├── .gitignore ├── README.md ├── doc ├── Lecture10_Homework │ ├── README.md │ ├── laser_map.png │ ├── laser_raw.png │ ├── opt_map.png │ ├── opt_raw.png │ ├── running1.png │ ├── running2.png │ └── traj01 │ │ ├── ground_truth.txt │ │ ├── laser_odom.txt │ │ └── optimized.txt ├── Lecture1_Homework │ └── README.md ├── Lecture2_Homework │ └── README.md ├── Lecture3_Homework │ └── README.md ├── Lecture4_Homework │ ├── 0S初始化.png │ ├── 100S初始化.png │ ├── 200S初始化.png │ ├── 300S初始化.png │ ├── 400S初始化.png │ ├── README.md │ └── 运行截图.png ├── Lecture5_Homework │ └── README.md ├── Lecture6_Homework │ ├── README.md │ └── data │ │ ├── step1 │ │ ├── euler_ape.png │ │ ├── euler_estimation.txt │ │ ├── euler_traj.png │ │ ├── ground_truth_file.txt │ │ ├── mid_point_ape.png │ │ ├── mid_point_estimation.txt │ │ ├── mid_point_traj.png │ │ ├── rpy_view.png │ │ ├── trajectory.png │ │ └── xyz_view.png │ │ └── step2 │ │ ├── euler_ape.png │ │ ├── euler_estimation.txt │ │ ├── euler_traj.png │ │ ├── ground_truth_file.txt │ │ ├── mid_point_ape.png │ │ ├── mid_point_estimation.txt │ │ ├── mid_point_traj.png │ │ ├── rpy_view.png │ │ ├── traj.png │ │ └── xyz_view.png ├── Lecture7_Homework │ ├── Homework.md │ ├── README.md │ └── running.png ├── Lecture8_Homework │ ├── 01 │ │ ├── fused.txt │ │ ├── ground_truth.txt │ │ └── laser.txt │ ├── 02 │ │ ├── fused.txt │ │ ├── ground_truth.txt │ │ ├── laser.txt │ │ └── param.txt │ ├── Homework.md │ ├── README.md │ ├── fused.png │ ├── gnss.png │ └── running.png └── Lecture9_Homework │ ├── IMUPre │ ├── IMUPre2.png │ ├── ground_truth.txt │ ├── imu1.png │ ├── laser_odom.txt │ ├── laser_with_imu_pre.png │ └── optimized.txt │ ├── NoIMU │ ├── No Imu3.png │ ├── No Imu4.png │ ├── ground_truth.txt │ ├── laser_odom.txt │ ├── laser_traj.png │ ├── no imu1.png │ ├── no imu2.png │ └── optimized.txt │ ├── README.md │ └── Running.png └── src ├── 08-graph-optimization ├── .gitignore ├── README.md ├── doc │ └── images │ │ ├── demo.png │ │ └── terminator.png └── src │ ├── CMakeLists.txt │ └── lidar_localization │ ├── CMakeLists.txt │ ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── g2o.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ ├── glog.cmake │ ├── protobuf.cmake │ └── sophus.cmake │ ├── config │ ├── mapping │ │ ├── back_end.yaml │ │ ├── front_end.yaml │ │ ├── lio_back_end.yaml │ │ ├── loop_closing.yaml │ │ └── viewer.yaml │ └── scan_context │ │ ├── key_frames.proto │ │ ├── ring_keys.proto │ │ └── scan_contexts.proto │ ├── include │ └── lidar_localization │ │ ├── data_pretreat │ │ ├── data_pretreat_flow.hpp │ │ ├── eskf_preprocess_flow.hpp │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ └── lidar_preprocess_flow.hpp │ │ ├── filtering │ │ ├── gnss_ins_sim_filtering.hpp │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ ├── kitti_filtering.hpp │ │ └── kitti_filtering_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── mapping │ │ ├── back_end │ │ │ ├── back_end.hpp │ │ │ ├── back_end_flow.hpp │ │ │ ├── lio_back_end.hpp │ │ │ └── lio_back_end_flow.hpp │ │ ├── front_end │ │ │ ├── front_end.hpp │ │ │ └── front_end_flow.hpp │ │ ├── loop_closing │ │ │ ├── loop_closing.hpp │ │ │ └── loop_closing_flow.hpp │ │ └── viewer │ │ │ ├── viewer.hpp │ │ │ └── viewer_flow.hpp │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.hpp │ │ │ ├── cloud_filter_interface.hpp │ │ │ ├── no_filter.hpp │ │ │ └── voxel_filter.hpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ ├── edge │ │ │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ │ │ ├── edge_prvag_odo_pre_integration.hpp │ │ │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ ├── g2o_graph_optimizer.hpp │ │ │ │ └── vertex │ │ │ │ │ └── vertex_prvag.hpp │ │ │ └── interface_graph_optimizer.hpp │ │ ├── kalman_filter │ │ │ ├── error_state_kalman_filter.hpp │ │ │ ├── extended_kalman_filter.hpp │ │ │ └── kalman_filter.hpp │ │ ├── mag_table │ │ │ └── geo_mag_declination.hpp │ │ ├── pre_integrator │ │ │ ├── imu_pre_integrator.hpp │ │ │ ├── odo_pre_integrator.hpp │ │ │ └── pre_integrator.hpp │ │ ├── registration │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.hpp │ │ └── scan_context_manager │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ ├── key_frames.pb.h │ │ │ ├── nanoflann.hpp │ │ │ ├── ring_keys.pb.h │ │ │ ├── scan_context_manager.hpp │ │ │ └── scan_contexts.pb.h │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ ├── imu_publisher.hpp │ │ ├── key_frame_publisher.hpp │ │ ├── key_frames_publisher.hpp │ │ ├── lidar_measurement_publisher.hpp │ │ ├── loop_pose_publisher.hpp │ │ ├── odometry_publisher.hpp │ │ ├── pos_vel_mag_publisher.hpp │ │ ├── pos_vel_publisher.hpp │ │ └── tf_broadcaster.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ ├── key_frame.hpp │ │ ├── lidar_measurement_data.hpp │ │ ├── loop_pose.hpp │ │ ├── magnetic_field_data.hpp │ │ ├── pos_vel_data.hpp │ │ ├── pos_vel_mag_data.hpp │ │ ├── pose_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ ├── key_frame_subscriber.hpp │ │ ├── key_frames_subscriber.hpp │ │ ├── lidar_measurement_subscriber.hpp │ │ ├── loop_pose_subscriber.hpp │ │ ├── magnetic_field_subscriber.hpp │ │ ├── odometry_subscriber.hpp │ │ ├── pos_vel_mag_subscriber.hpp │ │ ├── pos_vel_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ └── tools │ │ ├── CSVWriter.hpp │ │ ├── file_manager.hpp │ │ ├── print_info.hpp │ │ └── tic_toc.hpp │ ├── launch │ └── lio_mapping.launch │ ├── msg │ ├── EKFStd.msg │ ├── ESKFStd.msg │ ├── IMUGNSSMeasurement.msg │ ├── LidarMeasurement.msg │ ├── PosVel.msg │ └── PosVelMag.msg │ ├── package.xml │ ├── rviz │ ├── display_bag.rviz │ ├── eskf_analysis.rviz │ ├── filtering.rviz │ ├── gnss_ins_sim_localization.rviz │ ├── mapping.rviz │ └── test_frame.rviz │ ├── scripts │ ├── analyze_observability.py │ ├── generate_100hz_oxts.py │ ├── kitti2bag.py │ └── merge_bags.py │ ├── slam_data │ └── .gitignore │ ├── src │ ├── apps │ │ ├── back_end_node.cpp │ │ ├── data_pretreat_node.cpp │ │ ├── eskf_preprocess_node.cpp │ │ ├── front_end_node.cpp │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ ├── kitti_filtering_node.cpp │ │ ├── lidar_preprocess_node.cpp │ │ ├── lio_back_end_node.cpp │ │ ├── loop_closing_node.cpp │ │ ├── test_frame_node.cpp │ │ └── viewer_node.cpp │ ├── data_pretreat │ │ ├── data_pretreat_flow.cpp │ │ ├── eskf_preprocess_flow.cpp │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ └── lidar_preprocess_flow.cpp │ ├── filtering │ │ ├── gnss_ins_sim_filtering.cpp │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ ├── kitti_filtering.cpp │ │ └── kitti_filtering_flow.cpp │ ├── mapping │ │ ├── back_end │ │ │ ├── back_end.cpp │ │ │ ├── back_end_flow.cpp │ │ │ ├── lio_back_end.cpp │ │ │ └── lio_back_end_flow.cpp │ │ ├── front_end │ │ │ ├── front_end.cpp │ │ │ └── front_end_flow.cpp │ │ ├── loop_closing │ │ │ ├── loop_closing.cpp │ │ │ └── loop_closing_flow.cpp │ │ └── viewer │ │ │ ├── viewer.cpp │ │ │ └── viewer_flow.cpp │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.cpp │ │ │ ├── no_filter.cpp │ │ │ └── voxel_filter.cpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ └── interface_graph_optimizer.cpp │ │ ├── kalman_filter │ │ │ ├── error_state_kalman_filter.cpp │ │ │ ├── extended_kalman_filter.cpp │ │ │ └── kalman_filter.cpp │ │ ├── mag_table │ │ │ └── geo_mag_declination.cpp │ │ ├── pre_integrator │ │ │ ├── imu_pre_integrator.cpp │ │ │ └── odo_pre_integrator.cpp │ │ ├── registration │ │ │ └── ndt_registration.cpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.cpp │ │ └── scan_context_manager │ │ │ ├── key_frames.pb.cpp │ │ │ ├── ring_keys.pb.cpp │ │ │ ├── scan_context_manager.cpp │ │ │ └── scan_contexts.pb.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ ├── imu_publisher.cpp │ │ ├── key_frame_publisher.cpp │ │ ├── key_frames_publisher.cpp │ │ ├── lidar_measurement_publisher.cpp │ │ ├── loop_pose_publisher.cpp │ │ ├── odometry_publisher.cpp │ │ ├── pos_vel_mag_publisher.cpp │ │ ├── pos_vel_publisher.cpp │ │ └── tf_broadcaster.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ ├── key_frame.cpp │ │ ├── loop_pose.cpp │ │ ├── magnetic_field_data.cpp │ │ ├── pose_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ ├── key_frame_subscriber.cpp │ │ ├── key_frames_subscriber.cpp │ │ ├── lidar_measurement_subscriber.cpp │ │ ├── loop_pose_subscriber.cpp │ │ ├── magnetic_field_subscriber.cpp │ │ ├── odometry_subscriber.cpp │ │ ├── pos_vel_mag_subscriber.cpp │ │ ├── pos_vel_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ ├── file_manager.cpp │ │ └── print_info.cpp │ └── srv │ ├── optimizeMap.srv │ ├── saveMap.srv │ ├── saveOdometry.srv │ └── saveScanContext.srv ├── 09-sliding-window ├── .gitignore ├── README.md ├── doc │ └── images │ │ ├── demo.png │ │ └── terminator.png └── src │ └── lidar_localization │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cmake │ ├── PCL.cmake │ ├── YAML.cmake │ ├── ceres.cmake │ ├── g2o.cmake │ ├── geographic.cmake │ ├── global_defination.cmake │ ├── glog.cmake │ ├── protobuf.cmake │ └── sophus.cmake │ ├── config │ ├── matching │ │ ├── matching.yaml │ │ └── sliding_window.yaml │ └── scan_context │ │ ├── index.bin │ │ ├── key_frames.proto │ │ ├── ring_keys.proto │ │ └── scan_contexts.proto │ ├── include │ └── lidar_localization │ │ ├── data_pretreat │ │ └── data_pretreat_flow.hpp │ │ ├── global_defination │ │ └── global_defination.h.in │ │ ├── matching │ │ ├── back_end │ │ │ ├── sliding_window.hpp │ │ │ └── sliding_window_flow.hpp │ │ └── front_end │ │ │ ├── matching.hpp │ │ │ └── matching_flow.hpp │ │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.hpp │ │ │ ├── cloud_filter_interface.hpp │ │ │ ├── no_filter.hpp │ │ │ └── voxel_filter.hpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ ├── edge │ │ │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ │ │ ├── edge_prvag_odo_pre_integration.hpp │ │ │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ ├── g2o_graph_optimizer.hpp │ │ │ │ └── vertex │ │ │ │ │ └── vertex_prvag.hpp │ │ │ └── interface_graph_optimizer.hpp │ │ ├── kalman_filter │ │ │ ├── error_state_kalman_filter.hpp │ │ │ ├── extended_kalman_filter.hpp │ │ │ └── kalman_filter.hpp │ │ ├── mag_table │ │ │ └── geo_mag_declination.hpp │ │ ├── pre_integrator │ │ │ ├── imu_pre_integrator.hpp │ │ │ ├── odo_pre_integrator.hpp │ │ │ └── pre_integrator.hpp │ │ ├── registration │ │ │ ├── ndt_registration.hpp │ │ │ └── registration_interface.hpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.hpp │ │ ├── scan_context_manager │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ ├── key_frames.pb.h │ │ │ ├── nanoflann.hpp │ │ │ ├── ring_keys.pb.h │ │ │ ├── scan_context_manager.hpp │ │ │ └── scan_contexts.pb.h │ │ └── sliding_window │ │ │ ├── ceres_sliding_window.hpp │ │ │ ├── factors │ │ │ ├── factor_prvag_imu_pre_integration.hpp │ │ │ ├── factor_prvag_map_matching_pose.hpp │ │ │ ├── factor_prvag_marginalization.hpp │ │ │ └── factor_prvag_relative_pose.hpp │ │ │ ├── params │ │ │ └── param_prvag.hpp │ │ │ └── utils │ │ │ └── utils.hpp │ │ ├── publisher │ │ ├── cloud_publisher.hpp │ │ ├── imu_publisher.hpp │ │ ├── key_frame_publisher.hpp │ │ ├── key_frames_publisher.hpp │ │ ├── lidar_measurement_publisher.hpp │ │ ├── loop_pose_publisher.hpp │ │ ├── odometry_publisher.hpp │ │ ├── pos_vel_mag_publisher.hpp │ │ ├── pos_vel_publisher.hpp │ │ └── tf_broadcaster.hpp │ │ ├── sensor_data │ │ ├── cloud_data.hpp │ │ ├── gnss_data.hpp │ │ ├── imu_data.hpp │ │ ├── key_frame.hpp │ │ ├── lidar_measurement_data.hpp │ │ ├── loop_pose.hpp │ │ ├── magnetic_field_data.hpp │ │ ├── pos_vel_data.hpp │ │ ├── pos_vel_mag_data.hpp │ │ ├── pose_data.hpp │ │ └── velocity_data.hpp │ │ ├── subscriber │ │ ├── cloud_subscriber.hpp │ │ ├── gnss_subscriber.hpp │ │ ├── imu_subscriber.hpp │ │ ├── key_frame_subscriber.hpp │ │ ├── key_frames_subscriber.hpp │ │ ├── lidar_measurement_subscriber.hpp │ │ ├── loop_pose_subscriber.hpp │ │ ├── magnetic_field_subscriber.hpp │ │ ├── odometry_subscriber.hpp │ │ ├── pos_vel_mag_subscriber.hpp │ │ ├── pos_vel_subscriber.hpp │ │ └── velocity_subscriber.hpp │ │ ├── tf_listener │ │ └── tf_listener.hpp │ │ └── tools │ │ ├── CSVWriter.hpp │ │ ├── file_manager.hpp │ │ ├── print_info.hpp │ │ └── tic_toc.hpp │ ├── launch │ └── lio_localization.launch │ ├── msg │ ├── EKFStd.msg │ ├── ESKFStd.msg │ ├── IMUGNSSMeasurement.msg │ ├── LidarMeasurement.msg │ ├── PosVel.msg │ └── PosVelMag.msg │ ├── package.xml │ ├── rviz │ ├── display_bag.rviz │ ├── eskf_analysis.rviz │ ├── filtering.rviz │ ├── gnss_ins_sim_localization.rviz │ ├── lio_localization.rviz │ ├── mapping.rviz │ └── test_frame.rviz │ ├── scripts │ └── kitti2bag.py │ ├── slam_data │ ├── .gitignore │ ├── map │ │ └── filtered_map.pcd │ └── scan_context │ │ ├── index.bin │ │ ├── key_frames.proto │ │ ├── ring_keys.proto │ │ └── scan_contexts.proto │ ├── src │ ├── apps │ │ ├── data_pretreat_node.cpp │ │ ├── lio_matching_node.cpp │ │ └── sliding_window_node.cpp │ ├── data_pretreat │ │ └── data_pretreat_flow.cpp │ ├── matching │ │ ├── back_end │ │ │ ├── sliding_window.cpp │ │ │ └── sliding_window_flow.cpp │ │ └── front_end │ │ │ ├── matching.cpp │ │ │ └── matching_flow.cpp │ ├── models │ │ ├── cloud_filter │ │ │ ├── box_filter.cpp │ │ │ ├── no_filter.cpp │ │ │ └── voxel_filter.cpp │ │ ├── graph_optimizer │ │ │ ├── g2o │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ └── interface_graph_optimizer.cpp │ │ ├── kalman_filter │ │ │ ├── error_state_kalman_filter.cpp │ │ │ ├── extended_kalman_filter.cpp │ │ │ └── kalman_filter.cpp │ │ ├── mag_table │ │ │ └── geo_mag_declination.cpp │ │ ├── pre_integrator │ │ │ ├── imu_pre_integrator.cpp │ │ │ └── odo_pre_integrator.cpp │ │ ├── registration │ │ │ └── ndt_registration.cpp │ │ ├── scan_adjust │ │ │ └── distortion_adjust.cpp │ │ ├── scan_context_manager │ │ │ ├── key_frames.pb.cpp │ │ │ ├── ring_keys.pb.cpp │ │ │ ├── scan_context_manager.cpp │ │ │ └── scan_contexts.pb.cpp │ │ └── sliding_window │ │ │ └── ceres_sliding_window.cpp │ ├── publisher │ │ ├── cloud_publisher.cpp │ │ ├── imu_publisher.cpp │ │ ├── key_frame_publisher.cpp │ │ ├── key_frames_publisher.cpp │ │ ├── lidar_measurement_publisher.cpp │ │ ├── loop_pose_publisher.cpp │ │ ├── odometry_publisher.cpp │ │ ├── pos_vel_mag_publisher.cpp │ │ ├── pos_vel_publisher.cpp │ │ └── tf_broadcaster.cpp │ ├── sensor_data │ │ ├── gnss_data.cpp │ │ ├── imu_data.cpp │ │ ├── key_frame.cpp │ │ ├── loop_pose.cpp │ │ ├── magnetic_field_data.cpp │ │ ├── pose_data.cpp │ │ └── velocity_data.cpp │ ├── subscriber │ │ ├── cloud_subscriber.cpp │ │ ├── gnss_subscriber.cpp │ │ ├── imu_subscriber.cpp │ │ ├── key_frame_subscriber.cpp │ │ ├── key_frames_subscriber.cpp │ │ ├── lidar_measurement_subscriber.cpp │ │ ├── loop_pose_subscriber.cpp │ │ ├── magnetic_field_subscriber.cpp │ │ ├── odometry_subscriber.cpp │ │ ├── pos_vel_mag_subscriber.cpp │ │ ├── pos_vel_subscriber.cpp │ │ └── velocity_subscriber.cpp │ ├── tf_listener │ │ └── tf_lisener.cpp │ └── tools │ │ ├── file_manager.cpp │ │ └── print_info.cpp │ └── srv │ └── saveOdometry.srv ├── CMakeLists.txt ├── final_project ├── doc │ └── 大作业.pdf └── src │ ├── lidar_localization │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cmake │ │ ├── PCL.cmake │ │ ├── YAML.cmake │ │ ├── g2o.cmake │ │ ├── geographic.cmake │ │ ├── global_defination.cmake │ │ ├── glog.cmake │ │ ├── protobuf.cmake │ │ └── sophus.cmake │ ├── config │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.yaml │ │ │ └── kitti_filtering.yaml │ │ ├── mapping │ │ │ ├── back_end.yaml │ │ │ ├── front_end.yaml │ │ │ ├── loop_closing.yaml │ │ │ └── viewer.yaml │ │ └── scan_context │ │ │ ├── key_frames.pb.cpp │ │ │ ├── key_frames.pb.h │ │ │ ├── key_frames.proto │ │ │ ├── ring_keys.pb.cpp │ │ │ ├── ring_keys.pb.h │ │ │ ├── ring_keys.proto │ │ │ ├── scan_contexts.pb.cpp │ │ │ ├── scan_contexts.pb.h │ │ │ └── scan_contexts.proto │ ├── include │ │ └── lidar_localization │ │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.hpp │ │ │ ├── eskf_preprocess_flow.hpp │ │ │ ├── gnss_ins_sim_preprocess_flow.hpp │ │ │ └── lidar_preprocess_flow.hpp │ │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.hpp │ │ │ ├── gnss_ins_sim_filtering_flow.hpp │ │ │ ├── kitti_filtering.hpp │ │ │ └── kitti_filtering_flow.hpp │ │ │ ├── global_defination │ │ │ └── global_defination.h.in │ │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.hpp │ │ │ │ └── back_end_flow.hpp │ │ │ ├── front_end │ │ │ │ ├── front_end.hpp │ │ │ │ └── front_end_flow.hpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.hpp │ │ │ │ └── loop_closing_flow.hpp │ │ │ └── viewer │ │ │ │ ├── viewer.hpp │ │ │ │ └── viewer_flow.hpp │ │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.hpp │ │ │ │ ├── cloud_filter_interface.hpp │ │ │ │ ├── no_filter.hpp │ │ │ │ └── voxel_filter.hpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ ├── edge │ │ │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ │ │ └── g2o_graph_optimizer.hpp │ │ │ │ └── interface_graph_optimizer.hpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.hpp │ │ │ │ ├── extended_kalman_filter.hpp │ │ │ │ └── kalman_filter.hpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.hpp │ │ │ ├── registration │ │ │ │ ├── ndt_registration.hpp │ │ │ │ └── registration_interface.hpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.hpp │ │ │ └── scan_context_manager │ │ │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ │ │ ├── key_frames.pb.h │ │ │ │ ├── nanoflann.hpp │ │ │ │ ├── ring_keys.pb.h │ │ │ │ ├── scan_context_manager.hpp │ │ │ │ └── scan_contexts.pb.h │ │ │ ├── publisher │ │ │ ├── cloud_publisher.hpp │ │ │ ├── imu_publisher.hpp │ │ │ ├── key_frame_publisher.hpp │ │ │ ├── key_frames_publisher.hpp │ │ │ ├── lidar_measurement_publisher.hpp │ │ │ ├── loop_pose_publisher.hpp │ │ │ ├── odometry_publisher.hpp │ │ │ ├── pos_vel_mag_publisher.hpp │ │ │ ├── pos_vel_publisher.hpp │ │ │ └── tf_broadcaster.hpp │ │ │ ├── sensor_data │ │ │ ├── cloud_data.hpp │ │ │ ├── gnss_data.hpp │ │ │ ├── imu_data.hpp │ │ │ ├── key_frame.hpp │ │ │ ├── lidar_measurement_data.hpp │ │ │ ├── loop_pose.hpp │ │ │ ├── magnetic_field_data.hpp │ │ │ ├── pos_vel_data.hpp │ │ │ ├── pos_vel_mag_data.hpp │ │ │ ├── pose_data.hpp │ │ │ └── velocity_data.hpp │ │ │ ├── subscriber │ │ │ ├── cloud_subscriber.hpp │ │ │ ├── gnss_subscriber.hpp │ │ │ ├── imu_subscriber.hpp │ │ │ ├── key_frame_subscriber.hpp │ │ │ ├── key_frames_subscriber.hpp │ │ │ ├── lidar_measurement_subscriber.hpp │ │ │ ├── loop_pose_subscriber.hpp │ │ │ ├── magnetic_field_subscriber.hpp │ │ │ ├── odometry_subscriber.hpp │ │ │ ├── pos_vel_mag_subscriber.hpp │ │ │ ├── pos_vel_subscriber.hpp │ │ │ └── velocity_subscriber.hpp │ │ │ ├── tf_listener │ │ │ └── tf_listener.hpp │ │ │ └── tools │ │ │ ├── CSVWriter.hpp │ │ │ ├── file_manager.hpp │ │ │ ├── print_info.hpp │ │ │ └── tic_toc.hpp │ ├── launch │ │ ├── gnss_ins_sim_localization.launch │ │ ├── kitti_localization.launch │ │ ├── mapping.launch │ │ ├── mapping_with_aloam.launch │ │ ├── matching.launch │ │ └── test_frame.launch │ ├── msg │ │ ├── EKFStd.msg │ │ ├── ESKFStd.msg │ │ ├── IMUGNSSMeasurement.msg │ │ ├── LidarMeasurement.msg │ │ ├── PosVel.msg │ │ └── PosVelMag.msg │ ├── package.xml │ ├── rviz │ │ ├── display_bag.rviz │ │ ├── eskf_analysis.rviz │ │ ├── filtering.rviz │ │ ├── gnss_ins_sim_localization.rviz │ │ ├── mapping.rviz │ │ └── test_frame.rviz │ ├── scripts │ │ ├── analyze_observability.py │ │ ├── generate_100hz_oxts.py │ │ ├── kitti2bag.py │ │ └── merge_bags.py │ ├── src │ │ ├── apps │ │ │ ├── back_end_node.cpp │ │ │ ├── data_pretreat_node.cpp │ │ │ ├── eskf_preprocess_node.cpp │ │ │ ├── front_end_node.cpp │ │ │ ├── gnss_ins_sim_filtering_node.cpp │ │ │ ├── gnss_ins_sim_preprocess_node.cpp │ │ │ ├── kitti_filtering_node.cpp │ │ │ ├── lidar_preprocess_node.cpp │ │ │ ├── loop_closing_node.cpp │ │ │ ├── test_frame_node.cpp │ │ │ └── viewer_node.cpp │ │ ├── data_pretreat │ │ │ ├── data_pretreat_flow.cpp │ │ │ ├── eskf_preprocess_flow.cpp │ │ │ ├── gnss_ins_sim_preprocess_flow.cpp │ │ │ └── lidar_preprocess_flow.cpp │ │ ├── filtering │ │ │ ├── gnss_ins_sim_filtering.cpp │ │ │ ├── gnss_ins_sim_filtering_flow.cpp │ │ │ ├── kitti_filtering.cpp │ │ │ └── kitti_filtering_flow.cpp │ │ ├── mapping │ │ │ ├── back_end │ │ │ │ ├── back_end.cpp │ │ │ │ └── back_end_flow.cpp │ │ │ ├── front_end │ │ │ │ ├── front_end.cpp │ │ │ │ └── front_end_flow.cpp │ │ │ ├── loop_closing │ │ │ │ ├── loop_closing.cpp │ │ │ │ └── loop_closing_flow.cpp │ │ │ └── viewer │ │ │ │ ├── viewer.cpp │ │ │ │ └── viewer_flow.cpp │ │ ├── models │ │ │ ├── cloud_filter │ │ │ │ ├── box_filter.cpp │ │ │ │ ├── no_filter.cpp │ │ │ │ └── voxel_filter.cpp │ │ │ ├── graph_optimizer │ │ │ │ ├── g2o │ │ │ │ │ └── g2o_graph_optimizer.cpp │ │ │ │ └── interface_graph_optimizer.cpp │ │ │ ├── kalman_filter │ │ │ │ ├── error_state_kalman_filter.cpp │ │ │ │ ├── extended_kalman_filter.cpp │ │ │ │ └── kalman_filter.cpp │ │ │ ├── mag_table │ │ │ │ └── geo_mag_declination.cpp │ │ │ ├── registration │ │ │ │ └── ndt_registration.cpp │ │ │ ├── scan_adjust │ │ │ │ └── distortion_adjust.cpp │ │ │ └── scan_context_manager │ │ │ │ ├── key_frames.pb.cpp │ │ │ │ ├── ring_keys.pb.cpp │ │ │ │ ├── scan_context_manager.cpp │ │ │ │ └── scan_contexts.pb.cpp │ │ ├── publisher │ │ │ ├── cloud_publisher.cpp │ │ │ ├── imu_publisher.cpp │ │ │ ├── key_frame_publisher.cpp │ │ │ ├── key_frames_publisher.cpp │ │ │ ├── lidar_measurement_publisher.cpp │ │ │ ├── loop_pose_publisher.cpp │ │ │ ├── odometry_publisher.cpp │ │ │ ├── pos_vel_mag_publisher.cpp │ │ │ ├── pos_vel_publisher.cpp │ │ │ └── tf_broadcaster.cpp │ │ ├── sensor_data │ │ │ ├── gnss_data.cpp │ │ │ ├── imu_data.cpp │ │ │ ├── key_frame.cpp │ │ │ ├── loop_pose.cpp │ │ │ ├── magnetic_field_data.cpp │ │ │ ├── pose_data.cpp │ │ │ └── velocity_data.cpp │ │ ├── subscriber │ │ │ ├── cloud_subscriber.cpp │ │ │ ├── gnss_subscriber.cpp │ │ │ ├── imu_subscriber.cpp │ │ │ ├── key_frame_subscriber.cpp │ │ │ ├── key_frames_subscriber.cpp │ │ │ ├── lidar_measurement_subscriber.cpp │ │ │ ├── loop_pose_subscriber.cpp │ │ │ ├── magnetic_field_subscriber.cpp │ │ │ ├── odometry_subscriber.cpp │ │ │ ├── pos_vel_mag_subscriber.cpp │ │ │ ├── pos_vel_subscriber.cpp │ │ │ └── velocity_subscriber.cpp │ │ ├── tf_listener │ │ │ └── tf_lisener.cpp │ │ └── tools │ │ │ ├── file_manager.cpp │ │ │ └── print_info.cpp │ └── srv │ │ ├── optimizeMap.srv │ │ ├── saveMap.srv │ │ ├── saveOdometry.srv │ │ └── saveScanContext.srv │ └── novatel_span_driver │ ├── .gitignore │ ├── README.md │ ├── novatel_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ack.msg │ │ ├── BESTPOS.msg │ │ ├── CORRIMUDATA.msg │ │ ├── CommonFooter.msg │ │ ├── CommonHeader.msg │ │ ├── INSCOV.msg │ │ └── INSPVAX.msg │ └── package.xml │ └── novatel_span_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ ├── example.launch │ └── example_for_usb.launch │ ├── package.xml │ ├── scripts │ └── driver │ ├── setup.py │ ├── src │ └── novatel_span_driver │ │ ├── __init__.py │ │ ├── bridge.py │ │ ├── data.py │ │ ├── diagnostics.py │ │ ├── handlers.py │ │ ├── mapping.py │ │ ├── monitor.py │ │ ├── port.py │ │ ├── publisher.py │ │ ├── translator.py │ │ └── wheel_velocity.py │ └── test │ ├── propak6-basic-fix.pcap.gz │ ├── propak6-basic-fix.test │ ├── propak6-ins-ppp.pcap.gz │ └── propak6-ins-ppp.test └── lidar_odometry_and_mapping └── src ├── gnss_ins_sim ├── CMakeLists.txt ├── README.md ├── config │ ├── motion_def │ │ ├── allan_variance_analysis.csv │ │ ├── demo.csv │ │ ├── deterministic_error_calib.csv │ │ └── virtual_proving_ground.csv │ ├── publisher.yaml │ ├── recorder_allan_variance_analysis.yaml │ ├── recorder_deterministic_error_calib.yaml │ └── recorder_virtual_proving_ground.yaml ├── launch │ ├── publisher.launch │ ├── recorder_allan_variance_analysis.launch │ ├── recorder_deterministic_error_calib.launch │ └── recorder_virtual_proving_ground.launch ├── package.xml └── src │ ├── publisher_node.py │ ├── recorder_node.py │ ├── recorder_node_allan_variance_analysis.py │ └── recorder_node_deterministic_error.py ├── imu_integration ├── CMakeLists.txt ├── README.md ├── cmake │ └── glog.cmake ├── config │ ├── estimator.yaml │ └── generator.yaml ├── include │ └── imu_integration │ │ ├── config │ │ └── config.hpp │ │ ├── estimator │ │ └── activity.hpp │ │ ├── generator │ │ ├── activity.hpp │ │ └── node_constants.hpp │ │ ├── sensor_data │ │ ├── imu_data.hpp │ │ └── odom_data.hpp │ │ └── subscriber │ │ ├── imu_subscriber.hpp │ │ └── odom_subscriber.hpp ├── launch │ └── imu_integration.launch ├── package.xml ├── rviz │ └── imu_integration.rviz └── src │ ├── estimator │ ├── activity.cpp │ └── node.cpp │ ├── evaluation │ └── node.cpp │ ├── generator │ ├── activity.cpp │ └── node.cpp │ └── subscriber │ ├── imu_subscriber.cpp │ └── odom_subscriber.cpp ├── imu_tk ├── .gitignore ├── CMakeLists.txt ├── README.md ├── apps │ ├── .gitignore │ ├── test_imu_calib.cpp │ ├── test_integration.cpp │ └── test_phone_calib.cpp ├── bin │ └── test_data │ │ ├── xsens_acc.mat │ │ └── xsens_gyro.mat ├── include │ ├── .gitignore │ └── imu_tk │ │ ├── base.h │ │ ├── calibration.h │ │ ├── filters.h │ │ ├── imu_tk.h │ │ ├── integration.h │ │ ├── io_utils.h │ │ ├── vis_extra │ │ ├── gl_camera.h │ │ └── opengl_3d_scene.h │ │ └── visualization.h ├── package.xml └── src │ ├── .gitignore │ ├── calibration.cpp │ ├── filters.cpp │ ├── io_utils.cpp │ ├── vis_extra │ ├── gl_camera.cpp │ └── opengl_3d_scene.cpp │ └── visualization.cpp └── lidar_localization ├── .gitignore ├── CMakeLists.txt ├── cmake ├── PCL.cmake ├── YAML.cmake ├── g2o.cmake ├── geographic.cmake ├── global_defination.cmake ├── glog.cmake ├── protobuf.cmake └── sophus.cmake ├── config ├── filtering │ ├── gnss_ins_sim_filtering.yaml │ └── kitti_filtering.yaml ├── mapping │ ├── back_end.yaml │ ├── front_end.yaml │ ├── loop_closing.yaml │ └── viewer.yaml └── scan_context │ ├── key_frames.pb.cpp │ ├── key_frames.pb.h │ ├── key_frames.proto │ ├── ring_keys.pb.cpp │ ├── ring_keys.pb.h │ ├── ring_keys.proto │ ├── scan_contexts.pb.cpp │ ├── scan_contexts.pb.h │ └── scan_contexts.proto ├── include └── lidar_localization │ ├── data_pretreat │ ├── data_pretreat_flow.hpp │ ├── eskf_preprocess_flow.hpp │ ├── gnss_ins_sim_preprocess_flow.hpp │ └── lidar_preprocess_flow.hpp │ ├── filtering │ ├── gnss_ins_sim_filtering.hpp │ ├── gnss_ins_sim_filtering_flow.hpp │ ├── kitti_filtering.hpp │ └── kitti_filtering_flow.hpp │ ├── global_defination │ └── global_defination.h.in │ ├── mapping │ ├── back_end │ │ ├── back_end.hpp │ │ └── back_end_flow.hpp │ ├── front_end │ │ ├── front_end.hpp │ │ └── front_end_flow.hpp │ ├── loop_closing │ │ ├── loop_closing.hpp │ │ └── loop_closing_flow.hpp │ └── viewer │ │ ├── viewer.hpp │ │ └── viewer_flow.hpp │ ├── models │ ├── cloud_filter │ │ ├── box_filter.hpp │ │ ├── cloud_filter_interface.hpp │ │ ├── no_filter.hpp │ │ └── voxel_filter.hpp │ ├── graph_optimizer │ │ ├── g2o │ │ │ ├── edge │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ └── g2o_graph_optimizer.hpp │ │ └── interface_graph_optimizer.hpp │ ├── kalman_filter │ │ ├── error_state_kalman_filter.hpp │ │ ├── extended_kalman_filter.hpp │ │ └── kalman_filter.hpp │ ├── mag_table │ │ └── geo_mag_declination.hpp │ ├── registration │ │ ├── ndt_registration.hpp │ │ └── registration_interface.hpp │ ├── scan_adjust │ │ └── distortion_adjust.hpp │ └── scan_context_manager │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ ├── key_frames.pb.h │ │ ├── nanoflann.hpp │ │ ├── ring_keys.pb.h │ │ ├── scan_context_manager.hpp │ │ └── scan_contexts.pb.h │ ├── publisher │ ├── cloud_publisher.hpp │ ├── imu_publisher.hpp │ ├── key_frame_publisher.hpp │ ├── key_frames_publisher.hpp │ ├── lidar_measurement_publisher.hpp │ ├── loop_pose_publisher.hpp │ ├── odometry_publisher.hpp │ ├── pos_vel_mag_publisher.hpp │ ├── pos_vel_publisher.hpp │ └── tf_broadcaster.hpp │ ├── sensor_data │ ├── cloud_data.hpp │ ├── gnss_data.hpp │ ├── imu_data.hpp │ ├── key_frame.hpp │ ├── lidar_measurement_data.hpp │ ├── loop_pose.hpp │ ├── magnetic_field_data.hpp │ ├── pos_vel_data.hpp │ ├── pos_vel_mag_data.hpp │ ├── pose_data.hpp │ └── velocity_data.hpp │ ├── subscriber │ ├── cloud_subscriber.hpp │ ├── gnss_subscriber.hpp │ ├── imu_subscriber.hpp │ ├── key_frame_subscriber.hpp │ ├── key_frames_subscriber.hpp │ ├── lidar_measurement_subscriber.hpp │ ├── loop_pose_subscriber.hpp │ ├── magnetic_field_subscriber.hpp │ ├── odometry_subscriber.hpp │ ├── pos_vel_mag_subscriber.hpp │ ├── pos_vel_subscriber.hpp │ └── velocity_subscriber.hpp │ ├── tf_listener │ └── tf_listener.hpp │ └── tools │ ├── CSVWriter.hpp │ ├── file_manager.hpp │ ├── print_info.hpp │ └── tic_toc.hpp ├── launch ├── gnss_ins_sim_localization.launch ├── kitti_localization.launch ├── mapping.launch ├── mapping_with_aloam.launch ├── matching.launch └── test_frame.launch ├── msg ├── EKFStd.msg ├── ESKFStd.msg ├── IMUGNSSMeasurement.msg ├── LidarMeasurement.msg ├── PosVel.msg └── PosVelMag.msg ├── package.xml ├── rviz ├── display_bag.rviz ├── eskf_analysis.rviz ├── filtering.rviz ├── gnss_ins_sim_localization.rviz ├── mapping.rviz └── test_frame.rviz ├── scripts ├── analyze_observability.py ├── generate_100hz_oxts.py ├── kitti2bag.py └── merge_bags.py ├── src ├── apps │ ├── back_end_node.cpp │ ├── data_pretreat_node.cpp │ ├── eskf_preprocess_node.cpp │ ├── front_end_node.cpp │ ├── gnss_ins_sim_filtering_node.cpp │ ├── gnss_ins_sim_preprocess_node.cpp │ ├── kitti_filtering_node.cpp │ ├── lidar_preprocess_node.cpp │ ├── loop_closing_node.cpp │ ├── test_frame_node.cpp │ └── viewer_node.cpp ├── data_pretreat │ ├── data_pretreat_flow.cpp │ ├── eskf_preprocess_flow.cpp │ ├── gnss_ins_sim_preprocess_flow.cpp │ └── lidar_preprocess_flow.cpp ├── filtering │ ├── gnss_ins_sim_filtering.cpp │ ├── gnss_ins_sim_filtering_flow.cpp │ ├── kitti_filtering.cpp │ └── kitti_filtering_flow.cpp ├── mapping │ ├── back_end │ │ ├── back_end.cpp │ │ └── back_end_flow.cpp │ ├── front_end │ │ ├── front_end.cpp │ │ └── front_end_flow.cpp │ ├── loop_closing │ │ ├── loop_closing.cpp │ │ └── loop_closing_flow.cpp │ └── viewer │ │ ├── viewer.cpp │ │ └── viewer_flow.cpp ├── models │ ├── cloud_filter │ │ ├── box_filter.cpp │ │ ├── no_filter.cpp │ │ └── voxel_filter.cpp │ ├── graph_optimizer │ │ ├── g2o │ │ │ └── g2o_graph_optimizer.cpp │ │ └── interface_graph_optimizer.cpp │ ├── kalman_filter │ │ ├── error_state_kalman_filter.cpp │ │ ├── extended_kalman_filter.cpp │ │ └── kalman_filter.cpp │ ├── mag_table │ │ └── geo_mag_declination.cpp │ ├── registration │ │ └── ndt_registration.cpp │ ├── scan_adjust │ │ └── distortion_adjust.cpp │ └── scan_context_manager │ │ ├── key_frames.pb.cpp │ │ ├── ring_keys.pb.cpp │ │ ├── scan_context_manager.cpp │ │ └── scan_contexts.pb.cpp ├── publisher │ ├── cloud_publisher.cpp │ ├── imu_publisher.cpp │ ├── key_frame_publisher.cpp │ ├── key_frames_publisher.cpp │ ├── lidar_measurement_publisher.cpp │ ├── loop_pose_publisher.cpp │ ├── odometry_publisher.cpp │ ├── pos_vel_mag_publisher.cpp │ ├── pos_vel_publisher.cpp │ └── tf_broadcaster.cpp ├── sensor_data │ ├── gnss_data.cpp │ ├── imu_data.cpp │ ├── key_frame.cpp │ ├── loop_pose.cpp │ ├── magnetic_field_data.cpp │ ├── pose_data.cpp │ └── velocity_data.cpp ├── subscriber │ ├── cloud_subscriber.cpp │ ├── gnss_subscriber.cpp │ ├── 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