├── .gitignore ├── .idea ├── codeStyles │ └── Project.xml ├── laser-odom_calibration.iml ├── misc.xml ├── modules.xml ├── vcs.xml └── workspace.xml ├── CMakeLists.txt ├── README.md ├── document └── document.pdf ├── 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 ├── egsl │ ├── egsl.h │ ├── egsl_imp.h │ └── egsl_macros.h ├── gpc │ ├── gpc.h │ └── gpc_utils.h ├── gsl_eigen │ └── gsl_eigen.h ├── icp │ └── icp.h ├── io.h ├── options │ └── options.h ├── scan_match.h ├── solver.h ├── synchronizer.h └── utils.h ├── launch └── example.launch ├── package.xml ├── result.png └── src ├── csm ├── clustering.cpp ├── laser_data.cpp ├── logging.cpp ├── math_utils.cpp ├── math_utils_gsl.cpp ├── orientation.cpp ├── sm_options.cpp └── utils.cpp ├── egsl ├── egsl.cpp ├── egsl_conversions.cpp ├── egsl_misc.cpp └── egsl_ops.cpp ├── gpc ├── gpc.cpp └── gpc_utils.cpp ├── gsl_solver ├── CMakeCache.txt ├── CMakeLists.txt ├── Makefile ├── analyzer.cpp ├── analyzer.h ├── aux_functions.cpp ├── aux_functions.h ├── calib_tuple.cpp ├── calib_tuple.h ├── cmake_install.cmake ├── gsl_jacobian.cpp ├── gsl_jacobian.h ├── gsl_jacobian_test.cpp ├── solver.cpp ├── solver2.cpp ├── solver2_meat.cpp ├── solver_options.cpp ├── solver_options.h ├── solver_utils.cpp ├── solver_utils.h ├── synchronizer.cpp ├── synchronizer_options.cpp ├── synchronizer_options.h ├── test_json.c ├── verifier.cpp ├── verifier_options.cpp ├── verifier_options.h ├── verifier_utils.cpp └── verifier_utils.h ├── icp ├── icp.cpp ├── icp_corr_dumb.cpp ├── icp_corr_tricks.cpp ├── icp_covariance.cpp ├── icp_debug.cpp ├── icp_loop.cpp └── icp_outliers.cpp ├── io.cpp ├── io_test.cpp ├── main.cpp ├── options ├── options.cpp └── options_interface.cpp ├── scan_match.cpp ├── solver.cpp ├── synchronizer.cpp ├── testApp ├── 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