├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── m2dgr.yaml ├── m2dgr │ ├── ring32_M_0.xml │ ├── ring32_M_1.xml │ ├── ring32_M_2.xml │ ├── ring32_M_3.xml │ ├── ring32_M_4.xml │ ├── ring32_M_5.xml │ ├── ring32_M_6.xml │ ├── ring32_M_7.xml │ ├── ring32_M_8.xml │ └── ring32_v.xml ├── newer_college.yaml ├── newer_college │ ├── ring64_M_0.xml │ ├── ring64_M_1.xml │ ├── ring64_M_2.xml │ ├── ring64_M_3.xml │ ├── ring64_M_4.xml │ ├── ring64_M_5.xml │ ├── ring64_M_6.xml │ ├── ring64_M_7.xml │ ├── ring64_M_8.xml │ └── ring64_v.xml ├── rviz_cfg │ └── voxel_mapping.rviz ├── viral.yaml └── viral │ ├── ring16_M_0.xml │ ├── ring16_M_1.xml │ ├── ring16_M_2.xml │ ├── ring16_M_3.xml │ ├── ring16_M_4.xml │ ├── ring16_M_5.xml │ ├── ring16_M_6.xml │ ├── ring16_M_7.xml │ ├── ring16_M_8.xml │ └── ring16_v.xml ├── 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 ├── point_type.h ├── so3_math.h ├── use-ikfom.hpp └── voxel_map_util.hpp ├── launch ├── mapping_m2dgr.launch ├── mapping_newer_college.launch ├── mapping_viral.launch └── rviz_voxel_map.launch ├── package.xml └── src ├── IMU_Processing.hpp ├── converter ├── pandar_to_velodyne.cpp └── rs_to_velodyne.cpp ├── preprocess.cpp ├── preprocess.h ├── ring_fals ├── Image_normals.hpp ├── precomp.h ├── range_image.cpp └── range_image.h ├── tic_toc.h ├── visualizer_node.cpp └── voxelMapping.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tiev-tongji/LOG-LIO2/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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