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Repository: tiev-tongji/LOG-LIO
Branch: main
Commit: a2f49d66b9e3
Files: 75
Total size: 13.7 MB
Directory structure:
gitextract_jallgs7z/
├── CMakeLists.txt
├── LICENSE
├── Log/
│ ├── dbg.txt
│ ├── fast_lio_time_log.csv
│ ├── fast_lio_time_log_analysis.m
│ ├── guide.md
│ ├── imu.txt
│ ├── mat_out.txt
│ ├── mat_pre.txt
│ ├── plot.py
│ └── pos_log.txt
├── README.md
├── config/
│ ├── m2dgr/
│ │ ├── ring32_M_0.xml
│ │ ├── ring32_M_1.xml
│ │ ├── ring32_M_2.xml
│ │ ├── ring32_M_3.xml
│ │ ├── ring32_M_4.xml
│ │ ├── ring32_M_5.xml
│ │ ├── ring32_M_6.xml
│ │ ├── ring32_M_7.xml
│ │ ├── ring32_M_8.xml
│ │ └── ring32_v.xml
│ ├── ouster64.yaml
│ ├── rs128.yaml
│ ├── velodyne.yaml
│ ├── velodyne_m2dgr.yaml
│ ├── viral/
│ │ ├── ring16_M_0.xml
│ │ ├── ring16_M_1.xml
│ │ ├── ring16_M_2.xml
│ │ ├── ring16_M_3.xml
│ │ ├── ring16_M_4.xml
│ │ ├── ring16_M_5.xml
│ │ ├── ring16_M_6.xml
│ │ ├── ring16_M_7.xml
│ │ ├── ring16_M_8.xml
│ │ └── ring16_v.xml
│ └── viral.yaml
├── include/
│ ├── Exp_mat.h
│ ├── IKFoM_toolkit/
│ │ ├── esekfom/
│ │ │ ├── esekfom.hpp
│ │ │ └── util.hpp
│ │ └── mtk/
│ │ ├── build_manifold.hpp
│ │ ├── src/
│ │ │ ├── SubManifold.hpp
│ │ │ ├── mtkmath.hpp
│ │ │ └── vectview.hpp
│ │ ├── startIdx.hpp
│ │ └── types/
│ │ ├── S2.hpp
│ │ ├── SOn.hpp
│ │ ├── vect.hpp
│ │ └── wrapped_cv_mat.hpp
│ ├── common_lib.h
│ ├── ikd-Tree/
│ │ ├── ikd_Tree.cpp
│ │ └── ikd_Tree.h
│ ├── matplotlibcpp.h
│ ├── point_type.h
│ ├── so3_math.h
│ ├── use-ikfom.hpp
│ └── voxel_map_util.hpp
├── launch/
│ ├── gdb_debug_example.launch
│ ├── mapping_m2dgr.launch
│ ├── mapping_ouster64.launch
│ ├── mapping_rs.launch
│ ├── mapping_velodyne.launch
│ └── mapping_viral.launch
├── msg/
│ └── Pose6D.msg
├── package.xml
└── src/
├── IMU_Processing.hpp
├── cloud_process.hpp
├── laserMapping.cpp
├── preprocess.cpp
├── preprocess.h
├── ring_fals/
│ ├── Image_normals.hpp
│ ├── precomp.h
│ ├── range_image.cpp
│ └── range_image.h
└── tic_toc.h
================================================
FILE CONTENTS
================================================
================================================
FILE: CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(log_lio)
SET(CMAKE_BUILD_TYPE "Debug")
ADD_COMPILE_OPTIONS(-std=c++14 )
ADD_COMPILE_OPTIONS(-std=c++14 )
set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )
add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
include(ProcessorCount)
ProcessorCount(N)
message("Processer number: ${N}")
if(N GREATER 4)
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=3)
message("core for MP: 3")
elseif(N GREATER 3)
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=2)
message("core for MP: 2")
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
find_package(OpenMP QUIET)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
find_package(PythonLibs REQUIRED)
find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
sensor_msgs
roscpp
rospy
std_msgs
pcl_ros
tf
# livox_ros_driver
message_generation
eigen_conversions
)
find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)
## set OpenCV DIR
if ($ENV{ROS_DISTRO} STREQUAL "kinetic")
Set(OpenCV_DIR "/home/hk/opencv-3.3.1/build") # important find opencv version
else()
Set(OpenCV_DIR "/home/autolab/opencv-3.2.0/build") # important find opencv version, Neotic
endif ()
find_package(OpenCV 3.2 QUIET)
message(Eigen: ${EIGEN3_INCLUDE_DIR})
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
include
)
add_message_files(
FILES
Pose6D.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
)
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
DEPENDS EIGEN3 PCL
INCLUDE_DIRS
)
add_executable(loglio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp
src/ring_fals/range_image.cpp
)
target_link_libraries(loglio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES}
${OpenCV_LIBRARIES}
)
target_include_directories(loglio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
================================================
FILE: LICENSE
================================================
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
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<one line to give the program's name and a brief idea of what it does.>
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Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
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consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License.
================================================
FILE: Log/dbg.txt
================================================
================================================
FILE: Log/fast_lio_time_log.csv
================================================
time_stamp, total time, scan point size, incremental time, search time, delete size, delete time, tree size st, tree size end, add point size, preprocess time
================================================
FILE: Log/fast_lio_time_log_analysis.m
================================================
clear
close all
Color_red = [0.6350 0.0780 0.1840];
Color_blue = [0 0.4470 0.7410];
Color_orange = [0.8500 0.3250 0.0980];
Color_green = [0.4660 0.6740 0.1880];
Color_lightblue = [0.3010 0.7450 0.9330];
Color_purple = [0.4940 0.1840 0.5560];
Color_yellow = [0.9290 0.6940 0.1250];
fast_lio_ikdtree = csvread("./fast_lio_time_log.csv",1,0);
timestamp_ikd = fast_lio_ikdtree(:,1);
timestamp_ikd = timestamp_ikd - min(timestamp_ikd);
total_time_ikd = fast_lio_ikdtree(:,2)*1e3;
scan_num = fast_lio_ikdtree(:,3);
incremental_time_ikd = fast_lio_ikdtree(:,4)*1e3;
search_time_ikd = fast_lio_ikdtree(:,5)*1e3;
delete_size_ikd = fast_lio_ikdtree(:,6);
delete_time_ikd = fast_lio_ikdtree(:,7) * 1e3;
tree_size_ikd_st = fast_lio_ikdtree(:,8);
tree_size_ikd = fast_lio_ikdtree(:,9);
add_points = fast_lio_ikdtree(:,10);
fast_lio_forest = csvread("fast_lio_time_log.csv",1,0);
fov_check_time_forest = fast_lio_forest(:,5)*1e3;
average_time_forest = fast_lio_forest(:,2)*1e3;
total_time_forest = fast_lio_forest(:,6)*1e3;
incremental_time_forest = fast_lio_forest(:,3)*1e3;
search_time_forest = fast_lio_forest(:,4)*1e3;
timestamp_forest = fast_lio_forest(:,1);
% Use slide window to calculate average
L = 1; % Length of slide window
for i = 1:length(timestamp_ikd)
if (i<L)
average_time_ikd(i) = mean(total_time_ikd(1:i));
else
average_time_ikd(i) = mean(total_time_ikd(i-L+1:i));
end
end
for i = 1:length(timestamp_forest)
if (i<L)
average_time_forest(i) = mean(total_time_forest(1:i));
else
average_time_forest(i) = mean(total_time_forest(i-L+1:i));
end
end
f = figure;
set(gcf,'Position',[80 433 600 640])
tiled_handler = tiledlayout(3,1);
tiled_handler.TileSpacing = 'compact';
tiled_handler.Padding = 'compact';
nexttile;
hold on;
set(gca,'FontSize',12,'FontName','Times New Roman')
plot(timestamp_ikd, average_time_ikd,'-','Color',Color_blue,'LineWidth',1.2);
plot(timestamp_forest, average_time_forest,'--','Color',Color_orange,'LineWidth',1.2);
lg = legend("ikd-Tree", "ikd-Forest",'location',[0.1314 0.8559 0.2650 0.0789],'fontsize',14,'fontname','Times New Roman')
title("Time Performance on FAST-LIO",'FontSize',16,'FontName','Times New Roman')
xlabel("time/s",'FontSize',16,'FontName','Times New Roman')
yl = ylabel("Run Time/ms",'FontSize',15,'Position',[285.7 5.5000 -1]);
xlim([32,390]);
ylim([0,23]);
ax1 = gca;
ax1.YAxis.FontSize = 12;
ax1.XAxis.FontSize = 12;
grid on
box on
% print('./Figures/fastlio_exp_average','-depsc','-r600')
index_ikd = find(search_time_ikd > 0);
search_time_ikd = search_time_ikd(index_ikd);
index_forest = find(search_time_forest > 0);
search_time_forest = search_time_forest(index_forest);
t = nexttile;
hold on;
boxplot_data_ikd = [incremental_time_ikd,total_time_ikd];
boxplot_data_forest = [incremental_time_forest,total_time_forest];
Colors_ikd = [Color_blue;Color_blue;Color_blue];
Colors_forest = [Color_orange;Color_orange;Color_orange];
% xticks([3,8,13])
h_search_ikd = boxplot(search_time_ikd,'Whisker',50,'Positions',1,'Colors',Color_blue,'Widths',0.3);
h_search_forest = boxplot(search_time_forest,'Whisker',50,'Positions',1.5,'Colors',Color_orange,'Widths',0.3);
h_ikd = boxplot(boxplot_data_ikd,'Whisker',50,'Positions',[3,5],'Colors',Color_blue,'Widths',0.3);
h_forest = boxplot(boxplot_data_forest,'Whisker',50,'Positions',[3.5,5.5],'Colors',Color_orange,'Widths',0.3);
ax2 = gca;
ax2.YAxis.Scale = 'log';
xlim([0.5,6.0])
ylim([0.0008,100])
xticks([1.25 3.25 5.25])
xticklabels({'Nearest Search',' Incremental Updates','Total Time'});
yticks([1e-3,1e-2,1e-1,1e0,1e1,1e2])
ax2.YAxis.FontSize = 12;
ax2.XAxis.FontSize = 14.5;
% ax.XAxis.FontWeight = 'bold';
ylabel('Run Time/ms','FontSize',14,'FontName','Times New Roman')
box_vars = [findall(h_search_ikd,'Tag','Box');findall(h_ikd,'Tag','Box');findall(h_search_forest,'Tag','Box');findall(h_forest,'Tag','Box')];
for j=1:length(box_vars)
if (j<=3)
Color = Color_blue;
else
Color = Color_orange;
end
patch(get(box_vars(j),'XData'),get(box_vars(j),'YData'),Color,'FaceAlpha',0.25,'EdgeColor',Color);
end
Lg = legend(box_vars([1,4]), {'ikd-Tree','ikd-Forest'},'Location',[0.6707 0.4305 0.265 0.07891],'fontsize',14,'fontname','Times New Roman');
grid on
set(gca,'YMinorGrid','off')
nexttile;
hold on;
grid on;
box on;
set(gca,'FontSize',12,'FontName','Times New Roman')
plot(timestamp_ikd, alpha_bal_ikd,'-','Color',Color_blue,'LineWidth',1.2);
plot(timestamp_ikd, alpha_del_ikd,'--','Color',Color_orange, 'LineWidth', 1.2);
plot(timestamp_ikd, 0.6*ones(size(alpha_bal_ikd)), ':','Color','black','LineWidth',1.2);
lg = legend("\alpha_{bal}", "\alpha_{del}",'location',[0.7871 0.1131 0.1433 0.069],'fontsize',14,'fontname','Times New Roman')
title("Re-balancing Criterion",'FontSize',16,'FontName','Times New Roman')
xlabel("time/s",'FontSize',16,'FontName','Times New Roman')
yl = ylabel("\alpha",'FontSize',15, 'Position',[285.7 0.4250 -1])
xlim([32,390]);
ylim([0,0.85]);
ax3 = gca;
ax3.YAxis.FontSize = 12;
ax3.XAxis.FontSize = 12;
% print('./Figures/fastlio_exp_combine','-depsc','-r1200')
% exportgraphics(f,'./Figures/fastlio_exp_combine_1.pdf','ContentType','vector')
================================================
FILE: Log/guide.md
================================================
Here saved the debug records which can be drew by the ../Log/plot.py. The record function can be found frm the MACRO: DEBUG_FILE_DIR(name) in common_lib.h.
================================================
FILE: Log/imu.txt
================================================
================================================
FILE: Log/mat_out.txt
================================================
================================================
FILE: Log/mat_pre.txt
================================================
================================================
FILE: Log/plot.py
================================================
# import matplotlib
# matplotlib.use('Agg')
import numpy as np
import matplotlib.pyplot as plt
#######for ikfom
fig, axs = plt.subplots(4,2)
lab_pre = ['', 'pre-x', 'pre-y', 'pre-z']
lab_out = ['', 'out-x', 'out-y', 'out-z']
plot_ind = range(7,10)
a_pre=np.loadtxt('mat_pre.txt')
a_out=np.loadtxt('mat_out.txt')
time=a_pre[:,0]
axs[0,0].set_title('Attitude')
axs[1,0].set_title('Translation')
axs[2,0].set_title('Extrins-R')
axs[3,0].set_title('Extrins-T')
axs[0,1].set_title('Velocity')
axs[1,1].set_title('bg')
axs[2,1].set_title('ba')
axs[3,1].set_title('Gravity')
for i in range(1,4):
for j in range(8):
axs[j%4, j/4].plot(time, a_pre[:,i+j*3],'.-', label=lab_pre[i])
axs[j%4, j/4].plot(time, a_out[:,i+j*3],'.-', label=lab_out[i])
for j in range(8):
# axs[j].set_xlim(386,389)
axs[j%4, j/4].grid()
axs[j%4, j/4].legend()
plt.grid()
#######for ikfom#######
#### Draw IMU data
# fig, axs = plt.subplots(2)
# imu=np.loadtxt('imu.txt')
# time=imu[:,0]
# axs[0].set_title('Gyroscope')
# axs[1].set_title('Accelerameter')
# lab_1 = ['gyr-x', 'gyr-y', 'gyr-z']
# lab_2 = ['acc-x', 'acc-y', 'acc-z']
# for i in range(3):
# # if i==1:
# axs[0].plot(time, imu[:,i+1],'.-', label=lab_1[i])
# axs[1].plot(time, imu[:,i+4],'.-', label=lab_2[i])
# for i in range(2):
# # axs[i].set_xlim(386,389)
# axs[i].grid()
# axs[i].legend()
# plt.grid()
# #### Draw time calculation
# plt.figure(3)
# fig = plt.figure()
# font1 = {'family' : 'Times New Roman',
# 'weight' : 'normal',
# 'size' : 12,
# }
# c="red"
# a_out1=np.loadtxt('Log/mat_out_time_indoor1.txt')
# a_out2=np.loadtxt('Log/mat_out_time_indoor2.txt')
# a_out3=np.loadtxt('Log/mat_out_time_outdoor.txt')
# # n = a_out[:,1].size
# # time_mean = a_out[:,1].mean()
# # time_se = a_out[:,1].std() / np.sqrt(n)
# # time_err = a_out[:,1] - time_mean
# # feat_mean = a_out[:,2].mean()
# # feat_err = a_out[:,2] - feat_mean
# # feat_se = a_out[:,2].std() / np.sqrt(n)
# ax1 = fig.add_subplot(111)
# ax1.set_ylabel('Effective Feature Numbers',font1)
# ax1.boxplot(a_out1[:,2], showfliers=False, positions=[0.9])
# ax1.boxplot(a_out2[:,2], showfliers=False, positions=[1.9])
# ax1.boxplot(a_out3[:,2], showfliers=False, positions=[2.9])
# ax1.set_ylim([0, 3000])
# ax2 = ax1.twinx()
# ax2.spines['right'].set_color('red')
# ax2.set_ylabel('Compute Time (ms)',font1)
# ax2.yaxis.label.set_color('red')
# ax2.tick_params(axis='y', colors='red')
# ax2.boxplot(a_out1[:,1]*1000, showfliers=False, positions=[1.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c))
# ax2.boxplot(a_out2[:,1]*1000, showfliers=False, positions=[2.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c))
# ax2.boxplot(a_out3[:,1]*1000, showfliers=False, positions=[3.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c))
# ax2.set_xlim([0.5, 3.5])
# ax2.set_ylim([0, 100])
# plt.xticks([1,2,3], ('Outdoor Scene', 'Indoor Scene 1', 'Indoor Scene 2'))
# # # print(time_se)
# # # print(a_out3[:,2])
# plt.grid()
# plt.savefig("time.pdf", dpi=1200)
plt.show()
================================================
FILE: Log/pos_log.txt
================================================
================================================
FILE: README.md
================================================
# LOG-LIO
----------------------------
Our recent work [LOG-LIO2](https://github.com/tiev-tongji/LOG-LIO2) is now available!
The trajectory file will be saved in **TUM** format in the file named "/Log/target_path.txt".
And a more detailed readme is coming soon!
**Related video:** [Ring FALS](https://youtu.be/cxTLywI7X7M).
## 1. Prerequisites
### 1.1 **Ubuntu** and **ROS**
**Ubuntu >= 16.04**
For **Ubuntu 18.04 or higher**, the **default** PCL and Eigen is enough for FAST-LIO to work normally.
[//]: # ()
[//]: # (ROS >= Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation))
### 1.2 Ring FALS Normal Estimator
Compile follow [Ring FALS normal estimator](https://github.com/tiev-tongji/RingFalsNormal).
## 2. Build
Clone the repository and catkin_make:
```
cd ~/$A_ROS_DIR$/src
git clone https://github.com/tiev-tongji/LOG-LIO.git
cd ..
catkin_make
source devel/setup.bash
```
## 3. run
We conduct experiments on the [M2DGR](https://github.com/SJTU-ViSYS/M2DGR) and [NTU VIRAL](https://github.com/ntu-aris/ntu_viral_dataset) datasets.
The corresponding launch and yaml file is provided.
Note that the timestamp in the NTU VARIL dataset is the **_end time_**.
```
cd ~/$LOG_LIO_ROS_DIR$
source devel/setup.bash
# for the M2DGR dataset
roslaunch log_lio mapping_m2dgr.launch
# for the NTU VIRAL dataset
roslaunch log_lio mapping_viral.launch
```
## 4. Acknowledgments
Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time),
[Fast-LIO2](https://github.com/hku-mars/FAST_LIO),
[ikd-Tree](https://github.com/hku-mars/ikd-Tree)
and [VoxelMap](https://github.com/hku-mars/VoxelMap).
## Citation
```
@article{huang2023log,
title={LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation},
author={Huang, Kai and Zhao, Junqiao and Zhu, Zhongyang and Ye, Chen and Feng, Tiantian},
journal={IEEE Robotics and Automation Letters},
volume={9},
number={1},
pages={459--466},
year={2023},
publisher={IEEE}
}
```
================================================
FILE: config/m2dgr/ring32_M_0.xml
================================================
<?xml version="1.0"?>
<opencv_storage>
<ring32_0 type_id="opencv-matrix">
<rows>32</rows>
<cols>1800</cols>
<dt>f</dt>
<data>
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1.49147729e+03 1.52613708e+03 1.
gitextract_jallgs7z/
├── CMakeLists.txt
├── LICENSE
├── Log/
│ ├── dbg.txt
│ ├── fast_lio_time_log.csv
│ ├── fast_lio_time_log_analysis.m
│ ├── guide.md
│ ├── imu.txt
│ ├── mat_out.txt
│ ├── mat_pre.txt
│ ├── plot.py
│ └── pos_log.txt
├── README.md
├── config/
│ ├── m2dgr/
│ │ ├── ring32_M_0.xml
│ │ ├── ring32_M_1.xml
│ │ ├── ring32_M_2.xml
│ │ ├── ring32_M_3.xml
│ │ ├── ring32_M_4.xml
│ │ ├── ring32_M_5.xml
│ │ ├── ring32_M_6.xml
│ │ ├── ring32_M_7.xml
│ │ ├── ring32_M_8.xml
│ │ └── ring32_v.xml
│ ├── ouster64.yaml
│ ├── rs128.yaml
│ ├── velodyne.yaml
│ ├── velodyne_m2dgr.yaml
│ ├── viral/
│ │ ├── ring16_M_0.xml
│ │ ├── ring16_M_1.xml
│ │ ├── ring16_M_2.xml
│ │ ├── ring16_M_3.xml
│ │ ├── ring16_M_4.xml
│ │ ├── ring16_M_5.xml
│ │ ├── ring16_M_6.xml
│ │ ├── ring16_M_7.xml
│ │ ├── ring16_M_8.xml
│ │ └── ring16_v.xml
│ └── viral.yaml
├── include/
│ ├── Exp_mat.h
│ ├── IKFoM_toolkit/
│ │ ├── esekfom/
│ │ │ ├── esekfom.hpp
│ │ │ └── util.hpp
│ │ └── mtk/
│ │ ├── build_manifold.hpp
│ │ ├── src/
│ │ │ ├── SubManifold.hpp
│ │ │ ├── mtkmath.hpp
│ │ │ └── vectview.hpp
│ │ ├── startIdx.hpp
│ │ └── types/
│ │ ├── S2.hpp
│ │ ├── SOn.hpp
│ │ ├── vect.hpp
│ │ └── wrapped_cv_mat.hpp
│ ├── common_lib.h
│ ├── ikd-Tree/
│ │ ├── ikd_Tree.cpp
│ │ └── ikd_Tree.h
│ ├── matplotlibcpp.h
│ ├── point_type.h
│ ├── so3_math.h
│ ├── use-ikfom.hpp
│ └── voxel_map_util.hpp
├── launch/
│ ├── gdb_debug_example.launch
│ ├── mapping_m2dgr.launch
│ ├── mapping_ouster64.launch
│ ├── mapping_rs.launch
│ ├── mapping_velodyne.launch
│ └── mapping_viral.launch
├── msg/
│ └── Pose6D.msg
├── package.xml
└── src/
├── IMU_Processing.hpp
├── cloud_process.hpp
├── laserMapping.cpp
├── preprocess.cpp
├── preprocess.h
├── ring_fals/
│ ├── Image_normals.hpp
│ ├── precomp.h
│ ├── range_image.cpp
│ └── range_image.h
└── tic_toc.h
SYMBOL INDEX (387 symbols across 24 files)
FILE: include/IKFoM_toolkit/esekfom/esekfom.hpp
type esekfom (line 58) | namespace esekfom {
type share_datastruct (line 66) | struct share_datastruct
type dyn_share_datastruct (line 80) | struct dyn_share_datastruct
type dyn_runtime_share_datastruct (line 95) | struct dyn_runtime_share_datastruct
class esekf (line 107) | class esekf{
method esekf (line 138) | esekf(const state &x = state(),
method init (line 151) | void init(processModel f_in, processMatrix1 f_x_in, processMatrix2 f...
method init_dyn (line 173) | void init_dyn(processModel f_in, processMatrix1 f_x_in, processMatri...
method init_dyn_runtime (line 196) | void init_dyn_runtime(processModel f_in, processMatrix1 f_x_in, proc...
method init_share (line 218) | void init_share(processModel f_in, processMatrix1 f_x_in, processMat...
method init_dyn_share (line 239) | void init_dyn_share(processModel f_in, processMatrix1 f_x_in, proces...
method init_dyn_runtime_share (line 262) | void init_dyn_runtime_share(processModel f_in, processMatrix1 f_x_in...
method predict (line 280) | void predict(double &dt, processnoisecovariance &Q, const input &i_in){
method update_iterated (line 388) | void update_iterated(measurement& z, measurementnoisecovariance &R) {
method update_iterated_share (line 594) | void update_iterated_share() {
method update_iterated_dyn (line 804) | void update_iterated_dyn(Eigen::Matrix<scalar_type, Eigen::Dynamic, ...
method update_iterated_dyn_share (line 1003) | void update_iterated_dyn_share() {
method update_iterated_dyn_runtime (line 1211) | void update_iterated_dyn_runtime(measurement_runtime z, measurementn...
method update_iterated_dyn_runtime_share (line 1416) | void update_iterated_dyn_runtime_share(measurement_runtime z, measur...
method update_iterated_dyn_share_modified (line 1621) | void update_iterated_dyn_share_modified(double R, double &solve_time) {
method change_x (line 1938) | void change_x(state &input_state)
method change_P (line 1949) | void change_P(cov &input_cov)
method state (line 1954) | const state& get_x() const {
method cov (line 1957) | const cov& get_P() const {
method T (line 1990) | T check_safe_update( T _temp_vec )
FILE: include/IKFoM_toolkit/esekfom/util.hpp
type esekfom (line 40) | namespace esekfom {
class is_same (line 43) | class is_same {
class is_same<T1, T1> (line 50) | class is_same<T1, T1> {
class is_double (line 58) | class is_double {
class is_double<double> (line 66) | class is_double<double> {
function T (line 74) | static T
FILE: include/IKFoM_toolkit/mtk/src/SubManifold.hpp
type MTK (line 86) | namespace MTK {
type SubManifold (line 100) | struct SubManifold : public T
method SubManifold (line 108) | explicit
method SubManifold (line 113) | SubManifold(const T& t) : T(t) {}
FILE: include/IKFoM_toolkit/mtk/src/mtkmath.hpp
type MTK (line 92) | namespace MTK {
type internal (line 94) | namespace internal {
type traits (line 97) | struct traits {
type traits<float> (line 105) | struct traits<float> : traits<Scalar<float> > {}
type traits<double> (line 107) | struct traits<double> : traits<Scalar<double> > {}
function scalar (line 131) | inline scalar normalize(scalar x, scalar bound){ //not used
function cos_sinc_sqrt (line 143) | std::pair<scalar, scalar> cos_sinc_sqrt(const scalar &x2){
function hat (line 177) | Eigen::Matrix<typename Base::scalar, 3, 3> hat(const Base& v) {
function A_inv_trans (line 186) | Eigen::Matrix<typename Base::scalar, 3, 3> A_inv_trans(const Base& v){
function A_inv (line 202) | Eigen::Matrix<typename Base::scalar, 3, 3> A_inv(const Base& v){
function S2_w_expw_ (line 218) | Eigen::Matrix<scalar, 2, 3> S2_w_expw_( Eigen::Matrix<scalar, 2, 1> v,...
function A_matrix (line 236) | Eigen::Matrix<typename Base::scalar, 3, 3> A_matrix(const Base & v){
function scalar (line 251) | scalar exp(vectview<scalar, n> result, vectview<const scalar, n> vec, ...
function log (line 270) | void log(vectview<scalar, n> result,
FILE: include/IKFoM_toolkit/mtk/src/vectview.hpp
type MTK (line 45) | namespace MTK {
type internal (line 58) | namespace internal {
type CovBlock (line 60) | struct CovBlock {
type CovBlock_ (line 66) | struct CovBlock_ {
type CrossCovBlock (line 72) | struct CrossCovBlock {
type CrossCovBlock_ (line 78) | struct CrossCovBlock_ {
type VectviewBase (line 84) | struct VectviewBase {
type UnalignedType (line 91) | struct UnalignedType {
class vectview (line 97) | class vectview : public internal::VectviewBase<scalar, dim>::Type {
method vectview (line 105) | explicit
method vectview (line 108) | vectview(matrix_type& m) : base(m.data(), m.size()) {}
method vectview (line 110) | vectview(const vectview &v) : base(v) {}
method vectview (line 113) | vectview(Eigen::VectorBlock<Base, dim> block) : base(&block.coeffRef...
method vectview (line 115) | vectview(Eigen::Block<Base, dim, 1, PacketAccess> block) : base(&blo...
method scalar (line 120) | scalar* data() {return const_cast<scalar*>(base::data());}
class vectview<const scalar, dim> (line 134) | class vectview<const scalar, dim> : public internal::VectviewBase<scal...
method vectview (line 142) | explicit
method vectview (line 146) | vectview(const Eigen::Matrix<scalar, dim, 1, options>& m) : base(m.d...
method vectview (line 149) | vectview(const Eigen::Matrix<scalar, 1, dim, options, phony>& m) : b...
method vectview (line 151) | vectview(vectview<scalar, dim> x) : base(x.data()) {}
method vectview (line 153) | vectview(const base &x) : base(x) {}
method vectview (line 159) | vectview(Eigen::VectorBlock<Base, dim> block) : base(&block.coeffRef...
method vectview (line 161) | vectview(Eigen::Block<Base, dim, 1, PacketAccess> block) : base(&blo...
FILE: include/IKFoM_toolkit/mtk/startIdx.hpp
type MTK (line 85) | namespace MTK {
function getStartIdx (line 105) | int getStartIdx( MTK::SubManifold<T, idx, dim> Base::*)
function getStartIdx_ (line 111) | int getStartIdx_( MTK::SubManifold<T, idx, dim> Base::*)
function getDof (line 120) | int getDof( MTK::SubManifold<T, idx, dim> Base::*)
function getDim (line 125) | int getDim( MTK::SubManifold<T, idx, dim> Base::*)
function setDiagonal (line 134) | void setDiagonal(Eigen::Matrix<typename Base::scalar, Base::DOF, Base:...
function setDiagonal_ (line 141) | void setDiagonal_(Eigen::Matrix<typename Base::scalar, Base::DIM, Base...
function subblock (line 157) | typename MTK::internal::CovBlock<Base, T1, T2>::Type
function subblock_ (line 165) | typename MTK::internal::CovBlock_<Base, T1, T2>::Type
function subblock (line 173) | typename MTK::internal::CrossCovBlock<Base1, Base2, T1, T2>::Type
function subblock_ (line 180) | typename MTK::internal::CrossCovBlock_<Base1, Base2, T1, T2>::Type
function subblock_ (line 194) | typename MTK::internal::CovBlock_<Base, T, T>::Type
function subblock (line 202) | typename MTK::internal::CovBlock<Base, T, T>::Type
class get_cov (line 210) | class get_cov {
class get_cov_ (line 217) | class get_cov_ {
class get_cross_cov (line 224) | class get_cross_cov {
class get_cross_cov_ (line 231) | class get_cross_cov_ {
function subvector_impl_ (line 239) | vectview<typename Base::scalar, T::DIM>
function subvector_impl (line 246) | vectview<typename Base::scalar, T::DOF>
function subvector_ (line 256) | vectview<Scalar, T::DIM>
function subvector (line 263) | vectview<Scalar, T::DOF>
function subvector (line 273) | vectview<Scalar, T::DOF>
function subvector_ (line 280) | vectview<Scalar, T::DIM>
function subvector_ (line 287) | vectview<const Scalar, T::DIM>
function subvector (line 294) | vectview<const Scalar, T::DOF>
function subvector_impl (line 305) | vectview<const typename Base::scalar, T::DOF>
function subvector_impl_ (line 312) | vectview<const typename Base::scalar, T::DIM>
function subvector (line 319) | vectview<const Scalar, T::DOF>
FILE: include/IKFoM_toolkit/mtk/types/S2.hpp
type MTK (line 89) | namespace MTK {
type S2 (line 98) | struct S2 {
method S2 (line 114) | S2() {
method S2 (line 119) | S2(const scalar &x, const scalar &y, const scalar &z) : vec(vec3(x, ...
method S2 (line 124) | S2(const vect_type &_vec) : vec(_vec) {
method oplus (line 129) | void oplus(MTK::vectview<const scalar, 3> delta, scalar scale = 1)
method boxplus (line 136) | void boxplus(MTK::vectview<const scalar, 2> delta, scalar scale=1) {
method boxminus (line 144) | void boxminus(MTK::vectview<scalar, 2> res, const S2<scalar, den, nu...
method S2_hat (line 169) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method S2_Bx (line 179) | void S2_Bx(Eigen::Matrix<scalar, 3, 2> &res)
method S2_Nx (line 234) | void S2_Nx(Eigen::Matrix<scalar, 2, 3> &res, S2<scalar, den, num, S2...
method S2_Nx_yy (line 259) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 266) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
method vect_type (line 286) | const vect_type& get_vect() const {
method scalar (line 297) | scalar operator[](int idx) const {return vec[idx]; }
FILE: include/IKFoM_toolkit/mtk/types/SOn.hpp
type MTK (line 86) | namespace MTK {
type SO2 (line 95) | struct SO2 : public Eigen::Rotation2D<_scalar> {
method SO2 (line 103) | SO2(const scalar& angle = 0) : base(angle) { }
method SO2 (line 106) | SO2(const base& src) : base(src) {}
method SO2 (line 112) | SO2(const vect_type &vec) : base(atan2(vec[1], vec[0])) {}
method SO2 (line 116) | SO2 operator%(const base &r) const {
method vect_type (line 122) | vect_type operator%(const Eigen::MatrixBase<Derived> &vec) const {
method SO2 (line 127) | SO2 operator/(const SO2 &r) const {
method S2_hat (line 135) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method S2_Nx_yy (line 140) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 147) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
method oplus (line 154) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method boxplus (line 158) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method boxminus (line 161) | void boxminus(MTK::vectview<scalar, DOF> res, const SO2<scalar>& oth...
type SO3 (line 178) | struct SO3 : public Eigen::Quaternion<_scalar, Options> {
method EIGEN_STRONG_INLINE (line 186) | EIGEN_STRONG_INLINE
method vect_type (line 193) | vect_type operator%(const Eigen::MatrixBase<Derived> &vec) const {
method EIGEN_STRONG_INLINE (line 198) | EIGEN_STRONG_INLINE
method SO3 (line 207) | SO3(const scalar& w, const scalar& x, const scalar& y, const scalar&...
method SO3 (line 215) | SO3(const base& src = base::Identity()) : base(src) {}
method SO3 (line 222) | SO3(const Eigen::MatrixBase<Derived>& matrix) : base(matrix) {}
method SO3 (line 229) | SO3(const Eigen::RotationBase<Derived, 3>& rotation) : base(rotation...
method boxplus (line 233) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
method boxminus (line 237) | void boxminus(MTK::vectview<scalar, DOF> res, const SO3<scalar>& oth...
method oplus (line 242) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
method S2_hat (line 247) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method S2_Nx_yy (line 251) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 258) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
method SO3 (line 284) | static SO3 exp(const Eigen::Matrix<scalar, 3, 1>& dvec, scalar scale...
method log (line 293) | static typename base::Vector3 log(const SO3 &orient){
type internal (line 300) | namespace internal {
type UnalignedType<SO2<Scalar, Options > > (line 302) | struct UnalignedType<SO2<Scalar, Options > >{
type UnalignedType<SO3<Scalar, Options > > (line 307) | struct UnalignedType<SO3<Scalar, Options > >{
FILE: include/IKFoM_toolkit/mtk/types/vect.hpp
type MTK (line 89) | namespace MTK {
type vect (line 100) | struct vect : public Eigen::Matrix<_scalar, D, 1, _Options> {
method vect (line 108) | vect(const base &src = base::Zero()) : base(src) {}
method EIGEN_STRONG_INLINE (line 112) | EIGEN_STRONG_INLINE vect(const Eigen::DenseBase<OtherDerived>& other...
method vect (line 115) | vect(const scalar* src, int size = DOF) : base(base::Map(src, size))...
method boxplus (line 117) | void boxplus(MTK::vectview<const scalar, D> vec, scalar scale=1) {
method boxminus (line 120) | void boxminus(MTK::vectview<scalar, D> res, const vect<D, scalar>& o...
method oplus (line 124) | void oplus(MTK::vectview<const scalar, D> vec, scalar scale=1) {
method S2_hat (line 128) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method S2_Nx_yy (line 133) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 140) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
method tail (line 191) | vectview<scalar, dim> tail(){
method tail (line 196) | vectview<const scalar, dim> tail() const{
method head (line 201) | vectview<scalar, dim> head(){
method head (line 206) | vectview<const scalar, dim> head() const{
type matrix (line 219) | struct matrix : public Eigen::Matrix<_scalar, M, N, _Options> {
method matrix (line 227) | matrix() {
method EIGEN_STRONG_INLINE (line 233) | EIGEN_STRONG_INLINE matrix(const Eigen::MatrixBase<OtherDerived>& ot...
method matrix (line 236) | matrix(const scalar* src) : base(src) { }
method boxplus (line 238) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method boxminus (line 241) | void boxminus(MTK::vectview<scalar, DOF> res, const matrix& other) c...
method S2_hat (line 245) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method oplus (line 250) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method S2_Nx_yy (line 254) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 261) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
type Scalar (line 288) | struct Scalar {
method Scalar (line 294) | Scalar(const scalar& value = scalar(0)) : value(value) {}
method Scalar (line 297) | Scalar& operator=(const scalar& val) { value = val; return *this; }
method S2_hat (line 299) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method S2_Nx_yy (line 304) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 311) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
method oplus (line 318) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
method boxplus (line 322) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale=1) {
method boxminus (line 325) | void boxminus(MTK::vectview<scalar, DOF> res, const Scalar& other) c...
type PositiveScalar (line 335) | struct PositiveScalar {
method PositiveScalar (line 341) | PositiveScalar(const scalar& value = scalar(1)) : value(value) {
method PositiveScalar (line 345) | PositiveScalar& operator=(const scalar& val) { assert(val>0); value ...
method boxplus (line 347) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method boxminus (line 350) | void boxminus(MTK::vectview<scalar, DOF> res, const PositiveScalar& ...
method oplus (line 354) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method S2_hat (line 358) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method S2_Nx_yy (line 363) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 370) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
type Complex (line 386) | struct Complex : public std::complex<_scalar>{
method Complex (line 392) | Complex(const Base& value) : Base(value) {}
method Complex (line 393) | Complex(const scalar& re = 0.0, const scalar& im = 0.0) : Base(re, i...
method Complex (line 394) | Complex(const MTK::vectview<const scalar, 2> &in) : Base(in[0], in[1...
method Complex (line 396) | Complex(const Eigen::DenseBase<Derived> &in) : Base(in[0], in[1]) {}
method boxplus (line 398) | void boxplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method boxminus (line 402) | void boxminus(MTK::vectview<scalar, DOF> res, const Complex& other) ...
method S2_hat (line 407) | void S2_hat(Eigen::Matrix<scalar, 3, 3> &res)
method oplus (line 412) | void oplus(MTK::vectview<const scalar, DOF> vec, scalar scale = 1) {
method S2_Nx_yy (line 417) | void S2_Nx_yy(Eigen::Matrix<scalar, 2, 3> &res)
method S2_Mx (line 424) | void S2_Mx(Eigen::Matrix<scalar, 3, 2> &res, MTK::vectview<const sca...
method scalar (line 431) | scalar squaredNorm() const {
method scalar (line 435) | const scalar& operator()(int i) const {
method scalar (line 439) | scalar& operator()(int i){
type internal (line 446) | namespace internal {
type UnalignedType<vect<dim, Scalar, Options > > (line 449) | struct UnalignedType<vect<dim, Scalar, Options > >{
FILE: include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp
type MTK (line 43) | namespace MTK {
type cv_f_type (line 46) | struct cv_f_type
type cv_f_type<double> (line 49) | struct cv_f_type<double>
type cv_f_type<float> (line 55) | struct cv_f_type<float>
class cv_mat (line 64) | class cv_mat : public matrix<rows, cols, f_type, cols==1 ? Eigen::ColM...
method cv_mat (line 71) | cv_mat()
method cv_mat (line 76) | cv_mat(const cv_mat& oth) : base_type(oth)
method cv_mat (line 82) | cv_mat(const Eigen::MatrixBase<Derived> &value) : base_type(value)
method cv_mat (line 88) | cv_mat& operator=(const Eigen::MatrixBase<Derived> &value)
method cv_mat (line 94) | cv_mat& operator=(const cv_mat& value)
method CvMat (line 101) | CvMat* operator&()
method CvMat (line 105) | const CvMat* operator&() const
FILE: include/common_lib.h
type log_lio (line 37) | typedef log_lio::Pose6D Pose6D;
type pcl (line 38) | typedef pcl::PointXYZINormal PointType;
type pcl (line 40) | typedef pcl::PointCloud<PointType> PointCloudXYZI;
type vector (line 41) | typedef vector<PointType, Eigen::aligned_allocator<PointType>> PointVec...
type Vector3d (line 42) | typedef Vector3d V3D;
type Matrix3d (line 43) | typedef Matrix3d M3D;
type Vector3f (line 44) | typedef Vector3f V3F;
type Matrix3f (line 45) | typedef Matrix3f M3F;
type StatesGroup (line 70) | struct StatesGroup
function resetpose (line 142) | void resetpose()
function calc_dist (line 222) | float calc_dist(PointType p1, PointType p2){
FILE: include/ikd-Tree/ikd_Tree.cpp
function BoxPointType (line 362) | BoxPointType KD_TREE<PointType>::tree_range(){
type timespec (line 1262) | struct timespec
type timespec (line 1310) | struct timespec
type timespec (line 1371) | struct timespec
type timespec (line 1419) | struct timespec
function T (line 2136) | T MANUAL_Q<T>::front(){
function T (line 2141) | T MANUAL_Q<T>::back(){
class KD_TREE<pcl::PointXYZINormal> (line 2168) | class KD_TREE<pcl::PointXYZINormal>
FILE: include/ikd-Tree/ikd_Tree.h
type BoxPointType (line 27) | struct BoxPointType{
type operation_set (line 32) | enum operation_set {ADD_POINT, DELETE_POINT, DELETE_BOX, ADD_BOX, DOWNSA...
type delete_point_storage_set (line 34) | enum delete_point_storage_set {NOT_RECORD, DELETE_POINTS_REC, MULTI_THRE...
type SimpInfo (line 52) | struct SimpInfo {
function class (line 58) | class VoxelInfo {
type KD_TREE_NODE (line 103) | struct KD_TREE_NODE{
type Operation_Logger_Type (line 127) | struct Operation_Logger_Type{
type PointType_Voxel_CMP (line 134) | struct PointType_Voxel_CMP{
function operator (line 144) | bool operator < (const PointType_Voxel_CMP &a)const{
function class (line 150) | class MANUAL_VOXEL_HEAP{
function pop (line 160) | void pop(){
function PointType_Voxel_CMP (line 168) | PointType_Voxel_CMP top(){ return heap[0];}
function push (line 170) | void push(PointType_Voxel_CMP point){
function size (line 178) | int size(){ return heap_size;}
function clear (line 180) | void clear(){ heap_size = 0;}
function MoveDown (line 185) | void MoveDown(int heap_index){
function FloatUp (line 200) | void FloatUp(int heap_index){
type PointType_CMP (line 217) | struct PointType_CMP{
function operator (line 230) | bool operator < (const PointType_CMP &a)const{
function class (line 236) | class MANUAL_HEAP{
function pop (line 246) | void pop(){
function PointType_CMP (line 254) | PointType_CMP top(){ return heap[0];}
function push (line 256) | void push(PointType_CMP point){
function size (line 264) | int size(){ return heap_size;}
function clear (line 266) | void clear(){ heap_size = 0;}
function MoveDown (line 271) | void MoveDown(int heap_index){
function FloatUp (line 286) | void FloatUp(int heap_index){
FILE: include/matplotlibcpp.h
function namespace (line 42) | namespace matplotlibcpp {
function backend (line 265) | inline void backend(const std::string& name)
function annotate (line 270) | inline bool annotate(std::string annotation, double x, double y)
function namespace (line 296) | namespace detail {
function namespace (line 781) | namespace detail {
function fignum_exists (line 1520) | inline bool fignum_exists(long number)
function figure_size (line 1536) | inline void figure_size(size_t w, size_t h)
function legend (line 1558) | inline void legend()
function legend (line 1568) | inline void legend(const std::map<std::string, std::string>& keywords)
function xticks (line 1708) | void xticks(const std::vector<Numeric> &ticks, const std::map<std::strin...
function yticks (line 1757) | void yticks(const std::vector<Numeric> &ticks, const std::map<std::strin...
function margins (line 1762) | void margins(Numeric margin)
function margins (line 1777) | void margins(Numeric margin_x, Numeric margin_y)
function subplot (line 1820) | inline void subplot(long nrows, long ncols, long plot_number)
function axis (line 1906) | inline void axis(const std::string &axisstr)
function grid (line 2066) | inline void grid(bool flag)
function close (line 2108) | inline void close()
function xkcd (line 2121) | inline void xkcd() {
function draw (line 2138) | inline void draw()
function pause (line 2152) | void pause(Numeric interval)
function save (line 2166) | inline void save(const std::string& filename)
function clf (line 2183) | inline void clf() {
function cla (line 2195) | inline void cla() {
function ion (line 2207) | inline void ion() {
function tight_layout (line 2256) | inline void tight_layout() {
function namespace (line 2270) | namespace detail {
type Fallback (line 2287) | struct Fallback { void operator()(); }
type Derived (line 2288) | struct Derived
type dtype (line 2300) | typedef decltype(&Fallback::operator()) dtype;
type typename (line 2308) | typedef typename is_callable_impl<std::is_class<T>::value, T>::type type;
function false_type (line 2315) | struct plot_impl<std::false_type>
function true_type (line 2354) | struct plot_impl<std::true_type>
function class (line 2400) | class Plot
FILE: include/point_type.h
function getPointCovMatrix (line 91) | void getPointCovMatrix(Eigen::Matrix3d & m) const
function getNormalCovMatrix (line 97) | void getNormalCovMatrix(Eigen::Matrix3d & m) const
function recordPointCovFromMatrix (line 104) | void recordPointCovFromMatrix(const Eigen::Matrix3f & m)
function recordNormalCovFromMatrix (line 109) | void recordNormalCovFromMatrix(const Eigen::Matrix3f & m)
function updateCov (line 115) | void updateCov(const ikdTree_PointType& p)
function calcBodyCovBearingRange (line 122) | void calcBodyCovBearingRange(const float range_cov, const float degree_c...
type PointXYZIRT (line 164) | struct PointXYZIRT
type ousterPointXYZIRT (line 181) | struct ousterPointXYZIRT {
FILE: include/use-ikfom.hpp
function process_noise_cov (line 35) | MTK::get_cov<process_noise_ikfom>::type process_noise_cov()
function get_f (line 47) | Eigen::Matrix<double, 24, 1> get_f(state_ikfom &s, const input_ikfom &in)
function df_dx (line 61) | Eigen::Matrix<double, 24, 23> df_dx(state_ikfom &s, const input_ikfom &in)
function df_dw (line 80) | Eigen::Matrix<double, 24, 12> df_dw(state_ikfom &s, const input_ikfom &in)
function vect3 (line 90) | vect3 SO3ToEuler(const SO3 &orient)
FILE: include/voxel_map_util.hpp
type ptpl (line 34) | struct ptpl {
type pointWithCov (line 46) | struct pointWithCov {
type Plane (line 53) | struct Plane {
class VoxelInfo (line 76) | class VoxelInfo
class VOXEL_LOC (line 78) | class VOXEL_LOC {
method VOXEL_LOC (line 82) | VOXEL_LOC(int64_t vx = 0, int64_t vy = 0, int64_t vz = 0)
type std (line 93) | namespace std {
type hash<VOXEL_LOC> (line 95) | struct hash<VOXEL_LOC> {
class OctoTree (line 104) | class OctoTree {
method OctoTree (line 128) | OctoTree(int max_layer, int layer, vector<int> layer_point_size,
FILE: src/IMU_Processing.hpp
function time_list (line 31) | const bool time_list(PointType &x, PointType &y) {return (x.curvature < ...
class ImuProcess (line 34) | class ImuProcess
FILE: src/cloud_process.hpp
function cloudSurfel (line 16) | bool cloudSurfel(const vector<VoxelInfo*> & voxels, Matrix<float, 4, 1> ...
function calcBodyCov (line 123) | void calcBodyCov(Eigen::Vector3d &pb, const float range_inc, const float...
function calcBodyCov (line 154) | void calcBodyCov(PointType &pb, const float range_cov, const float degre...
function GetUpdatePlane (line 187) | void GetUpdatePlane(const OctoTree *current_octo, const int pub_max_voxe...
function mapJet (line 208) | void mapJet(double v, double vmin, double vmax, uint8_t &r, uint8_t &g,
function CalcVectQuation (line 250) | void CalcVectQuation(const Eigen::Vector3d &x_vec, const Eigen::Vector3d...
function CalcQuation (line 265) | void CalcQuation(const Eigen::Vector3d &vec, const int axis,
function M3D (line 297) | M3D calcBodyCov(Eigen::Vector3d &pb, const float range_inc, const float ...
function FAST_LIO_CLOUD_PROCESS_HPP (line 321) | FAST_LIO_CLOUD_PROCESS_HPP
function singleVoxelCheck (line 432) | bool singleVoxelCheck(const vector<VoxelInfo*>& voxels, const Eigen::Vec...
FILE: src/laserMapping.cpp
function SigHandle (line 164) | void SigHandle(int sig)
function dump_lio_state_to_log (line 171) | inline void dump_lio_state_to_log(FILE *fp)
function pointBodyToWorld_ikfom (line 187) | void pointBodyToWorld_ikfom(PointType const * const pi, PointType * cons...
function pointBodyToWorld (line 198) | void pointBodyToWorld(PointType const * const pi, PointType * const po)
function pointNormalBodyToWorld (line 210) | void pointNormalBodyToWorld(PointType const * const pi, PointType * cons...
function pointBodyToWorld (line 222) | void pointBodyToWorld(const Matrix<T, 3, 1> &pi, Matrix<T, 3, 1> &po)
function RGBpointBodyToWorld (line 232) | void RGBpointBodyToWorld(PointType const * const pi, PointType * const po)
function RGBpointBodyLidarToIMU (line 250) | void RGBpointBodyLidarToIMU(PointType const * const pi, PointType * cons...
function points_cache_collect (line 261) | void points_cache_collect()
function lasermap_fov_segment (line 270) | void lasermap_fov_segment()
function standard_pcl_cbk (line 326) | void standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg)
function imu_cbk (line 389) | void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
function sync_packages (line 421) | bool sync_packages(MeasureGroup &meas)
function same_point (line 476) | bool same_point(PointType a, PointType b){
function map_incremental (line 481) | void map_incremental()
function var_contrast (line 546) | const bool var_contrast(pointWithCov &x, pointWithCov &y) {
function publish_frame_world (line 552) | void publish_frame_world(const ros::Publisher & pubLaserCloudFull)
function publish_frame_body (line 606) | void publish_frame_body(const ros::Publisher & pubLaserCloudFull_body)
function publish_effect_world (line 625) | void publish_effect_world(const ros::Publisher & pubLaserCloudEffect)
function publish_map (line 641) | void publish_map(const ros::Publisher & pubLaserCloudMap)
function set_posestamp (line 651) | void set_posestamp(T & out)
function publish_odometry (line 663) | void publish_odometry(const ros::Publisher & pubOdomAftMapped)
function publish_path (line 696) | void publish_path(const ros::Publisher pubPath)
function h_share_model (line 771) | void h_share_model(state_ikfom &s, esekfom::dyn_share_datastruct<double>...
function saveTraj (line 1022) | void saveTraj(const string & pose_target_file)
function main (line 1107) | int main(int argc, char** argv)
FILE: src/preprocess.h
type pcl (line 12) | typedef pcl::PointXYZINormal PointType;
type pcl (line 14) | typedef pcl::PointCloud<PointType> PointCloudXYZI;
type LID_TYPE (line 16) | enum LID_TYPE{AVIA = 1, VELODYNE, OUSTER}
type TIME_UNIT (line 17) | enum TIME_UNIT{SEC = 0, MS = 1, US = 2, NS = 3}
type Feature (line 18) | enum Feature{Nor, Poss_Plane, Real_Plane, Edge_Jump, Edge_Plane, Wire, Z...
type Surround (line 19) | enum Surround{Prev, Next}
type E_jump (line 20) | enum E_jump{Nr_nor, Nr_zero, Nr_180, Nr_inf, Nr_blind}
type orgtype (line 22) | struct orgtype
function Point (line 41) | struct EIGEN_ALIGN16 Point {
function Point (line 59) | struct EIGEN_ALIGN16 Point {
FILE: src/ring_fals/Image_normals.hpp
function T (line 44) | T
function signNormal (line 55) | inline
function normalizedNormal (line 74) | inline
function computeRadius (line 86) | cv::Mat_<T>
function computeThetaPhi (line 111) | void
class LIDAR_FALS (line 155) | class LIDAR_FALS
method LIDAR_FALS (line 163) | LIDAR_FALS(int rows, int cols, int window_size, int depth, const cv::M...
method LIDAR_FALS (line 166) | LIDAR_FALS(int rows, int cols, int window_size)
method LIDAR_FALS (line 172) | LIDAR_FALS() {}
method cache (line 179) | virtual void
method computeMInverse (line 191) | void computeMInverse(cv::Mat &cos_theta, cv::Mat &sin_theta, cv::Mat &...
method saveMInverse (line 227) | void saveMInverse(std::string dir, std::string filename)
method loadMInverse (line 257) | bool loadMInverse(std::string dir, std::string filename)
method compute (line 298) | virtual void
method compute (line 347) | virtual void
method setRowsCols (line 402) | void setRowsCols(const int& rows, const int& cols) {
FILE: src/ring_fals/range_image.h
function class (line 22) | class RangeImage
FILE: src/tic_toc.h
function class (line 7) | class TicToc
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Download .json
Condensed preview — 75 files, each showing path, character count, and a content snippet. Download the .json file for the full structured content (14,594K chars).
[
{
"path": "CMakeLists.txt",
"chars": 2594,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(log_lio)\n\nSET(CMAKE_BUILD_TYPE \"Debug\")\n\nADD_COMPILE_OPTIONS(-std=c++14 )\n"
},
{
"path": "LICENSE",
"chars": 18092,
"preview": " GNU GENERAL PUBLIC LICENSE\n Version 2, June 1991\n\n Copyright (C) 1989, 1991 Fr"
},
{
"path": "Log/dbg.txt",
"chars": 0,
"preview": ""
},
{
"path": "Log/fast_lio_time_log.csv",
"chars": 159,
"preview": "time_stamp, total time, scan point size, incremental time, search time, delete size, delete time, tree size st, tree siz"
},
{
"path": "Log/fast_lio_time_log_analysis.m",
"chars": 5182,
"preview": "clear\nclose all\n\nColor_red = [0.6350 0.0780 0.1840];\nColor_blue = [0 0.4470 0.7410];\nColor_orange = [0.8500 0.3250 0.098"
},
{
"path": "Log/guide.md",
"chars": 156,
"preview": "Here saved the debug records which can be drew by the ../Log/plot.py. The record function can be found frm the MACRO: DE"
},
{
"path": "Log/imu.txt",
"chars": 0,
"preview": ""
},
{
"path": "Log/mat_out.txt",
"chars": 0,
"preview": ""
},
{
"path": "Log/mat_pre.txt",
"chars": 0,
"preview": ""
},
{
"path": "Log/plot.py",
"chars": 3104,
"preview": "# import matplotlib\n# matplotlib.use('Agg')\nimport numpy as np\nimport matplotlib.pyplot as plt\n\n\n#######for ikfom\nfig, a"
},
{
"path": "Log/pos_log.txt",
"chars": 0,
"preview": ""
},
{
"path": "README.md",
"chars": 2097,
"preview": "# LOG-LIO\n\n----------------------------\n\nOur recent work [LOG-LIO2](https://github.com/tiev-tongji/LOG-LIO2) is now avai"
},
{
"path": "config/m2dgr/ring32_M_0.xml",
"chars": 880343,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_0 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
},
{
"path": "config/m2dgr/ring32_M_1.xml",
"chars": 907833,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_1 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
},
{
"path": "config/m2dgr/ring32_M_2.xml",
"chars": 908010,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_2 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
},
{
"path": "config/m2dgr/ring32_M_3.xml",
"chars": 907833,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_3 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
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{
"path": "config/m2dgr/ring32_M_4.xml",
"chars": 881179,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_4 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
},
{
"path": "config/m2dgr/ring32_M_5.xml",
"chars": 908097,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_5 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
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{
"path": "config/m2dgr/ring32_M_6.xml",
"chars": 908010,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_6 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
},
{
"path": "config/m2dgr/ring32_M_7.xml",
"chars": 908097,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_7 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
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{
"path": "config/m2dgr/ring32_M_8.xml",
"chars": 881740,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_8 type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>f<"
},
{
"path": "config/m2dgr/ring32_v.xml",
"chars": 2682155,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring32_vv type_id=\"opencv-matrix\">\n <rows>32</rows>\n <cols>1800</cols>\n <dt>\""
},
{
"path": "config/ouster64.yaml",
"chars": 1631,
"preview": "common:\n lid_topic: \"/os_cloud_node/points\"\n imu_topic: \"/os_cloud_node/imu\"\n time_sync_en: false # O"
},
{
"path": "config/rs128.yaml",
"chars": 1659,
"preview": "common:\n#NCLT\n# lid_topic: \"/points_raw\"\n# imu_topic: \"/imu_raw\"\n\n#KITTI\n# lid_topic: \"/kitti/velo/pointcloud\"\n"
},
{
"path": "config/velodyne.yaml",
"chars": 1763,
"preview": "common:\n lid_topic: \"/velodyne_points\"\n imu_topic: \"/handsfree/imu\"\n time_sync_en: false # ONLY turn "
},
{
"path": "config/velodyne_m2dgr.yaml",
"chars": 3184,
"preview": "common:\n lid_topic: \"/velodyne_points\"\n imu_topic: \"/handsfree/imu\"\n time_sync_en: false # ONLY turn "
},
{
"path": "config/viral/ring16_M_0.xml",
"chars": 246205,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_0 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_1.xml",
"chars": 253881,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_1 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_2.xml",
"chars": 252947,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_2 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_3.xml",
"chars": 253881,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_3 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_4.xml",
"chars": 246650,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_4 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_5.xml",
"chars": 254439,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_5 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_6.xml",
"chars": 252947,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_6 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_7.xml",
"chars": 254439,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_7 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_M_8.xml",
"chars": 246558,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_8 type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>f<"
},
{
"path": "config/viral/ring16_v.xml",
"chars": 727675,
"preview": "<?xml version=\"1.0\"?>\n<opencv_storage>\n<ring16_vv type_id=\"opencv-matrix\">\n <rows>16</rows>\n <cols>1024</cols>\n <dt>\""
},
{
"path": "config/viral.yaml",
"chars": 2818,
"preview": "common:\n lid_topic: \"/os1_cloud_node1/points\"\n imu_topic: \"/imu/imu\"\n time_sync_en: false # ONLY turn"
},
{
"path": "include/Exp_mat.h",
"chars": 2743,
"preview": "#ifndef EXP_MAT_H\n#define EXP_MAT_H\n\n#include <math.h>\n#include <Eigen/Core>\n#include <opencv2/core.hpp>\n// #include <co"
},
{
"path": "include/IKFoM_toolkit/esekfom/esekfom.hpp",
"chars": 69428,
"preview": "/*\n * Copyright (c) 2019--2023, The University of Hong Kong\n * All rights reserved.\n *\n * Author: Dongjiao HE <hdj658"
},
{
"path": "include/IKFoM_toolkit/esekfom/util.hpp",
"chars": 2363,
"preview": "/*\n * Copyright (c) 2019--2023, The University of Hong Kong\n * All rights reserved.\n *\n * Author: Dongjiao HE <hdj658"
},
{
"path": "include/IKFoM_toolkit/mtk/build_manifold.hpp",
"chars": 9436,
"preview": "// This is an advanced implementation of the algorithm described in the\n// following paper:\n// C. Hertzberg, R. Wag"
},
{
"path": "include/IKFoM_toolkit/mtk/src/SubManifold.hpp",
"chars": 4886,
"preview": "// This is an advanced implementation of the algorithm described in the\n// following paper:\n// C. Hertzberg, R. Wag"
},
{
"path": "include/IKFoM_toolkit/mtk/src/mtkmath.hpp",
"chars": 10264,
"preview": "// This is an advanced implementation of the algorithm described in the\n// following paper:\n// C. Hertzberg, R. Wag"
},
{
"path": "include/IKFoM_toolkit/mtk/src/vectview.hpp",
"chars": 6540,
"preview": "\n/*\n * Copyright (c) 2008--2011, Universitaet Bremen\n * All rights reserved.\n *\n * Author: Christoph Hertzberg <chtz@"
},
{
"path": "include/IKFoM_toolkit/mtk/startIdx.hpp",
"chars": 12515,
"preview": "// This is an advanced implementation of the algorithm described in the\n// following paper:\n// C. Hertzberg, R. Wag"
},
{
"path": "include/IKFoM_toolkit/mtk/types/S2.hpp",
"chars": 9971,
"preview": "// This is a NEW implementation of the algorithm described in the\r\n// following paper:\r\n// C. Hertzberg, R. Wagner,"
},
{
"path": "include/IKFoM_toolkit/mtk/types/SOn.hpp",
"chars": 10624,
"preview": "// This is an advanced implementation of the algorithm described in the\n// following paper:\n// C. Hertzberg, R. Wag"
},
{
"path": "include/IKFoM_toolkit/mtk/types/vect.hpp",
"chars": 14226,
"preview": "// This is an advanced implementation of the algorithm described in the\n// following paper:\n// C. Hertzberg, R. Wag"
},
{
"path": "include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp",
"chars": 3236,
"preview": "/*\n * Copyright (c) 2010--2011, Universitaet Bremen and DFKI GmbH\n * All rights reserved.\n *\n * Author: Rene Wagner <"
},
{
"path": "include/common_lib.h",
"chars": 7849,
"preview": "#ifndef COMMON_LIB_H\n#define COMMON_LIB_H\n\n#include <so3_math.h>\n#include <Eigen/Eigen>\n#include <pcl/point_types.h>\n#in"
},
{
"path": "include/ikd-Tree/ikd_Tree.cpp",
"chars": 93361,
"preview": "#include \"ikd_Tree.h\"\n//#include <pcl/common/pca.h>\n\n//#include \"voxel_map_util.hpp\"\n/*\nDescription: ikd-Tree: an increm"
},
{
"path": "include/ikd-Tree/ikd_Tree.h",
"chars": 15359,
"preview": "#pragma once\n#include <stdio.h>\n#include <queue>\n#include <pthread.h>\n#include <chrono>\n#include <time.h>\n#include <unis"
},
{
"path": "include/matplotlibcpp.h",
"chars": 81837,
"preview": "#pragma once\n\n// Python headers must be included before any system headers, since\n// they define _POSIX_C_SOURCE\n#includ"
},
{
"path": "include/point_type.h",
"chars": 5823,
"preview": "//\n// Created by hk on 12/8/22.\n//\n\n#pragma once\n#define PCL_NO_PRECOMPILE\n\n#include <pcl/point_cloud.h>\n#include <pcl/p"
},
{
"path": "include/so3_math.h",
"chars": 2936,
"preview": "#ifndef SO3_MATH_H\n#define SO3_MATH_H\n\n#include <math.h>\n#include <Eigen/Core>\n\n#define SKEW_SYM_MATRX(v) 0.0,-v[2],v[1]"
},
{
"path": "include/use-ikfom.hpp",
"chars": 4337,
"preview": "#ifndef USE_IKFOM_H\n#define USE_IKFOM_H\n\n#include <IKFoM_toolkit/esekfom/esekfom.hpp>\n\ntypedef MTK::vect<3, double> vect"
},
{
"path": "include/voxel_map_util.hpp",
"chars": 4488,
"preview": "#ifndef VOXEL_MAP_UTIL_HPP\n#define VOXEL_MAP_UTIL_HPP\n//#include \"common_lib.h\"\n#include \"omp.h\"\n#include <Eigen/Core>\n#"
},
{
"path": "launch/gdb_debug_example.launch",
"chars": 959,
"preview": "<launch>\n\n <arg name=\"rviz\" default=\"true\" />\n\n <node pkg=\"log_lio\" type=\"loglio_mapping\" name=\"laserMapping\" output=\""
},
{
"path": "launch/mapping_m2dgr.launch",
"chars": 1000,
"preview": "<launch>\n <!-- Launch file for velodyne16 VLP-16 LiDAR -->\n\n <arg name=\"rviz\" default=\"true\" />\n\n <rosparam comma"
},
{
"path": "launch/mapping_ouster64.launch",
"chars": 868,
"preview": "<launch>\n<!-- Launch file for ouster OS2-64 LiDAR -->\n\n <arg name=\"rviz\" default=\"true\" />\n\n <rosparam command=\"lo"
},
{
"path": "launch/mapping_rs.launch",
"chars": 897,
"preview": "<launch>\n <!-- Launch file for velodyne16 VLP-16 LiDAR -->\n\n <arg name=\"rviz\" default=\"true\" />\n\n <rosparam comma"
},
{
"path": "launch/mapping_velodyne.launch",
"chars": 873,
"preview": "<launch>\n <!-- Launch file for velodyne16 VLP-16 LiDAR -->\n\n <arg name=\"rviz\" default=\"true\" />\n\n <rosparam comma"
},
{
"path": "launch/mapping_viral.launch",
"chars": 865,
"preview": "<launch>\n<!-- Launch file for ouster OS2-64 LiDAR -->\n\n <arg name=\"rviz\" default=\"true\" />\n\n <rosparam command=\"lo"
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"path": "msg/Pose6D.msg",
"chars": 597,
"preview": "# the preintegrated Lidar states at the time of IMU measurements in a frame\nfloat64 offset_time # the offset time of IM"
},
{
"path": "package.xml",
"chars": 1464,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>log_lio</name>\n <version>0.0.0</version>\n\n <description>\n This is a modifie"
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{
"path": "src/IMU_Processing.hpp",
"chars": 12851,
"preview": "#include <cmath>\n#include <math.h>\n#include <deque>\n#include <mutex>\n#include <thread>\n#include <fstream>\n#include <csig"
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{
"path": "src/cloud_process.hpp",
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"preview": "//\n// Created by hk on 8/24/23.\n//\n\n\n#ifndef FAST_LIO_CLOUD_PROCESS_HPP\n#define FAST_LIO_CLOUD_PROCESS_HPP\n#include <com"
},
{
"path": "src/laserMapping.cpp",
"chars": 65384,
"preview": "#include <omp.h>\n#include <mutex>\n#include <math.h>\n#include <thread>\n#include <fstream>\n#include <random>\n#include <csi"
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"path": "src/preprocess.cpp",
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"preview": "#include \"preprocess.h\"\n#include \"point_type.h\"\n#include \"tic_toc.h\"\n\n#define RETURN0 0x00\n#define RETURN0AND1 0x10\n"
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"path": "src/preprocess.h",
"chars": 5422,
"preview": "#include <ros/ros.h>\n#include <pcl_conversions/pcl_conversions.h>\n#include <sensor_msgs/PointCloud2.h>\n//#include <livox"
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{
"path": "src/ring_fals/Image_normals.hpp",
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"preview": "/*\n * Software License Agreement (BSD License)\n *\n * Copyright (c) 2012, Willow Garage, Inc.\n * All rights reserved.\n "
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"path": "src/ring_fals/precomp.h",
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"preview": "/*M///////////////////////////////////////////////////////////////////////////////////////\n//\n// IMPORTANT: READ BEFORE"
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{
"path": "src/ring_fals/range_image.cpp",
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"preview": "//\n// Created by hk on 12/8/22.\n//\n\n#include \"range_image.h\"\n\nvoid RangeImage::createFromRings(const pcl::PointCloud<Poi"
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{
"path": "src/ring_fals/range_image.h",
"chars": 3696,
"preview": "//\n// Created by hk on 12/8/22.\n//\n\n\n#include <vector>\n#include <array>\n#include <opencv2/core.hpp>\n\n#include <opencv2/i"
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{
"path": "src/tic_toc.h",
"chars": 488,
"preview": "#pragma once\n\n#include <ctime>\n#include <cstdlib>\n#include <chrono>\n\nclass TicToc\n{\n public:\n TicToc()\n {\n "
}
]
About this extraction
This page contains the full source code of the tiev-tongji/LOG-LIO GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 75 files (13.7 MB), approximately 3.6M tokens, and a symbol index with 387 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.