├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake └── glog.cmake ├── config ├── avia.yaml ├── bg_avia.yaml ├── bg_velodyne.yaml ├── ncd.yaml ├── nclt.yaml └── ulhk.yaml ├── figures ├── ig_hku.png ├── ig_lio_cover.png ├── ig_ncd.png └── ig_nclt.png ├── ig_lio_early_access.pdf ├── include └── ig_lio │ ├── SymmetricEigenSolver.h │ ├── faster_voxel_grid.h │ ├── lio.h │ ├── logger.hpp │ ├── point_type.h │ ├── pointcloud_preprocess.h │ ├── timer.h │ ├── utilities.hpp │ └── voxel_map.h ├── launch ├── lio_avia.launch ├── lio_bg_avia.launch ├── lio_bg_velodyne.launch ├── lio_ncd.launch ├── lio_nclt.launch └── lio_ulhk.launch ├── log └── .gitignore ├── package.xml ├── result └── .gitignore ├── rviz └── lio_show.rviz ├── src ├── SymmetricEigenSolver.cpp ├── faster_voxel_grid.cpp ├── ig_lio_node.cpp ├── lio.cpp ├── pointcloud_preprocess.cpp ├── timer.cpp └── voxel_map.cpp └── thirdparty └── sophus ├── README.md └── sophus ├── average.hpp ├── common.hpp ├── example_ensure_handler.cpp ├── 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