├── CMakeLists.txt ├── LICENSE ├── README.md ├── README_CN.md ├── data ├── data-hitsz │ ├── config.json │ ├── image_orig │ │ ├── 0.jpg │ │ ├── 1.jpg │ │ ├── 2.jpg │ │ ├── 3.jpg │ │ ├── 4.jpg │ │ ├── 5.jpg │ │ ├── 6.jpg │ │ └── 7.jpg │ └── pointcloud │ │ ├── 0.pcd │ │ ├── 1.pcd │ │ ├── 2.pcd │ │ ├── 3.pcd │ │ ├── 4.pcd │ │ ├── 5.pcd │ │ ├── 6.pcd │ │ ├── 7.pcd │ │ ├── plane0.pcd │ │ ├── plane1.pcd │ │ ├── plane2.pcd │ │ ├── plane3.pcd │ │ ├── plane4.pcd │ │ ├── plane5.pcd │ │ ├── plane6.pcd │ │ └── plane7.pcd └── data-sim │ ├── config.json │ ├── image_orig │ ├── 0.jpg │ ├── 1.jpg │ ├── 2.jpg │ ├── 3.jpg │ ├── 4.jpg │ ├── 5.jpg │ ├── 6.jpg │ ├── 7.jpg │ ├── 8.jpg │ └── 9.jpg │ └── pointcloud │ ├── 0.pcd │ ├── 1.pcd │ ├── 2.pcd │ ├── 3.pcd │ ├── 4.pcd │ ├── 5.pcd │ ├── 6.pcd │ ├── 7.pcd │ ├── 8.pcd │ ├── 9.pcd │ ├── plane0.pcd │ ├── plane1.pcd │ ├── plane2.pcd │ ├── plane3.pcd │ ├── plane4.pcd │ ├── plane5.pcd │ ├── plane6.pcd │ ├── plane7.pcd │ ├── plane8.pcd │ └── plane9.pcd ├── doc └── img │ ├── calibrator-sim.gif │ └── demo_data.png ├── include └── get_sync_data │ ├── get_sync_data.cpp │ └── get_sync_data.h ├── launch ├── calibrate.launch └── get_sync_data.launch ├── package.xml └── src ├── calibrator ├── CMakeLists.txt ├── cmake_modules │ ├── FindCSparse.cmake │ └── FindG2O.cmake ├── core │ ├── PCFeatureExtra.hpp │ └── SolvePnP.hpp ├── cqtopencvviewergl.cpp ├── cqtopencvviewergl.h ├── data_reader.cpp ├── data_reader.h ├── image_polygon.cpp ├── image_polygon.h ├── imageviewer.cpp ├── imageviewer.h ├── imageviewer.ui ├── main.cpp ├── mainwindow.cpp ├── mainwindow.h ├── mainwindow.ui ├── pointcloud_polygon.cpp ├── pointcloud_polygon.h ├── pointcloudviewer.cpp ├── pointcloudviewer.h ├── pointcloudviewer.ui ├── single_tagtest.h ├── thirdParty │ ├── apriltags-cpp │ │ ├── CMakeLists.txt │ │ └── src │ │ │ ├── AprilTypes.h │ │ │ ├── CMakeLists.txt │ │ │ ├── CameraUtil.cpp │ │ │ ├── CameraUtil.h │ │ │ ├── DebugImage.cpp │ │ │ ├── DebugImage.h │ │ │ ├── Geometry.cpp │ │ │ ├── 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