├── .clang-format ├── .gitignore ├── LICENSE ├── README.md ├── rm_auto_aim ├── README.md ├── armor_detector │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake_modules │ │ └── FindG2O.cmake │ ├── docs │ │ ├── BA.png │ │ ├── blue.png │ │ ├── classify.png │ │ ├── gray_bin.png │ │ ├── hsv_bin.png │ │ ├── model.svg │ │ ├── num_bin.png │ │ ├── num_raw.png │ │ ├── num_roi.png │ │ ├── num_warp.png │ │ ├── origin1.png │ │ ├── origin2.png │ │ ├── pca1.png │ │ ├── pca2.png │ │ ├── raw.png │ │ ├── red.png │ │ └── test.png │ ├── include │ │ └── armor_detector │ │ │ ├── armor_detector.hpp │ │ │ ├── armor_detector_node.hpp │ │ │ ├── armor_pose_estimator.hpp │ │ │ ├── ba_solver.hpp │ │ │ ├── graph_optimizer.hpp │ │ │ ├── light_corner_corrector.hpp │ │ │ ├── number_classifier.hpp │ │ │ └── types.hpp │ ├── model │ │ ├── label.txt │ │ ├── lenet.onnx │ │ └── mlp.onnx │ ├── package.xml │ ├── src │ │ ├── armor_detector.cpp │ │ ├── armor_detector_node.cpp │ │ ├── armor_pose_estimator.cpp │ │ ├── ba_solver.cpp │ │ ├── graph_optimizer.cpp │ │ ├── light_corner_corrector.cpp │ │ └── number_classifier.cpp │ └── test │ │ └── test_detector.cpp ├── armor_solver │ ├── CMakeLists.txt │ ├── README.md │ ├── docs │ │ └── Kalman_filter_model.png │ ├── include │ │ └── armor_solver │ │ │ ├── armor_solver.hpp │ │ │ ├── armor_solver_node.hpp │ │ │ ├── armor_tracker.hpp │ │ │ └── motion_model.hpp │ ├── package.xml │ └── src │ │ ├── armor_solver.cpp │ │ ├── armor_solver_node.cpp │ │ └── armor_tracker.cpp └── rm_auto_aim │ ├── CMakeLists.txt │ └── package.xml ├── rm_bringup ├── CMakeLists.txt ├── config │ ├── camera_info.yaml │ ├── launch_params.yaml │ └── node_params │ │ ├── armor_detector_params.yaml │ │ ├── armor_solver_params.yaml │ │ ├── camera_driver_params.yaml │ │ ├── rune_detector_params.yaml │ │ ├── rune_solver_params.yaml │ │ ├── serial_driver_params.yaml │ │ ├── video_player_params.yaml │ │ └── virtual_serial_params.yaml ├── launch │ ├── bringup.launch.py │ └── bringup_navigation.launch.py └── package.xml ├── rm_hardware_driver ├── rm_camera_driver │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ ├── daheng │ │ │ ├── DxImageProc.h │ │ │ └── GxIAPI.h │ │ └── rm_camera_driver │ │ │ ├── daheng_camera.hpp │ │ │ └── recorder.hpp │ ├── lib │ │ └── x86_64 │ │ │ ├── GxGVTL.cti │ │ │ ├── GxU3VTL.cti │ │ │ ├── libgxiapi.so │ │ │ └── libgxiapi.so.1.0.1904.8241 │ ├── package.xml │ ├── src │ │ ├── daheng_camera.cpp │ │ ├── recorder.cpp │ │ └── video_player.cpp │ └── test │ │ └── TODO └── rm_serial_driver │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── rm_serial_driver │ │ ├── fixed_packet.hpp │ │ ├── fixed_packet_tool.hpp │ │ ├── protocol.hpp │ │ ├── protocol │ │ ├── default_protocol.hpp │ │ ├── infantry_protocol.hpp │ │ └── sentry_protocol.hpp │ │ ├── protocol_factory.hpp │ │ ├── serial_driver_node.hpp │ │ ├── transporter_interface.hpp │ │ └── uart_transporter.hpp │ ├── package.xml │ ├── src │ ├── protocol │ │ ├── default_protocol.cpp │ │ ├── infantry_protocol.cpp │ │ └── sentry_protocol.cpp │ ├── serial_driver_node.cpp │ ├── transporter_driver │ │ └── uart_transporter.cpp │ └── virtual_serial_node.cpp │ └── test │ ├── dummy_transporter.hpp │ └── test_fixed_packet_tool.cpp ├── rm_interfaces ├── CMakeLists.txt ├── msg │ ├── Armor.msg │ ├── Armors.msg │ ├── ChassisCmd.msg │ ├── DebugArmor.msg │ ├── DebugArmors.msg │ ├── DebugLight.msg │ ├── DebugLights.msg │ ├── DebugRuneAngle.msg │ ├── GimbalCmd.msg │ ├── JudgeSystemData.msg │ ├── Measurement.msg │ ├── OperatorCommand.msg │ ├── Point2d.msg │ ├── RuneTarget.msg │ ├── SerialReceiveData.msg │ └── Target.msg ├── package.xml └── srv │ └── SetMode.srv ├── rm_robot_description ├── CMakeLists.txt ├── LICENSE ├── README.md ├── docs │ └── rm_vision.svg ├── package.xml └── urdf │ ├── rm_gimbal.urdf.xacro │ └── sentry.urdf.xacro ├── rm_rune ├── README.md ├── rm_rune │ ├── CMakeLists.txt │ └── package.xml ├── rune_detector │ ├── CMakeLists.txt │ ├── README.md │ ├── docs │ │ └── test.png │ ├── include │ │ └── rune_detector │ │ │ ├── rune_detector.hpp │ │ │ ├── rune_detector_node.hpp │ │ │ └── types.hpp │ ├── model │ │ ├── yolox_rune.bin │ │ ├── yolox_rune.onnx │ │ ├── yolox_rune.xml │ │ ├── yolox_rune_3.6m.bin │ │ ├── yolox_rune_3.6m.onnx │ │ └── yolox_rune_3.6m.xml │ ├── package.xml │ ├── src │ │ ├── rune_detector.cpp │ │ └── rune_detector_node.cpp │ └── test │ │ ├── test_detector.cpp │ │ └── test_node_startup.cpp └── rune_solver │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── rune_solver │ │ ├── curve_fitter.hpp │ │ ├── motion_model.hpp │ │ ├── rune_solver.hpp │ │ ├── rune_solver_node.hpp │ │ └── types.hpp │ ├── package.xml │ ├── src │ ├── curve_fitter.cpp │ ├── rune_solver.cpp │ └── rune_solver_node.cpp │ └── test │ └── test_node_startup.cpp ├── rm_upstart ├── README.md ├── register_service.sh ├── rm_clean_up.sh └── rm_watch_dog.sh └── rm_utils ├── CMakeLists.txt ├── README.md ├── include └── rm_utils │ ├── assert.hpp │ ├── common.hpp │ ├── heartbeat.hpp │ ├── logger │ ├── 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