├── LIO-SAM-6AXIS ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ ├── doc │ │ ├── demo.gif │ │ ├── device-boat.png │ │ ├── device-hand-2.png │ │ ├── device-hand.png │ │ ├── device-jackal.png │ │ ├── device-livox-horizon.png │ │ ├── gps-demo.gif │ │ ├── imu-debug.gif │ │ ├── imu-transform.png │ │ ├── kitti-demo.gif │ │ ├── kitti-map.png │ │ ├── kitti2bag │ │ │ ├── README.md │ │ │ └── kitti2bag.py │ │ ├── livox-demo.gif │ │ ├── loop-closure-2.gif │ │ ├── loop-closure.gif │ │ ├── ouster-demo.gif │ │ ├── ouster-device.jpg │ │ ├── paper.pdf │ │ └── system.png │ ├── kml_config.xml │ ├── params.yaml │ ├── params_HDL_32.yaml │ ├── params_ouster.yaml │ ├── params_ouster_gps.yaml │ ├── params_pandar.yaml │ └── params_vlp.yaml ├── data │ └── campus │ │ ├── odom_tum.txt │ │ ├── optimized_gps_trajectry.kml │ │ ├── optimized_odom_kitti.txt │ │ ├── optimized_odom_tum.txt │ │ ├── origin.txt │ │ ├── pose_graph.g2o │ │ └── times.txt ├── include │ ├── dataSaver.h │ ├── gpsTools.hpp │ └── utility.h ├── launch │ ├── include │ │ ├── config │ │ │ ├── robot.urdf.xacro │ │ │ ├── rviz.rviz │ │ │ ├── test.rviz │ │ │ └── vlp.rviz │ │ ├── module_loam.launch │ │ ├── module_navsat.launch │ │ ├── module_robot_state_publisher.launch │ │ ├── module_rviz.launch │ │ └── rosconsole │ │ │ ├── rosconsole_error.conf │ │ │ ├── rosconsole_info.conf │ │ │ └── rosconsole_warn.conf │ ├── ouster128.launch │ ├── pandar.launch │ ├── run.launch │ └── test.launch ├── msg │ └── cloud_info.msg ├── package.xml ├── scripts │ ├── lio_loop_batch.py │ └── ouster128_batch.py ├── src │ ├── dataSaver.cpp │ ├── featureExtraction.cpp │ ├── imageProjection.cpp │ ├── imuPreintegration.cpp │ ├── mapOptmization.cpp │ ├── mapOptmizationGps.cpp │ └── simpleGpsOdom.cpp └── srv │ └── save_map.srv ├── README.md ├── README ├── 161970853-f762f7c7-8876-463f-b58e-85622c87f891.jpg ├── image-16547065144363.png ├── image-16547066176526.png ├── image-16547066562179.png ├── image-16547224481519.png ├── image-165472246963512.png ├── image-20220412200907783.png ├── image-20220412220126042.png ├── image-20220420162351207.png ├── image-20220421102351677.png ├── image-20220421113413972.png ├── image-20220426181902940.png ├── image-20220428045314514.png ├── image-20220428050315811.png ├── image-20220428223306035.png ├── image-20220428223411955.png ├── image-20220525042950882.png ├── image-20220525043935849.png ├── image-20220525044008465.png ├── image-20220531005611992.png ├── image-20220531013915533.png ├── image-20220531015742704.png ├── image-20220531015939739.png ├── image-20220531015953876.png ├── image-20220531020430243.png ├── image-20220609004541652.png ├── image-20220609004903112.png ├── image-20220609035032131.png ├── image-20220609044824460.png ├── image.png ├── test-16548681575981.gif └── test.gif ├── RESULT ├── loop_gps_constraint.png ├── no_gps_constraint.png ├── rviz_screenshot_2022_07_15-16_47_11.png ├── rviz_screenshot_2022_07_15-16_48_41.png └── with_gps_constraint.png └── doc ├── adaption.md └── 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