├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindEigen3.cmake ├── googletest.cmake └── work_space_path.cmake ├── config ├── kitti │ └── kitti_reader.yaml └── mapping │ ├── feature.yaml │ ├── lidar_odometry.yaml │ ├── registration.yaml │ └── segmentation.yaml ├── doc ├── dataset_path.png ├── floam_00_path.png ├── floam_00_xyz.png ├── global_map.png ├── lidar_odometry.gif ├── mapping.gif ├── paper.pdf ├── seg_01.gif ├── seg_02.gif ├── tloam_00.txt ├── tloam_00_path.png ├── tloam_00_xyz.png ├── tloam_01.txt ├── tloam_02.txt ├── tloam_03.txt ├── tloam_04.txt ├── tloam_05.txt ├── tloam_06.txt ├── tloam_07.txt ├── tloam_08.txt ├── tloam_09.txt ├── tloam_10.txt └── tloam_overview.png ├── include ├── third_party │ └── sophus │ │ ├── average.hpp │ │ ├── common.hpp │ │ ├── formatstring.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 │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp └── tloam │ ├── front_end │ └── front_end.hpp │ ├── models │ ├── feature_extraction │ │ └── feature_extract.hpp │ ├── io │ │ ├── kitti_reader.hpp │ │ └── read_file.hpp │ ├── registration │ │ ├── registration.hpp │ │ └── registration_interface.hpp │ ├── segmentation │ │ └── segmentation.hpp │ └── utils │ │ ├── sensor_data.hpp │ │ ├── utils.hpp │ │ └── work_space_path.h.in │ ├── open3d │ ├── PointCloud2.hpp │ └── open3d_to_ros.hpp │ ├── publisher │ ├── boundingbox_publisher.hpp │ ├── cloud_publisher.hpp │ ├── image_publisher.hpp │ ├── key_frame_publisher.hpp │ ├── key_frames_publisher.hpp │ ├── odometry_publisher.hpp │ └── tf_broadcaster.hpp │ └── subscriber │ ├── cloud_subscriber.hpp │ ├── key_frame_subscriber.hpp │ ├── key_frames_subscriber.hpp │ ├── odometry_subscriber.hpp │ └── tf_listener.hpp ├── launch ├── robot_car.launch └── tloam_kitti.launch ├── package.xml ├── plugins └── tloam_nodelet_plugins.xml ├── rviz ├── car │ ├── _51225ex1diffuse.jpeg │ ├── _51225ex2diffuse.jpeg │ ├── default.urdf │ └── model.dae ├── kitti.rviz └── tloam.rviz ├── src ├── core_node │ ├── kitti_reader_nodelet.cpp │ ├── lidar_odometry_nodelet.cpp │ └── segmentation_nodelet.cpp ├── front_end │ └── front_end.cpp ├── models │ ├── feature_extraction │ │ └── feature_extract.cpp │ ├── io │ │ └── kitti_reader.cpp │ ├── registration │ │ └── registration.cpp │ └── segmentation │ │ └── segmentation.cpp ├── open3d │ ├── PointCloud2.cpp │ └── open3d_to_ros.cpp ├── publisher │ ├── boundingbox_publisher.cpp │ ├── cloud_publisher.cpp │ ├── image_publisher.cpp │ ├── key_frame_publisher.cpp │ ├── key_frames_publisher.cpp │ ├── odometry_publisher.cpp │ └── tf_broadcaster.cpp └── subscriber │ ├── cloud_subscriber.cpp │ ├── key_frame_subscriber.cpp │ ├── key_frames_subscriber.cpp │ ├── odometry_subscriber.cpp │ └── tf_listener.cpp └── srv ├── 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