├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Log ├── guide.md ├── imu.txt ├── imu_pbp.txt ├── mat_out.txt ├── plot.py ├── plot_imu.py ├── plot_out.py └── pos_log.txt ├── PCD └── do_not_delete_this_file.txt ├── README.md ├── VERSION.md ├── config ├── avia.yaml ├── horizon.yaml ├── ouster64.yaml ├── unilidar_l1.yaml ├── unilidar_l2.yaml └── velody16.yaml ├── doc ├── demo.png ├── icon.png ├── l2-demo-video-bilibili.png ├── l2-demo-video-youtube.png └── video.png ├── include ├── FOV_Checker │ ├── FOV_Checker.cpp │ └── FOV_Checker.h ├── IKFoM │ ├── .gitignore │ ├── .vscode │ │ └── settings.json │ ├── IKFoM_toolkit │ │ ├── .vscode │ │ │ └── settings.json │ │ ├── esekfom │ │ │ ├── .vscode │ │ │ │ └── settings.json │ │ │ ├── esekfom.hpp │ │ │ └── util.hpp │ │ └── mtk │ │ │ ├── build_manifold.hpp │ │ │ ├── src │ │ │ ├── SubManifold.hpp │ │ │ ├── mtkmath.hpp │ │ │ └── vectview.hpp │ │ │ ├── startIdx.hpp │ │ │ └── types │ │ │ ├── S2.hpp │ │ │ ├── SEn.hpp │ │ │ ├── SOn.hpp │ │ │ ├── vect.hpp │ │ │ └── wrapped_cv_mat.hpp │ ├── LICENSE │ └── README.md ├── common_lib.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h └── so3_math.h ├── launch ├── gdb_debug_example.launch ├── mapping_avia.launch ├── mapping_horizon.launch ├── mapping_ouster64.launch ├── mapping_unilidar_l1.launch ├── mapping_unilidar_l2.launch └── mapping_velody16.launch ├── package.xml ├── rviz_cfg ├── .gitignore ├── loam_livox.rviz ├── loam_unilidar_default.rviz └── loam_unilidar_display.rviz └── src ├── Estimator.cpp ├── Estimator.h ├── IMU_Processing.hpp ├── laserMapping.cpp ├── parameters.cpp ├── parameters.h ├── preprocess.cpp └── preprocess.h /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 2 | ./PCD/scans.pcd -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 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