├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Log ├── Colmap │ └── sparse │ │ └── 0 │ │ ├── cameras.txt │ │ ├── images.txt │ │ └── points3D.txt ├── PCD │ └── .gitkeep ├── guide.md ├── plot.py └── result │ ├── .gitkeep │ └── ntu_viral │ ├── README.md │ ├── eee_01_gt.txt │ ├── eee_01_prism.txt │ ├── eee_02_gt.txt │ ├── eee_02_prism.txt │ ├── eee_03_gt.txt │ ├── eee_03_prism.txt │ ├── evaluate_viral.py │ ├── nya_01_gt.txt │ ├── nya_01_prism.txt │ ├── nya_02_gt.txt │ ├── nya_02_prism.txt │ ├── nya_03_gt.txt │ ├── nya_03_prism.txt │ ├── sbs_01_gt.txt │ ├── sbs_01_prism.txt │ ├── sbs_02_gt.txt │ ├── sbs_02_prism.txt │ ├── sbs_03_gt.txt │ └── sbs_03_prism.txt ├── README.md ├── Supplementary └── LIVO2_supplementary.pdf ├── config ├── HILTI22.yaml ├── MARS_LVIG.yaml ├── NTU_VIRAL.yaml ├── avia.yaml ├── camera_MARS_LVIG.yaml ├── camera_NTU_VIRAL.yaml ├── camera_fisheye_HILTI22.yaml └── camera_pinhole.yaml ├── include ├── IMU_Processing.h ├── LIVMapper.h ├── common_lib.h ├── glogger.h ├── image_frame.h ├── livox_ros_driver │ ├── CustomMsg.h │ └── CustomPoint.h ├── preprocess.h ├── utils │ ├── color.h │ ├── so3_math.h │ └── types.h ├── vio.h └── voxel_map.h ├── launch ├── mapping_avia.launch ├── mapping_avia_marslvig.launch ├── mapping_hesaixt32_hilti22.launch └── mapping_ouster_ntu.launch ├── package.xml ├── pics └── Framework.png ├── rviz_cfg ├── M300.rviz ├── fast_livo2.rviz ├── hilti.rviz └── ntu_viral.rviz ├── scripts ├── colmap_output.sh └── mesh.py ├── src ├── IMU_Processing.cpp ├── LIVMapper.cpp ├── image_frame.cpp ├── main.cpp ├── preprocess.cpp ├── vio.cpp └── voxel_map.cpp ├── thirdparty ├── gflags-2.2.2.tar.gz └── glog-0.4.0.tar.gz └── vikit_common ├── CMakeLists.txt ├── include ├── sophus │ ├── average.hpp │ ├── cartesian.hpp │ ├── ceres_manifold.hpp │ ├── ceres_typetraits.hpp │ ├── common.hpp │ ├── geometry.hpp │ ├── interpolate.hpp │ ├── interpolate_details.hpp │ ├── num_diff.hpp │ ├── rotation_matrix.hpp │ ├── rxso2.hpp │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim2.hpp │ ├── sim3.hpp │ ├── sim_details.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── spline.hpp │ ├── test_macros.hpp │ └── types.hpp ├── vikit │ ├── abstract_camera.h │ ├── aligned_mem.h │ ├── atan_camera.h │ ├── blender_utils.h │ ├── equidistant_camera.h │ ├── file_reader.h │ ├── file_reader_types.h │ ├── homography.h │ ├── img_align.h │ ├── math_utils.h │ ├── nlls_solver.h │ ├── nlls_solver_impl.hpp │ ├── omni_camera.h │ ├── patch_score.h │ ├── performance_monitor.h │ ├── pinhole_camera.h │ ├── polynomial_camera.h │ ├── ringbuffer.h │ ├── robust_cost.h │ ├── sample.h │ ├── timer.h │ ├── user_input_thread.h │ └── vision.h └── yaml_loader.h └── src ├── atan_camera.cpp ├── equidistant_camera.cpp ├── homography.cpp ├── img_align.cpp ├── math_utils.cpp ├── omni_camera.cpp ├── performance_monitor.cpp ├── pinhole_camera.cpp ├── polynomial_camera.cpp ├── robust_cost.cpp ├── user_input_thread.cpp └── vision.cpp /.gitignore: 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