinsic_parameter_example.pdf ├── fisheye_mask_720x540.jpg ├── ljj_camera.yaml ├── ljj_lidar.yaml ├── params_camera.yaml ├── params_camera_official.yaml ├── params_lidar.yaml └── params_lidar_official.yaml ├── doc ├── fig │ ├── backbag.png │ ├── gate_01.png │ ├── handheld-official.png │ ├── handheld.png │ ├── imu.png │ ├── kaist1.png │ ├── kaist2.png │ ├── kitti.png │ ├── ljj.gif │ ├── official-equipment.png │ └── urbannav.png ├── kaist-help │ ├── README.md │ ├── irp_sen_msgs │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── msg │ │ │ ├── LaserScanArray.msg │ │ │ ├── altimeter.msg │ │ │ ├── encoder.msg │ │ │ ├── fog.msg │ │ │ ├── fog_3axis.msg │ │ │ ├── imu.msg │ │ │ └── vrs.msg │ │ └── package.xml │ └── kaist2bag │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── config │ │ └── config.yaml │ │ ├── launch │ │ └── kaist2bag.launch │ │ ├── package.xml │ │ ├── scripts │ │ └── mergebag.py │ │ └── src │ │ ├── altimeter_converter.cpp │ │ ├── altimeter_converter.h │ │ ├── converter.cpp │ │ ├── converter.h │ │ ├── encoder_converter.cpp │ │ ├── encoder_converter.h │ │ ├── fog_converter.cpp │ │ ├── fog_converter.h │ │ ├── gps_converter.cpp │ │ ├── gps_converter.h │ │ ├── imu_converter.cpp │ │ ├── imu_converter.h │ │ ├── main.cpp │ │ ├── sick_converter.cpp │ │ ├── sick_converter.h │ │ ├── stereo_converter.cpp │ │ ├── stereo_converter.h │ │ ├── velodyne_converter.cpp │ │ ├── velodyne_converter.h │ │ ├── vrs_converter.cpp │ │ └── vrs_converter.h └── paper.pdf ├── docker ├── Dockerfile ├── docker_start.md └── ros_entrypoint.sh ├── launch ├── KAIST.launch ├── KITTI.launch ├── M2DGR.launch ├── UrbanNavDataset.launch ├── backbag.launch ├── include │ ├── config │ │ ├── robot.urdf.xacro │ │ └── rviz.rviz │ ├── module_robot_state_publisher.launch │ ├── module_rviz.launch │ ├── module_sam.launch │ └── rosconsole │ │ ├── rosconsole_error.conf │ │ ├── rosconsole_info.conf │ │ └── rosconsole_warn.conf ├── ljj.launch ├── run.launch └── run_official.launch ├── msg └── cloud_info.msg ├── package.xml ├── src ├── lidar_odometry │ ├── featureExtraction.cpp │ ├── imageProjection.cpp │ ├── imuPreintegration.cpp │ ├── mapOptmization.cpp │ └── utility.h └── visual_odometry │ ├── visual_estimator │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ │ ├── imu_factor.h │ │ ├── integration_base.h │ │ ├── marginalization_factor.cpp │ │ ├── marginalization_factor.h │ │ ├── pose_local_parameterization.cpp │ │ ├── pose_local_parameterization.h │ │ ├── projection_factor.cpp │ │ ├── projection_factor.h │ │ ├── projection_td_factor.cpp │ │ └── projection_td_factor.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 │ └── utility │ │ ├── CameraPoseVisualization.cpp │ │ ├── CameraPoseVisualization.h │ │ ├── tic_toc.h │ │ ├── utility.cpp │ │ ├── utility.h │ │ ├── visualization.cpp │ │ └── visualization.h │ ├── visual_feature │ ├── camera_models │ │ ├── Camera.cc │ │ ├── Camera.h │ │ ├── CameraFactory.cc │ │ ├── CameraFactory.h │ │ ├── CataCamera.cc │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.cc │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.cc │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.cc │ │ ├── PinholeCamera.h │ │ ├── ScaramuzzaCamera.cc │ │ ├── ScaramuzzaCamera.h │ │ ├── gpl.cc │ │ └── gpl.h │ ├── 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