├── .gitattributes ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── dynamic.yaml ├── ecmd.yaml ├── geode.yaml ├── rviz_cfg │ ├── .gitignore │ └── voxel_mapping.rviz └── urbannav.yaml ├── doc ├── Multimedia.mp4 ├── framework.png ├── stsurface.png └── teaser.png ├── include ├── 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 │ │ ├── SOn.hpp │ │ ├── vect.hpp │ │ └── wrapped_cv_mat.hpp ├── common_lib.h ├── matplotlibcpp.h ├── scan │ ├── DBSCAN_kdtree.h │ ├── DBSCAN_precomp.h │ ├── DBSCAN_simple.h │ ├── VoxelHashMap.h │ ├── ikd_Tree.h │ ├── ikd_Tree_impl.h │ ├── object.h │ └── utils.h ├── so3_math.h ├── tsl │ ├── robin_growth_policy.h │ ├── robin_hash.h │ ├── robin_map.h │ └── robin_set.h ├── types.h ├── use-ikfom.hpp └── voxel_map_util.hpp ├── launch ├── UrbanNav.launch ├── dynamic.launch ├── ecmd.launch └── geode.launch ├── package.xml └── src ├── IMU_Processing.hpp ├── converter ├── pandar_to_velodyne.cpp └── rs_to_velodyne.cpp ├── preprocess.cpp ├── preprocess.h └── voxelMapping.cpp /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thisparticle/btsa/HEAD/.gitattributes -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thisparticle/btsa/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thisparticle/btsa/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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