├── CMakeLists.txt ├── LICENSE ├── Log ├── dbg.txt ├── imu_.txt ├── kitti.txt ├── mat_out.txt ├── mat_pre.txt ├── plot.py ├── plot_error.py └── traj.txt ├── README.md ├── app ├── CMakeLists.txt └── run_mapping_online.cc ├── cmake ├── FindGlog.cmake └── packages.cmake ├── config ├── avia.yaml └── ouster.yaml ├── include ├── 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 ├── imu_processing.hpp ├── ivox3d │ ├── eigen_types.h │ ├── hilbert.hpp │ ├── ivox3d.h │ └── ivox3d_node.hpp ├── laser_mapping.h ├── options.h ├── pointcloud_preprocess.h ├── so3_math.h ├── use-ikfom.hpp └── utils.h ├── launch ├── avia.launch └── ouster.launch ├── mars.rviz ├── msg └── Pose6D.msg ├── package.xml ├── pics ├── gaussian_map.png ├── mars03_gaussian.jpg └── pseudo-merged.png ├── result ├── kdtree.ivox.xlsx ├── plot_bar_time_by_step.py ├── plot_nn.py ├── plot_process_recall.py ├── plot_time.py ├── plot_time_usage.py └── rpe_odom.py ├── rviz_cfg ├── .gitignore └── loam.rviz ├── src ├── CMakeLists.txt ├── laser_mapping.cc ├── options.cc ├── pointcloud_preprocess.cc └── utils.cc └── thirdparty └── livox_ros_driver ├── CMakeLists.txt ├── msg ├── CustomMsg.msg └── CustomPoint.msg └── package.xml /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xpxie/AKF-LIO/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xpxie/AKF-LIO/HEAD/LICENSE -------------------------------------------------------------------------------- /Log/dbg.txt: 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