├── .clang-format ├── .cmake-format.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── cpp ├── COLCON_IGNORE └── sage_icp │ ├── 3rdparty │ ├── eigen │ │ ├── LICENSE │ │ └── eigen.cmake │ ├── find_dependencies.cmake │ ├── sophus │ │ ├── LICENSE │ │ └── sophus.cmake │ ├── tbb │ │ ├── LICENSE │ │ └── tbb.cmake │ └── tsl_robin │ │ ├── LICENSE │ │ └── tsl_robin.cmake │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ └── CompilerOptions.cmake │ ├── core │ ├── CMakeLists.txt │ ├── Deskew.cpp │ ├── Deskew.hpp │ ├── Preprocessing.cpp │ ├── Preprocessing.hpp │ ├── Registration.cpp │ ├── Registration.hpp │ ├── Threshold.cpp │ ├── Threshold.hpp │ ├── VoxelHashMap.cpp │ ├── VoxelHashMap.hpp │ ├── ikd_Tree.cpp │ └── ikd_Tree.h │ ├── metrics │ ├── CMakeLists.txt │ ├── Metrics.cpp │ └── Metrics.hpp │ └── pipeline │ ├── CMakeLists.txt │ ├── sageICP.cpp │ └── sageICP.hpp ├── eval ├── kitti360_image_pub copy.py ├── kitti360_oxts_pub_wogt.py ├── kitti360_pub.py ├── kitti_pub.py ├── kittiraw_image_pub.py └── kittiraw_pub.py ├── figure └── pipeline.png └── ros ├── CMakeLists.txt ├── LICENSE ├── README.md ├── launch ├── odometry.launch.py ├── odometry_360.launch.py ├── odometry_gt.launch.py ├── odometry_raw.launch.py ├── range_odom.launch.py ├── range_odom_360.launch.py ├── range_odom_raw.launch.py ├── sem_odom.launch.py ├── sem_odom_360.launch.py ├── sem_odom_raw.launch.py └── semantic-kitti.yaml ├── package.xml ├── ros2 ├── OdometryServer.cpp ├── OdometryServer.hpp └── Utils.hpp └── rviz ├── kiss_icp_record.rviz └── sage_icp_ros2.rviz /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/.clang-format -------------------------------------------------------------------------------- /.cmake-format.yaml: -------------------------------------------------------------------------------- 1 | enable_markup: false 2 | line_width: 120 3 | format: 4 | max_subgroups_hwrap: 5 5 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/.gitignore -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/.pre-commit-config.yaml -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/README.md -------------------------------------------------------------------------------- /cpp/COLCON_IGNORE: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/eigen/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/eigen/LICENSE -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/eigen/eigen.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/eigen/eigen.cmake -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/find_dependencies.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/find_dependencies.cmake -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/sophus/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/sophus/LICENSE -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/sophus/sophus.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/sophus/sophus.cmake -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/tbb/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/tbb/LICENSE -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/tbb/tbb.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/tbb/tbb.cmake -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/tsl_robin/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/tsl_robin/LICENSE -------------------------------------------------------------------------------- /cpp/sage_icp/3rdparty/tsl_robin/tsl_robin.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/3rdparty/tsl_robin/tsl_robin.cmake -------------------------------------------------------------------------------- /cpp/sage_icp/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/CMakeLists.txt -------------------------------------------------------------------------------- /cpp/sage_icp/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/LICENSE -------------------------------------------------------------------------------- /cpp/sage_icp/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/README.md -------------------------------------------------------------------------------- /cpp/sage_icp/cmake/CompilerOptions.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/cmake/CompilerOptions.cmake -------------------------------------------------------------------------------- /cpp/sage_icp/core/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/CMakeLists.txt -------------------------------------------------------------------------------- /cpp/sage_icp/core/Deskew.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Deskew.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Deskew.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Deskew.hpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Preprocessing.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Preprocessing.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Preprocessing.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Preprocessing.hpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Registration.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Registration.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Registration.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Registration.hpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Threshold.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Threshold.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/Threshold.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/Threshold.hpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/VoxelHashMap.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/VoxelHashMap.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/VoxelHashMap.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/VoxelHashMap.hpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/ikd_Tree.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/ikd_Tree.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/core/ikd_Tree.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/core/ikd_Tree.h -------------------------------------------------------------------------------- /cpp/sage_icp/metrics/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/metrics/CMakeLists.txt -------------------------------------------------------------------------------- /cpp/sage_icp/metrics/Metrics.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/metrics/Metrics.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/metrics/Metrics.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/metrics/Metrics.hpp -------------------------------------------------------------------------------- /cpp/sage_icp/pipeline/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/pipeline/CMakeLists.txt -------------------------------------------------------------------------------- /cpp/sage_icp/pipeline/sageICP.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/pipeline/sageICP.cpp -------------------------------------------------------------------------------- /cpp/sage_icp/pipeline/sageICP.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/cpp/sage_icp/pipeline/sageICP.hpp -------------------------------------------------------------------------------- /eval/kitti360_image_pub copy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/eval/kitti360_image_pub copy.py -------------------------------------------------------------------------------- /eval/kitti360_oxts_pub_wogt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/eval/kitti360_oxts_pub_wogt.py -------------------------------------------------------------------------------- /eval/kitti360_pub.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/eval/kitti360_pub.py -------------------------------------------------------------------------------- /eval/kitti_pub.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/eval/kitti_pub.py -------------------------------------------------------------------------------- /eval/kittiraw_image_pub.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/eval/kittiraw_image_pub.py -------------------------------------------------------------------------------- /eval/kittiraw_pub.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/eval/kittiraw_pub.py -------------------------------------------------------------------------------- /figure/pipeline.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/figure/pipeline.png -------------------------------------------------------------------------------- /ros/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/CMakeLists.txt -------------------------------------------------------------------------------- /ros/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/LICENSE -------------------------------------------------------------------------------- /ros/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/README.md -------------------------------------------------------------------------------- /ros/launch/odometry.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/odometry.launch.py -------------------------------------------------------------------------------- /ros/launch/odometry_360.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/odometry_360.launch.py -------------------------------------------------------------------------------- /ros/launch/odometry_gt.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/odometry_gt.launch.py -------------------------------------------------------------------------------- /ros/launch/odometry_raw.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/odometry_raw.launch.py -------------------------------------------------------------------------------- /ros/launch/range_odom.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/range_odom.launch.py -------------------------------------------------------------------------------- /ros/launch/range_odom_360.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/range_odom_360.launch.py -------------------------------------------------------------------------------- /ros/launch/range_odom_raw.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/range_odom_raw.launch.py -------------------------------------------------------------------------------- /ros/launch/sem_odom.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/sem_odom.launch.py -------------------------------------------------------------------------------- /ros/launch/sem_odom_360.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/sem_odom_360.launch.py -------------------------------------------------------------------------------- /ros/launch/sem_odom_raw.launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/sem_odom_raw.launch.py -------------------------------------------------------------------------------- /ros/launch/semantic-kitti.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/launch/semantic-kitti.yaml -------------------------------------------------------------------------------- /ros/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/package.xml -------------------------------------------------------------------------------- /ros/ros2/OdometryServer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/ros2/OdometryServer.cpp -------------------------------------------------------------------------------- /ros/ros2/OdometryServer.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/ros2/OdometryServer.hpp -------------------------------------------------------------------------------- /ros/ros2/Utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/ros2/Utils.hpp -------------------------------------------------------------------------------- /ros/rviz/kiss_icp_record.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/rviz/kiss_icp_record.rviz -------------------------------------------------------------------------------- /ros/rviz/sage_icp_ros2.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeSC-IV/sage-icp/HEAD/ros/rviz/sage_icp_ros2.rviz --------------------------------------------------------------------------------