├── .catkin_workspace ├── .gitignore ├── README.md ├── launch ├── euroc_dataset.launch ├── flags_icp.ff ├── hs5.launch ├── module_robot_state_publisher.launch ├── module_rviz.launch ├── module_sam.launch └── run_lidar_imu_fusion.launch ├── scripts ├── kitti2bag.py ├── run.sh ├── run_point_clouds_icp.sh └── sync_rosbag.py └── src ├── CMakeLists.txt ├── camera_camera_fusion ├── CMakeLists.txt ├── include │ └── stereo_camera_distance_estimation.hpp ├── package.xml └── src │ ├── main.cpp │ └── stereo_camera_distance_estimation.cpp ├── camera_camera_sync ├── CMakeLists.txt ├── include │ └── camera_camera_sync │ │ └── camera_camera_sync.hpp ├── package.xml └── src │ ├── camera_camera_sync.cpp │ └── main.cpp ├── camera_imu_fusion ├── camera_model │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── include │ │ └── camodocal │ │ │ ├── calib │ │ │ └── CameraCalibration.h │ │ │ ├── camera_models │ │ │ ├── Camera.h │ │ │ ├── CameraFactory.h │ │ │ ├── CataCamera.h │ │ │ ├── CostFunctionFactory.h │ │ │ ├── EquidistantCamera.h │ │ │ ├── PinholeCamera.h │ │ │ └── ScaramuzzaCamera.h │ │ │ ├── chessboard │ │ │ ├── Chessboard.h │ │ │ ├── ChessboardCorner.h │ │ │ ├── ChessboardQuad.h │ │ │ └── Spline.h │ │ │ ├── gpl │ │ │ ├── EigenQuaternionParameterization.h │ │ │ ├── EigenUtils.h │ │ │ └── gpl.h │ │ │ └── sparse_graph │ │ │ └── Transform.h │ ├── instruction │ ├── package.xml │ ├── readme.md │ └── src │ │ ├── calib │ │ └── CameraCalibration.cc │ │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ └── ScaramuzzaCamera.cc │ │ ├── chessboard │ │ └── Chessboard.cc │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.cc │ │ └── gpl.cc │ │ ├── intrinsic_calib.cc │ │ └── sparse_graph │ │ └── Transform.cc ├── config │ ├── hs5_config.yaml │ └── vins_rviz_config.rviz ├── feature_tracker │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── package.xml │ └── src │ │ ├── feature_tracker.cpp │ │ ├── feature_tracker.h │ │ ├── feature_tracker_node.cpp │ │ ├── parameters.cpp │ │ ├── parameters.h │ │ └── tic_toc.h ├── pose_graph │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── package.xml │ └── src │ │ ├── ThirdParty │ │ ├── DBoW │ │ │ ├── BowVector.cpp │ │ │ ├── BowVector.h │ │ │ ├── DBoW2.h │ │ │ ├── FBrief.cpp │ │ │ ├── FBrief.h │ │ │ ├── FClass.h │ │ │ ├── FeatureVector.cpp │ │ │ ├── FeatureVector.h │ │ │ ├── QueryResults.cpp │ │ │ ├── QueryResults.h │ │ │ ├── ScoringObject.cpp │ │ │ ├── ScoringObject.h │ │ │ ├── TemplatedDatabase.h │ │ │ └── TemplatedVocabulary.h │ │ ├── DUtils │ │ │ ├── DException.h │ │ │ ├── DUtils.h │ │ │ ├── Random.cpp │ │ │ ├── Random.h │ │ │ ├── Timestamp.cpp │ │ │ └── Timestamp.h │ │ ├── DVision │ │ │ ├── BRIEF.cpp │ │ │ ├── BRIEF.h │ │ │ └── DVision.h │ │ ├── VocabularyBinary.cpp │ │ └── VocabularyBinary.hpp │ │ ├── keyframe.cpp │ │ ├── keyframe.h │ │ ├── parameters.h │ │ ├── pose_graph.cpp │ │ ├── pose_graph.h │ │ ├── pose_graph_node.cpp │ │ └── utility │ │ ├── CameraPoseVisualization.cpp │ │ ├── CameraPoseVisualization.h │ │ ├── tic_toc.h │ │ ├── utility.cpp │ │ └── utility.h └── vins_estimator │ ├── CMakeLists.txt │ ├── cmake │ └── FindEigen.cmake │ ├── launch │ ├── hs5.launch │ └── vins_rviz.launch │ ├── package.xml │ └── src │ ├── estimator.cpp │ ├── estimator.h │ ├── estimator_node.cpp │ ├── factor │ ├── imu_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projection_factor.cpp │ ├── projection_factor.h │ ├── projection_td_factor.cpp │ └── projection_td_factor.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── initial │ ├── initial_aligment.cpp │ ├── initial_alignment.h │ ├── initial_ex_rotation.cpp │ ├── initial_ex_rotation.h │ ├── initial_sfm.cpp │ ├── initial_sfm.h │ ├── solve_5pts.cpp │ └── solve_5pts.h │ ├── parameters.cpp │ ├── parameters.h │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── camera_imu_time_sync ├── CMakeLists.txt ├── include │ └── camera_imu_time_sync │ │ ├── camera_imu_time_sync.hpp │ │ ├── cdkf.h │ │ ├── sigma_points.h │ │ ├── state_accessors.h │ │ ├── state_data.h │ │ └── utils.hpp ├── package.xml └── src │ ├── camera_imu_time_sync.cpp │ ├── cdkf.cpp │ └── utils.cpp ├── camera_lidar_fusion ├── detection │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── parameters.yaml │ │ └── rviz_config_detection.rviz │ ├── include │ │ └── detection_lib │ │ │ └── dbscan.h │ ├── launch │ │ └── detection.launch │ ├── package.xml │ └── src │ │ ├── detection_lib │ │ └── dbscan.cpp │ │ ├── detection_node.cpp │ │ └── detection_nodelet.cpp ├── helper │ ├── CMakeLists.txt │ ├── include │ │ └── helper │ │ │ └── tools.h │ ├── msg │ │ ├── Object.msg │ │ └── ObjectArray.msg │ ├── package.xml │ └── src │ │ └── tools.cpp ├── include │ └── camera_lidar_fusion │ │ └── projector.h ├── sensor_processing │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── parameters.yaml │ │ └── rviz_config_sensor.rviz │ ├── include │ │ └── sensor_processing_lib │ │ │ └── sensor_fusion.h │ ├── launch │ │ └── sensor_processing.launch │ ├── package.xml │ ├── scripts │ │ └── semantic_segmentation_node.py │ └── src │ │ ├── sensor_processing_lib │ │ └── sensor_fusion.cpp │ │ ├── sensor_setup_node.cpp │ │ └── sensor_setup_nodelet.cpp └── tracking │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── parameters.yaml │ └── rviz_config_tracking.rviz │ ├── include │ └── tracking_lib │ │ └── ukf.h │ ├── launch │ └── tracking.launch │ ├── package.xml │ └── src │ ├── tracking_lib │ └── ukf.cpp │ ├── tracking_node.cpp │ └── tracking_nodelet.cpp ├── camera_lidar_sync ├── CMakeLists.txt ├── include │ └── camera_lidar_sync │ │ └── camera_lidar_sync.hpp ├── package.xml └── src │ ├── camera_lidar_sync.cpp │ └── main.cpp ├── camera_radar_fusion ├── CMakeLists.txt ├── include │ ├── ekf.hpp │ ├── ekfInterface.hpp │ ├── groundTruth.hpp │ ├── kalmanFilter.hpp │ ├── measurement.hpp │ ├── radar_camera_spatial_sync.hpp │ ├── tools.hpp │ └── utils.hpp ├── package.xml └── src │ ├── ekf.cpp │ ├── ekfInterface.cpp │ ├── kalmanFilter.cpp │ ├── main.cpp │ ├── radar_camera_spatial_sync.cpp │ ├── tools.cpp │ └── utils.cpp ├── camera_radar_sync ├── CMakeLists.txt ├── include │ ├── radar_camera_spatial_sync.hpp │ └── utils.hpp ├── package.xml └── src │ ├── main.cpp │ ├── radar_camera_spatial_sync.cpp │ └── utils.cpp ├── common_lib ├── .clang-format ├── CMakeLists.txt ├── README.md ├── include │ └── common │ │ ├── algos │ │ ├── convex_hullxy.hpp │ │ ├── graph.hpp │ │ └── hungarian_bigraph_matcher.hpp │ │ ├── bounding_box.hpp │ │ ├── color.hpp │ │ ├── common.hpp │ │ ├── geometry.hpp │ │ ├── parameter.hpp │ │ ├── publisher.hpp │ │ ├── thread_pool.hpp │ │ ├── time.hpp │ │ ├── transform.hpp │ │ └── types │ │ ├── feature.hpp │ │ ├── object.hpp │ │ ├── trackable_object.hpp │ │ └── type.h ├── package.xml └── src │ └── algos │ └── hungarian_bigraph_matcher.cpp ├── lidar_imu_fusion ├── CMakeLists.txt ├── config │ ├── brief_k10L6.bin │ ├── brief_pattern.yml │ ├── params_camera_hs5.yaml │ ├── params_lidar_hs5.yaml │ ├── robot.urdf.xacro │ └── rviz.rviz ├── include │ └── utility.h ├── msg │ ├── cloud_img.msg │ └── cloud_info.msg ├── package.xml ├── src │ ├── featureExtraction.cpp │ ├── gpsConverter.cpp │ ├── imageProjection.cpp │ ├── imuPreintegration.cpp │ └── mapOptmization.cpp └── srv │ └── reset_lidar_odometry.srv ├── lidar_imu_sync ├── CMakeLists.txt ├── include │ └── lidar_imu_sync │ │ ├── lidar_imu_calib.hpp │ │ └── lidar_imu_sync.hpp ├── package.xml └── src │ ├── lidar_imu_calib.cpp │ ├── lidar_imu_sync.cpp │ └── main.cpp ├── lidar_radar_fusion ├── CMakeLists.txt ├── include │ ├── ekf.hpp │ ├── ekfInterface.hpp │ ├── groundTruth.hpp │ ├── kalmanFilter.hpp │ ├── lidar_radar_fusion.hpp │ ├── lidar_radar_fusion_app.hpp │ ├── lidar_radar_fusion_task.hpp │ ├── measurement.hpp │ ├── tools.hpp │ └── utils.hpp └── src │ ├── ekf.cpp │ ├── ekfInterface.cpp │ ├── kalmanFilter.cpp │ ├── lidar_radar_fusion.cpp │ ├── lidar_radar_fusion_app.cpp │ ├── lidar_radar_fusion_task.cpp │ ├── main.cpp │ ├── tools.cpp │ └── utils.cpp ├── msg_box3d ├── CMakeLists.txt ├── msg │ ├── Num.msg │ └── NumArray.msg └── package.xml ├── ndt_omp ├── .clang-format ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps │ └── align.cpp ├── data │ ├── 251370668.pcd │ ├── 251371071.pcd │ └── screenshot.png ├── include │ └── pclomp │ │ ├── gicp_omp.h │ │ ├── gicp_omp_impl.hpp │ │ ├── ndt_omp.h │ │ ├── ndt_omp_impl.hpp │ │ ├── voxel_grid_covariance_omp.h │ │ └── voxel_grid_covariance_omp_impl.hpp ├── package.xml └── src │ └── pclomp │ ├── gicp_omp.cpp │ ├── ndt_omp.cpp │ └── voxel_grid_covariance_omp.cpp └── point_clouds_icp ├── CMakeLists.txt ├── include └── point_clouds_icp │ └── 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