├── .gitignore ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── cmake-build-debug ├── CMakeCache.txt └── CMakeFiles │ ├── CMakeOutput.log │ ├── clion-environment.txt │ ├── clion-log.txt │ └── cmake.check_cache ├── data ├── feature │ ├── corner_photo.txt │ └── corner_pointcloud.txt ├── lidar │ └── 2_scene_lidar_eastgate_left.bag ├── parameters │ ├── extrinsic_true.txt │ └── intrinsic.txt └── photo │ ├── board_building.jpg │ ├── east_gate_scene.jpg │ └── example.jpg ├── figs ├── board.png ├── camera.png ├── camera_result.png ├── color.png ├── east-gate.png ├── lidar.png ├── manual_camera.png └── manual_lidar.png ├── launch ├── GetExtrinsic.launch ├── colorLidar.launch ├── color_lidar.rviz ├── feature_extraction.rviz ├── feature_extraction_camera.launch ├── feature_extraction_pointcloud.launch ├── feature_manual.rviz ├── feature_manual_camera.launch └── feature_manual_lidar.launch ├── package.xml └── src ├── CustomMsg.h ├── CustomPoint.h ├── color_lidar_display.cpp ├── common.h ├── 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