├── .gitignore ├── CMakeLists.txt ├── README.md ├── camOdoCalib ├── include │ ├── csm │ │ ├── algos.h │ │ ├── csm.h │ │ ├── csm_all.h │ │ ├── laser_data.h │ │ ├── laser_data_inline.h │ │ ├── laser_data_yogo.h │ │ ├── logging.h │ │ ├── math_utils.h │ │ ├── math_utils_gsl.h │ │ ├── restrict.h │ │ ├── sm_config.h │ │ ├── sm_options.h │ │ └── utils.h │ ├── data_selection.h │ ├── egsl │ │ ├── egsl.h │ │ ├── egsl_imp.h │ │ └── egsl_macros.h │ ├── gsl_eigen │ │ └── gsl_eigen.h │ ├── solveQyx.h │ ├── solver.h │ └── utils.h ├── launch │ └── S800.launch └── src │ ├── calc_cam_pose │ ├── calcCamPose.cpp │ ├── calcCamPose.h │ └── ethz_apriltag │ │ ├── Edge.cc │ │ ├── Edge.h │ │ ├── FloatImage.cc │ │ ├── FloatImage.h │ │ ├── GLine2D.cc │ │ ├── GLine2D.h │ │ ├── GLineSegment2D.cc │ │ ├── GLineSegment2D.h │ │ ├── Gaussian.cc │ │ ├── Gaussian.h │ │ ├── GrayModel.cc │ │ ├── GrayModel.h │ │ ├── Gridder.h │ │ ├── Homography33.cc │ │ ├── Homography33.h │ │ ├── MathUtil.cc │ │ ├── MathUtil.h │ │ ├── Quad.cc │ │ ├── Quad.h │ │ ├── Segment.cc │ │ ├── Segment.h │ │ ├── Tag16h5.h │ │ ├── Tag16h5_other.h │ │ ├── Tag25h7.h │ │ ├── Tag25h9.h │ │ ├── Tag36h11.h │ │ ├── Tag36h11_other.h │ │ ├── Tag36h9.h │ │ ├── TagDetection.cc │ │ ├── TagDetection.h │ │ ├── TagDetector.cc │ │ ├── TagDetector.h │ │ ├── TagFamily.cc │ │ ├── TagFamily.h │ │ ├── UnionFindSimple.cc │ │ ├── UnionFindSimple.h │ │ ├── XYWeight.h │ │ └── pch.h │ ├── camera_models │ ├── include │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ ├── ScaramuzzaCamera.h │ │ └── Utils.h │ └── src │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ ├── PinholeFullCamera.cc │ │ ├── ScaramuzzaCamera.cc │ │ └── Utils.cc │ ├── csm │ ├── clustering.cpp │ ├── laser_data.cpp │ ├── logging.cpp │ ├── math_utils.cpp │ ├── math_utils_gsl.cpp │ ├── orientation.cpp │ ├── sm_options.cpp │ └── utils.cpp │ ├── data_selection │ └── data_selection.cpp │ ├── egsl │ ├── egsl.cpp │ ├── egsl_conversions.cpp │ ├── egsl_misc.cpp │ └── egsl_ops.cpp │ ├── main_node.cpp │ ├── solveQyx.cpp │ ├── solver.cpp │ └── utils.cpp ├── config.yaml ├── package.xml └── simulateData ├── CMakeLists.txt ├── config.yaml ├── main.cpp ├── output ├── cam_sinSpeed.txt ├── cam_sinSpeed1.txt ├── cam_sinSpeed2.txt ├── odo_sinSpeed.txt ├── odo_sinSpeed1.txt └── odo_sinSpeed2.txt ├── simulateOdoCam.cpp └── simulateOdoCam.h /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/ 2 | build/ 3 | 4 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MegviiRobot/CamOdomCalibraTool/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: 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