├── CMakeLists.txt ├── README.md ├── cmake └── geographic.cmake ├── config └── ige_lio.yaml ├── include ├── common_lib.h ├── esekfom.hpp ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h └── use-ikfom.hpp ├── launch └── ige_lio.launch ├── msg └── Pose6D.msg ├── package.xml ├── pic ├── LIDAR_degenerat_1.gif ├── hall_rotation_1.png └── rall_sotation_5.gif ├── rviz_cfg ├── eee_01_ouster16.rviz ├── loam_livox.rviz ├── loam_livox_hap.rviz ├── loam_livox_hap_outdoor.rviz └── loam_livox_lidar_degenerated.rviz ├── src ├── IMU_Processing.hpp ├── file_manager.cpp ├── file_manager.hpp ├── gnss_data.cpp ├── gnss_data.hpp ├── laserMapping.cpp ├── preprocess.cpp └── preprocess.h └── third_party └── GeographicLib ├── CMakeLists.txt ├── include └── Geocentric │ ├── Config.h │ ├── Constants.hpp │ ├── Geocentric.hpp │ ├── LocalCartesian.hpp │ └── Math.hpp └── src ├── Geocentric.cpp ├── LocalCartesian.cpp └── Math.cpp /CMakeLists.txt: 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