├── CMakeLists.txt ├── README.md ├── cmake ├── PCL.cmake ├── YAML.cmake ├── ceres.cmake ├── g2o.cmake ├── geographic.cmake ├── global_defination.cmake ├── glog.cmake ├── protobuf.cmake └── sophus.cmake ├── config ├── filtering │ └── kitti_filtering.yaml ├── mapping │ ├── back_end.yaml │ ├── front_end.yaml │ ├── lio_back_end.yaml │ ├── loop_closing.yaml │ └── viewer.yaml ├── matching │ ├── matching.yaml │ └── sliding_window.yaml └── scan_context │ ├── key_frames.proto │ ├── ring_keys.proto │ └── scan_contexts.proto ├── include └── lidar_localization │ ├── data_pretreat │ └── data_pretreat_flow.hpp │ ├── filtering │ ├── kitti_filtering.hpp │ └── kitti_filtering_flow.hpp │ ├── global_defination │ └── global_defination.h.in │ ├── mapping │ ├── back_end │ │ ├── lio_back_end.hpp │ │ └── lio_back_end_flow.hpp │ ├── front_end │ │ ├── front_end.hpp │ │ └── front_end_flow.hpp │ ├── loop_closing │ │ ├── loop_closing.hpp │ │ └── loop_closing_flow.hpp │ └── viewer │ │ ├── viewer.hpp │ │ └── viewer_flow.hpp │ ├── matching │ ├── back_end │ │ ├── sliding_window.hpp │ │ └── sliding_window_flow.hpp │ └── front_end │ │ ├── matching.hpp │ │ └── matching_flow.hpp │ ├── models │ ├── cloud_filter │ │ ├── box_filter.hpp │ │ ├── cloud_filter_interface.hpp │ │ ├── no_filter.hpp │ │ └── voxel_filter.hpp │ ├── graph_optimizer │ │ ├── g2o │ │ │ ├── edge │ │ │ │ ├── edge_prvag_imu_pre_integration.hpp │ │ │ │ ├── edge_prvag_odo_pre_integration.hpp │ │ │ │ ├── edge_prvag_prior_pos.hpp │ │ │ │ ├── edge_prvag_relative_pose.hpp │ │ │ │ ├── edge_se3_priorquat.hpp │ │ │ │ └── edge_se3_priorxyz.hpp │ │ │ ├── g2o_graph_optimizer.hpp │ │ │ └── vertex │ │ │ │ └── vertex_prvag.hpp │ │ └── interface_graph_optimizer.hpp │ ├── kalman_filter │ │ ├── error_state_kalman_filter.hpp │ │ └── kalman_filter.hpp │ ├── pre_integrator │ │ ├── imu_pre_integrator.hpp │ │ ├── odo_pre_integrator.hpp │ │ └── pre_integrator.hpp │ ├── registration │ │ ├── ndt_registration.hpp │ │ └── registration_interface.hpp │ ├── scan_adjust │ │ └── distortion_adjust.hpp │ ├── scan_context_manager │ │ ├── kdtree_vector_of_vectors_adaptor.hpp │ │ ├── key_frames.pb.h │ │ ├── nanoflann.hpp │ │ ├── ring_keys.pb.h │ │ ├── scan_context_manager.hpp │ │ └── scan_contexts.pb.h │ └── sliding_window │ │ ├── ceres_sliding_window.hpp │ │ ├── factors │ │ ├── factor_prvag_imu_pre_integration.hpp │ │ ├── factor_prvag_map_matching_pose.hpp │ │ ├── factor_prvag_marginalization.hpp │ │ └── factor_prvag_relative_pose.hpp │ │ ├── params │ │ └── param_prvag.hpp │ │ └── utils │ │ └── utils.hpp │ ├── publisher │ ├── cloud_publisher.hpp │ ├── imu_publisher.hpp │ ├── key_frame_publisher.hpp │ ├── key_frames_publisher.hpp │ ├── lidar_measurement_publisher.hpp │ ├── loop_pose_publisher.hpp │ ├── odometry_publisher.hpp │ ├── pos_vel_mag_publisher.hpp │ ├── pos_vel_publisher.hpp │ └── tf_broadcaster.hpp │ ├── sensor_data │ ├── cloud_data.hpp │ ├── gnss_data.hpp │ ├── imu_data.hpp │ ├── key_frame.hpp │ ├── lidar_measurement_data.hpp │ ├── loop_pose.hpp │ ├── pos_vel_data.hpp │ ├── pose_data.hpp │ └── velocity_data.hpp │ ├── subscriber │ ├── cloud_subscriber.hpp │ ├── gnss_subscriber.hpp │ ├── imu_subscriber.hpp │ ├── key_frame_subscriber.hpp │ ├── key_frames_subscriber.hpp │ ├── lidar_measurement_subscriber.hpp │ ├── loop_pose_subscriber.hpp │ ├── odometry_subscriber.hpp │ ├── pos_vel_subscriber.hpp │ └── velocity_subscriber.hpp │ ├── tf_listener │ └── tf_listener.hpp │ └── tools │ ├── CSVWriter.hpp │ ├── file_manager.hpp │ ├── print_info.hpp │ └── tic_toc.hpp ├── launch ├── kitti_localization.launch ├── lio_localization.launch └── lio_mapping.launch ├── msg ├── EKFStd.msg ├── ESKFStd.msg ├── IMUGNSSMeasurement.msg ├── LidarMeasurement.msg └── PosVel.msg ├── package.xml ├── rviz ├── filtering.rviz ├── lio_localization.rviz └── mapping.rviz ├── scripts └── kitti2bag.py ├── slam_data └── .gitignore ├── src ├── apps │ ├── data_pretreat_node.cpp │ ├── front_end_node.cpp │ ├── kitti_filtering_node.cpp │ ├── lio_back_end_node.cpp │ ├── lio_matching_node.cpp │ ├── loop_closing_node.cpp │ ├── sliding_window_node.cpp │ └── viewer_node.cpp ├── data_pretreat │ └── data_pretreat_flow.cpp ├── filtering │ ├── kitti_filtering.cpp │ └── kitti_filtering_flow.cpp ├── mapping │ ├── back_end │ │ ├── lio_back_end.cpp │ │ └── lio_back_end_flow.cpp │ ├── front_end │ │ ├── front_end.cpp │ │ └── front_end_flow.cpp │ ├── loop_closing │ │ ├── loop_closing.cpp │ │ └── loop_closing_flow.cpp │ └── viewer │ │ ├── viewer.cpp │ │ └── viewer_flow.cpp ├── matching │ ├── back_end │ │ ├── sliding_window.cpp │ │ └── sliding_window_flow.cpp │ └── front_end │ │ ├── matching.cpp │ │ └── matching_flow.cpp ├── models │ ├── cloud_filter │ │ ├── box_filter.cpp │ │ ├── no_filter.cpp │ │ └── voxel_filter.cpp │ ├── graph_optimizer │ │ ├── g2o │ │ │ └── g2o_graph_optimizer.cpp │ │ └── interface_graph_optimizer.cpp │ ├── kalman_filter │ │ ├── error_state_kalman_filter.cpp │ │ └── kalman_filter.cpp │ ├── pre_integrator │ │ ├── imu_pre_integrator.cpp │ │ └── odo_pre_integrator.cpp │ ├── registration │ │ └── ndt_registration.cpp │ ├── scan_adjust │ │ └── distortion_adjust.cpp │ ├── scan_context_manager │ │ ├── key_frames.pb.cpp │ │ ├── ring_keys.pb.cpp │ │ ├── scan_context_manager.cpp │ │ └── scan_contexts.pb.cpp │ └── sliding_window │ │ └── ceres_sliding_window.cpp ├── publisher │ ├── cloud_publisher.cpp │ ├── imu_publisher.cpp │ ├── key_frame_publisher.cpp │ ├── key_frames_publisher.cpp │ ├── lidar_measurement_publisher.cpp │ ├── loop_pose_publisher.cpp │ ├── odometry_publisher.cpp │ ├── pos_vel_publisher.cpp │ └── tf_broadcaster.cpp ├── sensor_data │ ├── gnss_data.cpp │ ├── imu_data.cpp │ ├── key_frame.cpp │ ├── loop_pose.cpp │ ├── pose_data.cpp │ └── velocity_data.cpp ├── subscriber │ ├── cloud_subscriber.cpp │ ├── gnss_subscriber.cpp │ ├── imu_subscriber.cpp │ ├── key_frame_subscriber.cpp │ ├── key_frames_subscriber.cpp │ ├── lidar_measurement_subscriber.cpp │ ├── loop_pose_subscriber.cpp │ ├── 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