@class CubeBoundingBox: axis aligned bouding box. Notice: this bounding box must be an exact cube.

@class EigenPointCloud @brief Use eigen matrixes to store the points and normals. for the convenience of calculation.

* @class FrameBase * @brief base class for all frames, such as frame, submap, * a simple frame has its global pose(in map), local pose, cloud and *

use gtsam LM to do the state estimation with imu factors and gps factors can not do estimation in real-time @todo(edward) maybe enhance this method la

Keeps track of the orientation using angular velocities and linear accelerations from an IMU. Because averaged linear acceleration (assuming slow move

@class InnerPointCloudData @brief This template class is used for all registrators. It contains pcl cloud and eigen cloud.

@struct InnerPointType We use this class to isolate inner class from pcl point type.

refer to the paper "M2DP: A Novel 3D Point Cloud Descriptor and Its Application in Loop Closure Detection"

* @class MapBuilder * @brief Main class for single map building */