├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── config-helimos.yaml └── config.yaml ├── image ├── accumulation.png ├── calib.png ├── labels_format.png ├── overview.png ├── pics_merger │ ├── Aeva.png │ ├── Merged.png │ ├── Ouster.png │ ├── Velodyne.png │ └── livox.png ├── pics_propagator │ ├── Aeva_dyn.png │ ├── Livox_dyn.png │ ├── Merged_dyn.png │ ├── Ouster_dyn.png │ └── Velodyne_dyn.png ├── pics_saver │ └── helimos_convert.png ├── pose_example.png ├── trajectory.png └── visualizer.png ├── include ├── BsplineSE3.h ├── PointCloudProcessor.h ├── nanoflann │ ├── nanoflann.hpp │ └── nanoflann_utils.hpp ├── quat_ops.h ├── utility.h └── visualizer.h ├── python ├── binVisualizer.py └── transformINStoLiDAR.py └── src ├── BsplineSE3.cpp ├── PointCloudProcessor.cpp ├── pointMerger.cpp ├── pointPropagator.cpp ├── pointSaver.cpp ├── utility.cpp └── visualizer.cpp /.gitignore: -------------------------------------------------------------------------------- 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