├── .gitmodules ├── Costmap └── src │ └── costmap │ ├── CMakeLists.txt │ ├── costmap_plugins.xml │ ├── include │ ├── elevationMap_layer │ │ └── elevationMap_layer.h │ └── pointMap_layer │ │ ├── PointXYZRGBIC.hpp │ │ ├── PointXYZRGBICT.hpp │ │ ├── PointXYZRGBICTF.hpp │ │ ├── PointXYZT.hpp │ │ └── pointMap_layer.h │ ├── launch │ └── create_costmap.launch │ ├── package.xml │ ├── params │ ├── costmap_common_params_global.yaml │ ├── costmap_common_params_local.yaml │ ├── costmap_common_params_local_robot_1.yaml │ ├── costmap_common_params_local_robot_2.yaml │ ├── costmap_common_params_local_robot_3.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── local_costmap_params_robot_1.yaml │ ├── local_costmap_params_robot_2.yaml │ ├── local_costmap_params_robot_3.yaml │ └── move_base_params.yaml │ └── src │ ├── elevationMap_layer.cpp │ └── pointMap_layer.cpp ├── LICENSE.txt ├── Localization └── src │ ├── A-LOAM │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── docker │ │ ├── Dockerfile │ │ ├── Makefile │ │ └── run.sh │ ├── include │ │ └── aloam_velodyne │ │ │ ├── common.h │ │ │ └── tic_toc.h │ ├── launch │ │ ├── kitti_helper.launch │ │ ├── robot_1.launch │ │ ├── robot_2.launch │ │ └── robot_3.launch │ ├── package.xml │ ├── picture │ │ ├── kitti.png │ │ └── kitti_gif.gif │ ├── rviz_cfg │ │ └── aloam.rviz │ └── src │ │ ├── ALOAMSubmapPublisher.cpp │ │ ├── kittiHelper.cpp │ │ ├── laserMapping.cpp │ │ ├── laserOdometry.cpp │ │ ├── lidarFactor.hpp │ │ └── scanRegistration.cpp │ ├── FAST_LIO │ ├── CMakeLists.txt │ ├── LICENSE │ ├── Log │ │ ├── dbg.txt │ │ ├── fast_lio_time_log_analysis.m │ │ ├── guide.md │ │ ├── imu.txt │ │ ├── mat_out.txt │ │ ├── mat_pre.txt │ │ ├── plot.py │ │ └── pos_log.txt │ ├── README.md │ ├── config │ │ ├── avia.yaml │ │ ├── horizon.yaml │ │ ├── ouster64_1.yaml │ │ ├── ouster64_2.yaml │ │ ├── ouster64_3.yaml │ │ ├── pandarQT.yaml │ │ ├── velodyne.yaml │ │ ├── velodyne32.yaml │ │ ├── velodyne32_robot1.yaml │ │ ├── velodyne32_robot2.yaml │ │ └── velodyne32_robot3.yaml │ ├── include │ │ ├── Exp_mat.h │ │ ├── IKFoM_toolkit │ │ │ ├── esekfom │ │ │ │ ├── esekfom.hpp │ │ │ │ └── util.hpp │ │ │ └── mtk │ │ │ │ ├── build_manifold.hpp │ │ │ │ ├── src │ │ │ │ ├── SubManifold.hpp │ │ │ │ ├── mtkmath.hpp │ │ │ │ └── vectview.hpp │ │ │ │ ├── startIdx.hpp │ │ │ │ └── types │ │ │ │ ├── S2.hpp │ │ │ │ ├── SOn.hpp │ │ │ │ ├── vect.hpp │ │ │ │ └── wrapped_cv_mat.hpp │ │ ├── common_lib.h │ │ ├── ikd-Tree │ │ │ ├── README.md │ │ │ ├── ikd_Tree.cpp │ │ │ └── ikd_Tree.h │ │ ├── matplotlibcpp.h │ │ ├── so3_math.h │ │ └── use-ikfom.hpp │ ├── launch │ │ ├── robot_1.launch │ │ ├── robot_2.launch │ │ └── robot_3.launch │ ├── msg │ │ └── Pose6D.msg │ ├── package.xml │ ├── rviz_cfg │ │ ├── .gitignore │ │ └── loam_livox.rviz │ ├── script │ │ └── LIO_Publisher.py │ └── src │ │ ├── IMU_Processing.hpp │ │ ├── LIO_Publisher.cpp │ │ ├── laserMapping.cpp │ │ ├── preprocess.cpp │ │ └── preprocess.h │ ├── dislam_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── DiSCO.msg │ │ ├── InterPR.msg │ │ ├── InterPRs.msg │ │ ├── KeyframeInfo.msg │ │ ├── Loop.msg │ │ ├── Loops.msg │ │ └── SubMap.msg │ ├── package.xml │ └── srv │ │ └── GetInitMap.srv │ └── livox_ros_driver │ ├── README.md │ ├── README_CN.md │ ├── images │ └── broadcast_code.png │ └── livox_ros_driver │ ├── CMakeLists.txt │ ├── cmake │ └── version.cmake │ ├── common │ ├── FastCRC │ │ ├── FastCRC.h │ │ ├── FastCRC_tables.hpp │ │ ├── FastCRCsw.cpp │ │ ├── LICENSE.md │ │ └── README.md │ ├── comm │ │ ├── comm_device.h │ │ ├── comm_protocol.cpp │ │ ├── comm_protocol.h │ │ ├── gps_protocol.cpp │ │ ├── gps_protocol.h │ │ ├── protocol.h │ │ ├── sdk_protocol.cpp │ │ └── sdk_protocol.h │ ├── rapidjson │ │ ├── allocators.h │ │ ├── cursorstreamwrapper.h │ │ ├── document.h │ │ ├── encodedstream.h │ │ ├── encodings.h │ │ ├── error │ │ │ ├── en.h │ │ │ └── error.h │ │ ├── filereadstream.h │ │ ├── filewritestream.h │ │ ├── fwd.h │ │ ├── internal │ │ │ ├── biginteger.h │ │ │ ├── clzll.h │ │ │ ├── diyfp.h │ │ │ ├── dtoa.h │ │ │ ├── ieee754.h │ │ │ ├── itoa.h │ │ │ ├── meta.h │ │ │ ├── pow10.h │ │ │ ├── regex.h │ │ │ ├── stack.h │ │ │ ├── strfunc.h │ │ │ ├── strtod.h │ │ │ └── swap.h │ │ ├── istreamwrapper.h │ │ ├── memorybuffer.h │ │ ├── memorystream.h │ │ ├── msinttypes │ │ │ ├── inttypes.h │ │ │ └── stdint.h │ │ ├── ostreamwrapper.h │ │ ├── pointer.h │ │ ├── prettywriter.h │ │ ├── rapidjson.h │ │ ├── reader.h │ │ ├── schema.h │ │ ├── stream.h │ │ ├── stringbuffer.h │ │ └── writer.h │ └── rapidxml │ │ ├── rapidxml.hpp │ │ ├── rapidxml_iterators.hpp │ │ ├── rapidxml_print.hpp │ │ └── rapidxml_utils.hpp │ ├── config │ ├── display_hub_points.rviz │ ├── display_lidar_points.rviz │ ├── livox_hub_config.json │ └── livox_lidar_config.json │ ├── launch │ ├── livox_hub.launch │ ├── livox_hub_msg.launch │ ├── livox_hub_rviz.launch │ ├── livox_lidar.launch │ ├── livox_lidar_msg.launch │ ├── livox_lidar_rviz.launch │ ├── livox_template.launch │ ├── lvx_to_rosbag.launch │ └── lvx_to_rosbag_rviz.launch │ ├── livox_ros_driver │ ├── include │ │ └── livox_ros_driver.h │ ├── lddc.cpp │ ├── lddc.h │ ├── ldq.cpp │ ├── ldq.h │ ├── lds.cpp │ ├── lds.h │ ├── lds_hub.cpp │ ├── lds_hub.h │ ├── lds_lidar.cpp │ ├── lds_lidar.h │ ├── lds_lvx.cpp │ ├── lds_lvx.h │ ├── livox_ros_driver.cpp │ ├── lvx_file.cpp │ └── lvx_file.h │ ├── msg │ ├── CustomMsg.msg │ └── CustomPoint.msg │ ├── package.xml │ └── timesync │ ├── timesync.cpp │ ├── timesync.h │ └── user_uart │ ├── user_uart.cpp │ └── user_uart.h ├── LoopDetection ├── generate_bev_cython_binary │ ├── README.md │ ├── setup.py │ ├── src │ │ ├── kernel.cu │ │ ├── manager.cu │ │ └── manager.hh │ ├── test.bin │ ├── test.py │ ├── wrapper.cpp │ └── wrapper.pyx ├── generate_bev_pointfeat_cython │ ├── README.md │ ├── setup.py │ ├── src │ │ ├── kernel.cu │ │ ├── manager.cu │ │ └── manager.hh │ ├── test.bin │ ├── test.py │ └── wrapper.pyx ├── src │ ├── RING_ros │ │ ├── CMakeLists.txt │ │ ├── FPFH.py │ │ ├── README.md │ │ ├── config.py │ │ ├── icp.py │ │ ├── main_RING.py │ │ ├── main_RINGplusplus.py │ │ ├── main_SC.py │ │ ├── package.xml │ │ ├── pr_methods │ │ │ ├── FastHistogram.py │ │ │ ├── M2DP.py │ │ │ ├── RadonSinogram.py │ │ │ └── ScanContext.py │ │ └── util.py │ ├── disco_ros │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config.py │ │ ├── evaluate.py │ │ ├── fake_disco.py │ │ ├── generating_queries │ │ │ ├── generate_test_sets.py │ │ │ ├── generate_training_tuples_baseline_with_pose.py │ │ │ ├── generate_training_tuples_refine.py │ │ │ ├── gt_generator.py │ │ │ └── icp.py │ │ ├── infer_ros_robot_1.py │ │ ├── infer_ros_robot_2.py │ │ ├── infer_ros_robot_3.py │ │ ├── inference.py │ │ ├── loading_pointclouds.py │ │ ├── loss │ │ │ └── loss_function.py │ │ ├── main.py │ │ ├── models │ │ │ └── DiSCO.py │ │ ├── package.xml │ │ ├── test.bin │ │ ├── tools │ │ │ ├── multi-layer-polar-cpu │ │ │ │ └── cython │ │ │ │ │ ├── 1.bin │ │ │ │ │ ├── 2.bin │ │ │ │ │ ├── README.md │ │ │ │ │ ├── gputransform.pyx │ │ │ │ │ ├── setup.py │ │ │ │ │ ├── src │ │ │ │ │ ├── kernel.cpp │ │ │ │ │ ├── manager.cpp │ │ │ │ │ └── manager.hh │ │ │ │ │ └── test.py │ │ │ └── multi-layer-polar-gpu │ │ │ │ └── cython │ │ │ │ ├── 1.bin │ │ │ │ ├── 2.bin │ │ │ │ ├── README.md │ │ │ │ ├── gputransform.pyx │ │ │ │ ├── setup.py │ │ │ │ ├── src │ │ │ │ ├── kernel.cu │ │ │ │ ├── manager.cu │ │ │ │ └── manager.hh │ │ │ │ └── test.py │ │ └── train_DiSCO.py │ ├── dislam_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── DiSCO.msg │ │ │ ├── InterPR.msg │ │ │ ├── InterPRs.msg │ │ │ ├── KeyframeInfo.msg │ │ │ ├── Loop.msg │ │ │ ├── Loops.msg │ │ │ └── SubMap.msg │ │ ├── package.xml │ │ └── srv │ │ │ └── GetInitMap.srv │ ├── geometry2 │ │ ├── geometry2 │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ └── package.xml │ │ ├── test_tf2 │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ └── test │ │ │ │ ├── buffer_client_tester.launch │ │ │ │ ├── buffer_core_test.cpp │ │ │ │ ├── static_publisher.launch │ │ │ │ ├── test_buffer_client.cpp │ │ │ │ ├── test_buffer_client.py │ │ │ │ ├── test_buffer_server.cpp │ │ │ │ ├── test_convert.cpp │ │ │ │ ├── test_convert.py │ │ │ │ ├── test_message_filter.cpp │ │ │ │ ├── test_static_publisher.cpp │ │ │ │ ├── test_static_publisher.py │ │ │ │ ├── test_tf2_bullet.cpp │ │ │ │ ├── test_tf2_bullet.launch │ │ │ │ ├── test_tf_invalid.yaml │ │ │ │ ├── test_tf_valid.yaml │ │ │ │ └── test_utils.cpp │ │ ├── tf2 │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── tf2 │ │ │ │ │ ├── LinearMath │ │ │ │ │ ├── Matrix3x3.h │ │ │ │ │ ├── MinMax.h │ │ │ │ │ ├── QuadWord.h │ │ │ │ │ ├── Quaternion.h │ │ │ │ │ ├── Scalar.h │ │ │ │ │ ├── Transform.h │ │ │ │ │ └── Vector3.h │ │ │ │ │ ├── buffer_core.h │ │ │ │ │ ├── convert.h │ │ │ │ │ ├── exceptions.h │ │ │ │ │ ├── impl │ │ │ │ │ ├── convert.h │ │ │ │ │ └── utils.h │ │ │ │ │ ├── time_cache.h │ │ │ │ │ ├── transform_datatypes.h │ │ │ │ │ ├── transform_storage.h │ │ │ │ │ └── utils.h │ │ │ ├── index.rst │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ ├── src │ │ │ │ ├── buffer_core.cpp │ │ │ │ ├── cache.cpp │ │ │ │ └── static_cache.cpp │ │ │ └── test │ │ │ │ ├── cache_unittest.cpp │ │ │ │ ├── simple_tf2_core.cpp │ │ │ │ ├── speed_test.cpp │ │ │ │ ├── static_cache_test.cpp │ │ │ │ └── test_transform_datatypes.cpp │ │ ├── tf2_bullet │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── tf2_bullet │ │ │ │ │ ├── tf2_bullet.h │ │ │ │ │ └── tf2_bullet │ │ │ │ │ └── tf2_bullet.h │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ └── test │ │ │ │ └── test_tf2_bullet.cpp │ │ ├── tf2_eigen │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── tf2_eigen │ │ │ │ │ └── tf2_eigen.h │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ └── test │ │ │ │ └── tf2_eigen-test.cpp │ │ ├── tf2_geometry_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── conf.py │ │ │ ├── include │ │ │ │ └── tf2_geometry_msgs │ │ │ │ │ └── tf2_geometry_msgs.h │ │ │ ├── index.rst │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ ├── rosdoc.yaml │ │ │ ├── scripts │ │ │ │ └── test.py │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ └── tf2_geometry_msgs │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── tf2_geometry_msgs.py │ │ │ └── test │ │ │ │ ├── test.launch │ │ │ │ ├── test_python.launch │ │ │ │ ├── test_tf2_geometry_msgs.cpp │ │ │ │ └── test_tomsg_frommsg.cpp │ │ ├── tf2_kdl │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── conf.py │ │ │ ├── include │ │ │ │ └── tf2_kdl │ │ │ │ │ ├── tf2_kdl.h │ │ │ │ │ └── tf2_kdl │ │ │ │ │ └── tf2_kdl.h │ │ │ ├── index.rst │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ ├── rosdoc.yaml │ │ │ ├── scripts │ │ │ │ └── test.py │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ └── tf2_kdl │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── tf2_kdl.py │ │ │ └── test │ │ │ │ ├── test.launch │ │ │ │ ├── test_python.launch │ │ │ │ └── test_tf2_kdl.cpp │ │ ├── tf2_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── action │ │ │ │ └── LookupTransform.action │ │ │ ├── include │ │ │ │ └── foo │ │ │ ├── mainpage.dox │ │ │ ├── msg │ │ │ │ ├── TF2Error.msg │ │ │ │ └── TFMessage.msg │ │ │ ├── package.xml │ │ │ └── srv │ │ │ │ └── FrameGraph.srv │ │ ├── tf2_py │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ ├── python_compat.h │ │ │ │ ├── tf2_py.cpp │ │ │ │ └── tf2_py │ │ │ │ └── __init__.py │ │ ├── tf2_ros │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── doc │ │ │ │ ├── conf.py │ │ │ │ ├── index.rst │ │ │ │ ├── mainpage.dox │ │ │ │ └── tf2_ros.rst │ │ │ ├── include │ │ │ │ └── tf2_ros │ │ │ │ │ ├── buffer.h │ │ │ │ │ ├── buffer_client.h │ │ │ │ │ ├── buffer_interface.h │ │ │ │ │ ├── buffer_server.h │ │ │ │ │ ├── message_filter.h │ │ │ │ │ ├── static_transform_broadcaster.h │ │ │ │ │ ├── transform_broadcaster.h │ │ │ │ │ └── transform_listener.h │ │ │ ├── package.xml │ │ │ ├── rosdoc.yaml │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ ├── buffer.cpp │ │ │ │ ├── buffer_client.cpp │ │ │ │ ├── buffer_server.cpp │ │ │ │ ├── buffer_server_main.cpp │ │ │ │ ├── static_transform_broadcaster.cpp │ │ │ │ ├── static_transform_broadcaster_program.cpp │ │ │ │ ├── tf2_ros │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── buffer.cpython-38.pyc │ │ │ │ │ │ ├── buffer_client.cpython-38.pyc │ │ │ │ │ │ ├── buffer_interface.cpython-38.pyc │ │ │ │ │ │ ├── static_transform_broadcaster.cpython-38.pyc │ │ │ │ │ │ ├── transform_broadcaster.cpython-38.pyc │ │ │ │ │ │ └── transform_listener.cpython-38.pyc │ │ │ │ │ ├── buffer.py │ │ │ │ │ ├── buffer_client.py │ │ │ │ │ ├── buffer_interface.py │ │ │ │ │ ├── static_transform_broadcaster.py │ │ │ │ │ ├── transform_broadcaster.py │ │ │ │ │ └── transform_listener.py │ │ │ │ ├── transform_broadcaster.cpp │ │ │ │ └── transform_listener.cpp │ │ │ └── test │ │ │ │ ├── listener_unittest.cpp │ │ │ │ ├── message_filter_test.cpp │ │ │ │ ├── message_filter_test.launch │ │ │ │ ├── time_reset_test.cpp │ │ │ │ ├── transform_listener_time_reset_test.launch │ │ │ │ └── transform_listener_unittest.launch │ │ ├── tf2_sensor_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── tf2_sensor_msgs │ │ │ │ │ └── tf2_sensor_msgs.h │ │ │ ├── package.xml │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ └── tf2_sensor_msgs │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── tf2_sensor_msgs.py │ │ │ └── test │ │ │ │ ├── test.launch │ │ │ │ ├── test_tf2_sensor_msgs.cpp │ │ │ │ └── test_tf2_sensor_msgs.py │ │ └── tf2_tools │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── mainpage.dox │ │ │ ├── package.xml │ │ │ └── scripts │ │ │ ├── echo.py │ │ │ └── view_frames.py │ └── pyslam_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── Loop.msg │ │ └── SubMap.msg │ │ └── package.xml └── torch-radon │ ├── .travis.yml │ ├── LICENSE │ ├── README.md │ ├── auto_install.py │ ├── dev_requirements.txt │ ├── docker │ └── Dockerfile │ ├── docs │ ├── Makefile │ ├── index.html │ ├── requirements.txt │ └── source │ │ ├── conf.py │ │ ├── getting_started │ │ ├── colab.rst │ │ └── install.rst │ │ ├── index.rst │ │ └── modules │ │ ├── radon.rst │ │ ├── shearlet.rst │ │ ├── solvers.rst │ │ └── volumes.rst │ ├── examples │ ├── Figures for paper.ipynb │ ├── end_to_end.py │ ├── fbp.py │ ├── invisible.py │ ├── landweber.py │ ├── phantom.npy │ ├── phantom.png │ ├── utils.py │ └── visual_sample.py │ ├── implementation.md │ ├── include │ ├── backprojection.h │ ├── cache.h │ ├── defines.h │ ├── fft.h │ ├── forward.h │ ├── log.h │ ├── noise.h │ ├── parameter_classes.h │ ├── rmath.h │ ├── symbolic.h │ ├── texture.h │ └── utils.h │ ├── make.py │ ├── objs │ ├── cuda │ │ ├── backprojection.o │ │ ├── fft.o │ │ ├── forward.o │ │ ├── noise.o │ │ ├── parameter_classes.o │ │ └── texture.o │ ├── libradon.a │ ├── log.o │ └── symbolic.o │ ├── ptx_annotation.py │ ├── setup.py │ ├── src │ ├── backprojection.cu │ ├── fft.cu │ ├── forward.cu │ ├── log.cpp │ ├── noise.cu │ ├── parameter_classes.cu │ ├── pytorch.cpp │ ├── symbolic.cpp │ └── texture.cu │ ├── tests │ ├── __init__.py │ ├── _test_shearlet.py │ ├── astra_wrapper.py │ ├── test_coneflat.py │ ├── test_fanbeam.py │ ├── test_parallel_beam.py │ ├── test_torch.py │ └── utils.py │ ├── torch_radon │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── cuda_backend.cpython-37.pyc │ │ └── volumes.cpython-37.pyc │ ├── cuda_backend.py │ ├── differentiable_functions.py │ ├── filtering.py │ ├── log_levels.py │ ├── projection.py │ ├── radon.py │ ├── shearlet.py │ ├── solvers.py │ ├── utils.py │ └── volumes.py │ └── travis │ ├── build.sh │ └── create_build_script.py ├── Mapping └── src │ ├── dislam_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── DiSCO.msg │ │ ├── InterPR.msg │ │ ├── InterPRs.msg │ │ ├── KeyframeInfo.msg │ │ ├── Loop.msg │ │ ├── Loops.msg │ │ └── SubMap.msg │ ├── package.xml │ └── srv │ │ └── GetInitMap.srv │ ├── elevation_mapping_periodical │ ├── elevation_mapping │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── sensor_processors │ │ │ │ ├── aslam.yaml │ │ │ │ ├── fotonic_g45.yaml │ │ │ │ ├── hokuyo_utm-30lx.yaml │ │ │ │ ├── kinect_nguyen_et_al.yaml │ │ │ │ ├── perfect.yaml │ │ │ │ ├── primesense_carmine_109_short_range_datasheet.yaml │ │ │ │ ├── primesense_carmine_109_short_range_uncalibrated.yaml │ │ │ │ ├── realsense_ZR300.yaml │ │ │ │ ├── realsense_d435.yaml │ │ │ │ ├── velodyne_HDL-32E.yaml │ │ │ │ └── velodyne_VLP16.yaml │ │ ├── cuda │ │ │ ├── CMakeLists.txt │ │ │ └── gpu_process.cu │ │ ├── include │ │ │ └── elevation_mapping │ │ │ │ ├── ElevationMap.hpp │ │ │ │ ├── ElevationMapFunctors.hpp │ │ │ │ ├── ElevationMapping.hpp │ │ │ │ ├── GridUtilHash.hpp │ │ │ │ ├── PointXYZRGBC.hpp │ │ │ │ ├── PointXYZRGBCE.hpp │ │ │ │ ├── PointXYZRGBIC.hpp │ │ │ │ ├── PointXYZRGBICT.hpp │ │ │ │ ├── PointXYZRGBICTF.hpp │ │ │ │ ├── Pointcloudtogrid.hpp │ │ │ │ ├── RobotMotionMapUpdater.hpp │ │ │ │ ├── WeightedEmpiricalCumulativeDistributionFunction.hpp │ │ │ │ └── sensor_processors │ │ │ │ ├── LaserSensorProcessor.hpp │ │ │ │ ├── PerfectSensorProcessor.hpp │ │ │ │ ├── SensorProcessorBase.hpp │ │ │ │ ├── StereoSensorProcessor.hpp │ │ │ │ └── StructuredLightSensorProcessor.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── .vscode │ │ │ ├── ipch │ │ │ │ ├── c03ec06271ac557a │ │ │ │ │ └── mmap_address.bin │ │ │ │ └── ef6ecffa663a2c5e │ │ │ │ │ └── mmap_address.bin │ │ │ └── settings.json │ │ │ ├── ElevationMap.cpp │ │ │ ├── ElevationMap.cpp.save │ │ │ ├── ElevationMapping.cpp │ │ │ ├── RobotMotionMapUpdater.cpp │ │ │ ├── elevation_mapping_node.cpp │ │ │ └── sensor_processors │ │ │ ├── LaserSensorProcessor.cpp │ │ │ ├── PerfectSensorProcessor.cpp │ │ │ ├── SensorProcessorBase.cpp │ │ │ ├── StereoSensorProcessor.cpp │ │ │ └── StructuredLightSensorProcessor.cpp │ └── elevation_mapping_demos │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── elevation_maps │ │ │ ├── detection_robot_1.yaml │ │ │ ├── detection_robot_2.yaml │ │ │ └── detection_robot_3.yaml │ │ ├── robots │ │ │ ├── .detection_robot_1.yaml.swp │ │ │ ├── detection_robot_1.yaml │ │ │ ├── detection_robot_2.yaml │ │ │ └── detection_robot_3.yaml │ │ ├── rosconsole.conf │ │ └── visualization │ │ │ ├── fused.yaml │ │ │ └── raw.yaml │ │ ├── doc │ │ ├── anymal_forrest.jpg │ │ ├── anymal_locomotion_planner.jpg │ │ ├── anymal_outdoor_stairs.jpg │ │ ├── elevation_map.jpg │ │ └── starleth_kinect.jpg │ │ ├── launch │ │ ├── robot_1.launch │ │ ├── robot_2.launch │ │ └── robot_3.launch │ │ ├── package.xml │ │ ├── rviz │ │ └── elevation_map_visualization.rviz │ │ └── scripts │ │ └── ground_truth_pose_publisher.py │ ├── global_manager │ ├── CMakeLists.txt │ ├── cfg │ │ └── real │ │ │ ├── robot_1.yaml │ │ │ ├── robot_2.yaml │ │ │ └── robot_3.yaml │ ├── include │ │ ├── distributed_mapper │ │ │ ├── between_chordal_factor.h │ │ │ ├── distributed_mapper.h │ │ │ ├── distributed_mapper_utils.h │ │ │ ├── evaluation_utils.h │ │ │ └── run_distributed_mapper.h │ │ ├── global_manager │ │ │ ├── BetweenChordalFactor.h │ │ │ ├── DistributedMapper.h │ │ │ ├── DistributedMapperUtils.h │ │ │ ├── KDTreeVectorOfVectorsAdaptor.h │ │ │ ├── MultiRobotUtils.h │ │ │ ├── PointXYZIRPYT.hpp │ │ │ ├── PointXYZRGBICTF.hpp │ │ │ ├── PointXYZT.hpp │ │ │ ├── enum.h │ │ │ ├── global_manager.h │ │ │ ├── kdtree.h │ │ │ ├── nanoflann.hpp │ │ │ ├── pose_graph_tool.hpp │ │ │ └── typedefs.h │ │ └── pairwise_consistency_maximization │ │ │ ├── distributed_pcm │ │ │ └── distributed_pcm.h │ │ │ ├── global_map │ │ │ └── global_map.h │ │ │ ├── graph_utils │ │ │ ├── graph_types.h │ │ │ └── graph_utils_functions.h │ │ │ ├── pairwise_consistency │ │ │ └── pairwise_consistency.h │ │ │ └── robot_measurements │ │ │ ├── interrobot_measurements.h │ │ │ ├── robot_local_map.h │ │ │ └── robot_measurements.h │ ├── launch │ │ ├── global_manager.launch │ │ └── global_manager.rviz │ ├── package.xml │ └── src │ │ ├── distributed_mapper │ │ ├── distributed_mapper.cpp │ │ ├── distributed_mapper_utils.cpp │ │ ├── evaluation_utils.cpp │ │ └── run_distributed_mapper.cpp │ │ ├── global_manager.cpp │ │ ├── global_manager_node.cpp │ │ ├── kdtree.cpp │ │ ├── pairwise_consistency_maximization │ │ ├── distributed_pcm │ │ │ └── distributed_pcm.cpp │ │ ├── global_map │ │ │ └── global_map.cpp │ │ ├── graph_utils │ │ │ └── graph_utils_functions.cpp │ │ ├── pairwise_consistency │ │ │ └── pairwise_consistency.cpp │ │ ├── robot_measurements │ │ │ ├── interrobot_measurements.cpp │ │ │ ├── robot_local_map.cpp │ │ │ └── robot_measurements.cpp │ │ └── third_parties │ │ │ └── fast_max-clique_finder │ │ │ ├── COPYRIGHT │ │ │ ├── README.md │ │ │ └── src │ │ │ ├── findClique.cpp │ │ │ ├── findClique.h │ │ │ ├── findCliqueHeu.cpp │ │ │ ├── graphIO.cpp │ │ │ ├── graphIO.h │ │ │ └── utils.cpp │ │ └── pose_graph_tool.cpp │ ├── kindr_ros │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── kindr_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ └── VectorAtPosition.msg │ │ └── package.xml │ ├── kindr_ros │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── kindr_ros │ │ │ │ ├── RosGeometryMsgPhysicalQuantities.hpp │ │ │ │ ├── RosGeometryMsgPose.hpp │ │ │ │ ├── RosGeometryMsgRotation.hpp │ │ │ │ ├── RosGeometryMsgTwist.hpp │ │ │ │ ├── RosTfPose.hpp │ │ │ │ └── kindr_ros.hpp │ │ ├── package.xml │ │ └── test │ │ │ ├── RosGeometryMsgPhysicalQuantitiesTest.cpp │ │ │ ├── RosGeometryMsgPoseTest.cpp │ │ │ ├── RosGeometryMsgRotationTest.cpp │ │ │ ├── RosTfPoseTest.cpp │ │ │ ├── TfConventionTest.cpp │ │ │ └── test_main.cpp │ ├── kindr_rviz_plugins │ │ ├── CMakeLists.txt │ │ ├── icons │ │ │ └── classes │ │ │ │ └── VectorAtPosition.png │ │ ├── include │ │ │ └── kindr_rviz_plugins │ │ │ │ ├── VectorAtPositionDisplay.hpp │ │ │ │ └── VectorAtPositionVisual.hpp │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ └── src │ │ │ ├── VectorAtPositionDisplay.cpp │ │ │ └── VectorAtPositionVisual.cpp │ └── multi_dof_joint_trajectory_rviz_plugins │ │ ├── CMakeLists.txt │ │ ├── icons │ │ └── classes │ │ │ └── MultiDOFJointTrajectory.png │ │ ├── include │ │ └── multi_dof_joint_trajectory_rviz_plugins │ │ │ ├── MultiDOFJointTrajectoryDisplay.hpp │ │ │ ├── MultiDOFJointTrajectoryPointConnectionVisual.hpp │ │ │ └── MultiDOFJointTrajectoryPointVisual.hpp │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ └── src │ │ ├── MultiDOFJointTrajectoryDisplay.cpp │ │ ├── MultiDOFJointTrajectoryPointConnectionVisual.cpp │ │ └── MultiDOFJointTrajectoryPointVisual.cpp │ └── slam_msg │ ├── CMakeLists.txt │ ├── msg │ ├── Keyframe.msg │ └── Keyframes.msg │ ├── package.xml │ └── script │ ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── script.iml │ └── workspace.xml │ ├── drawPoses.m │ ├── gps_reader.py │ ├── gps_reader_new.py │ ├── readbag.m │ ├── serial_buffer.py │ └── serial_buffer.pyc ├── README.md ├── Tools ├── Fake_img │ ├── fake_disco.py │ ├── robot_1.py │ ├── robot_2.py │ └── robot_3.py ├── Filters │ ├── filter_robot_1.launch │ ├── filter_robot_2.launch │ └── 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-------------------------------------------------------------------------------- 1 | sudo docker build --network host -t mrslam:noetic . 2 | -------------------------------------------------------------------------------- /docker/login.sh: -------------------------------------------------------------------------------- 1 | docker exec -it mrslam bash 2 | -------------------------------------------------------------------------------- /docker/run.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MaverickPeter/MR_SLAM/HEAD/docker/run.sh -------------------------------------------------------------------------------- /imgs/NCLT_demo.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MaverickPeter/MR_SLAM/HEAD/imgs/NCLT_demo.jpg -------------------------------------------------------------------------------- /imgs/dog-slam-cloud-full.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MaverickPeter/MR_SLAM/HEAD/imgs/dog-slam-cloud-full.png -------------------------------------------------------------------------------- /imgs/legged_robots_demo.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MaverickPeter/MR_SLAM/HEAD/imgs/legged_robots_demo.jpg --------------------------------------------------------------------------------