├── .gitignore ├── doc ├── LOCALIZATION.md ├── degradtion.png ├── superloc.png ├── superodom.png ├── tested_platform.png └── uncertainty.gif ├── readme.md ├── ros2_humble_docker ├── Dockerfile ├── container_run.sh └── ros_entrypoint.sh ├── script ├── benchmark_livox.yaml ├── benchmark_ouster.yaml ├── benchmark_velodyne.yaml ├── run.yaml ├── save_benchmark_result.py ├── save_imu_vs_icp.py ├── save_superodom_stats.py ├── save_superodom_stats_matplotlib.py └── visualizers │ ├── base.py │ ├── rerun_vis.py │ ├── rerun_visualizer.py │ └── utils.py ├── super_odometry ├── .gitignore ├── CMakeLists.txt ├── cmake │ ├── FindEigen.cmake │ ├── FindGflags.cmake │ └── FindGlog.cmake ├── config │ ├── livox │ │ └── livox_mid360_calibration.yaml │ ├── livox_mid360.yaml │ ├── os1_128.yaml │ ├── ouster │ │ └── os1_128_calibration.yaml │ ├── velodyne │ │ └── vlp_16_calibration.yaml │ └── vlp_16.yaml ├── include │ ├── super_odometry │ │ ├── FeatureExtraction │ │ │ └── featureExtraction.h │ │ ├── ImuPreintegration │ │ │ └── imuPreintegration.h │ │ ├── LaserMapping │ │ │ └── laserMapping.h │ │ ├── LidarProcess │ │ │ ├── LidarSlam.h │ │ │ ├── LocalMap.h │ │ │ └── factor │ │ │ │ ├── SE3AbsolutatePoseFactor.h │ │ │ │ ├── lidarOptimization.h │ │ │ │ └── pose_local_parameterization.h │ │ ├── LocalMap.h │ │ ├── config │ │ │ └── parameter.h │ │ ├── container │ │ │ └── MapRingBuffer.h │ │ ├── flann │ │ │ ├── nanoflann.h │ │ │ └── octree.h │ │ ├── sensor_data │ │ │ ├── imu │ │ │ │ └── imu_data.h │ │ │ └── pointcloud │ │ │ │ ├── LidarPoint.h │ │ │ │ └── point_os.h │ │ ├── tic_toc.h │ │ └── utils │ │ │ ├── EigenTypes.h │ │ │ ├── Twist.h │ │ │ ├── sophus_utils.hpp │ │ │ ├── superodom_utils.h │ │ │ └── utility.h │ └── utility.h ├── launch │ ├── livox_mid360.launch.py │ ├── os1_128.launch.py │ └── vlp_16.launch.py ├── package.xml ├── readme.md ├── ros2.rviz ├── src │ ├── FeatureExtraction │ │ └── featureExtraction.cpp │ ├── ImuPreintegration │ │ └── imuPreintegration.cpp │ ├── LaserMapping │ 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