├── README.md └── src ├── CMakeLists.txt ├── demos_standalone ├── CMakeLists.txt ├── config │ └── config.yaml ├── package.xml ├── reading_utils │ └── config_reader.hpp └── run_VLO_ComboVLO_pipeline.cpp ├── lib ├── common_vlo │ ├── CMakeLists.txt │ ├── include │ │ ├── IFeatureDetector.hpp │ │ ├── IFrame.hpp │ │ ├── IOdometer.hpp │ │ ├── ISensor.hpp │ │ ├── SanityChecker │ │ │ ├── LineDetector.hpp │ │ │ └── SanityChecker.hpp │ │ ├── common_vlo.hpp │ │ ├── geometry │ │ │ └── geometry.hpp │ │ └── utils_vlo.hpp │ ├── package.xml │ └── src │ │ ├── IOdometer.cpp │ │ ├── SanityChecker │ │ ├── LineDetector.cpp │ │ └── SanityChecker.cpp │ │ ├── geometry │ │ └── geometry.cpp │ │ └── utils_vlo.cpp ├── lidar_odometry_lib │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── config.yaml │ │ ├── config_point2plane.yaml │ │ └── config_point2point.yaml │ ├── include │ │ ├── GicpLO │ │ │ ├── GicpLO.hpp │ │ │ └── fast_gicp │ │ │ │ ├── cuda │ │ │ │ ├── brute_force_knn.cuh │ │ │ │ ├── compute_derivatives.cuh │ │ │ │ ├── covariance_estimation.cuh │ │ │ │ ├── fast_vgicp_cuda.cuh │ │ │ │ ├── gaussian_voxelmap.cuh │ │ │ │ └── vector3_hash.cuh │ │ │ │ ├── gicp │ │ │ │ ├── experimental │ │ │ │ │ ├── fast_gicp_mp.hpp │ │ │ │ │ └── fast_gicp_mp_impl.hpp │ │ │ │ ├── fast_gicp.hpp │ │ │ │ ├── fast_gicp_st.hpp │ │ │ │ ├── fast_vgicp.hpp │ │ │ │ ├── fast_vgicp_cuda.hpp │ │ │ │ ├── fast_vgicp_voxel.hpp │ │ │ │ ├── gicp_settings.hpp │ │ │ │ └── impl │ │ │ │ │ ├── fast_gicp_impl.hpp │ │ │ │ │ ├── fast_gicp_st_impl.hpp │ │ │ │ │ ├── fast_vgicp_cuda_impl.hpp │ │ │ │ │ └── fast_vgicp_impl.hpp │ │ │ │ ├── opt │ │ │ │ └── gauss_newton.hpp │ │ │ │ └── so3 │ │ │ │ └── so3.hpp │ │ ├── ILidarOdometer.hpp │ │ ├── LO_FrameToFrame_ImageBasedPlaneSegmentation.hpp │ │ ├── LO_FrameToFrame_PlaneSegmentation.hpp │ │ ├── LeGO-LOAM │ │ │ ├── channel.h │ │ │ ├── featureAssociation.h │ │ │ ├── imageProjection.h │ │ │ ├── mapOptimization.h │ │ │ ├── nanoflann.hpp │ │ │ ├── nanoflann_pcl.h │ │ │ ├── transformFusion.h │ │ │ └── utility.h │ │ ├── LidarOdometerFrameToFrame.hpp │ │ ├── NdtLO │ │ │ ├── NdtLO.hpp │ │ │ └── pclomp │ │ │ │ ├── gicp_omp.h │ │ │ │ ├── gicp_omp_impl.hpp │ │ │ │ ├── ndt_omp.h │ │ │ │ ├── ndt_omp_impl.hpp │ │ │ │ ├── voxel_grid_covariance_omp.h │ │ │ │ └── voxel_grid_covariance_omp_impl.hpp │ │ ├── TeaserLO │ │ │ ├── TeaserFeaturesLO.hpp │ │ │ └── TeaserLO.hpp │ │ └── lidar_odometry │ │ │ ├── LidarFrame.hpp │ │ │ └── point_cloud_analysis.hpp │ ├── package.xml │ └── src │ │ ├── GicpLO │ │ ├── GicpLO.cpp │ │ ├── align.cpp │ │ ├── fast_gicp │ │ │ ├── cuda │ │ │ │ └── fast_vgicp_cuda.cu │ │ │ └── gicp │ │ │ │ ├── experimental │ │ │ │ └── fast_gicp_mp.cpp │ │ │ │ ├── fast_gicp.cpp │ │ │ │ ├── fast_gicp_st.cpp │ │ │ │ ├── fast_vgicp.cpp │ │ │ │ └── fast_vgicp_cuda.cpp │ │ └── kitti.cpp │ │ ├── ILidarOdometer.cpp │ │ ├── LO_FrameToFrame_PlaneSegmentation.cpp │ │ ├── LO_FrameToFrame_PlaneSegmentation_gound_initial.cpp │ │ ├── LeGO-LOAM │ │ ├── featureAssociation.cpp │ │ ├── imageProjection.cpp │ │ ├── mapOptmization.cpp │ │ └── transformFusion.cpp │ │ ├── LidarOdometerFrameToFrame.cpp │ │ ├── NdtLO │ │ ├── NdtLO.cpp │ │ └── pclomp │ │ │ ├── gicp_omp.cpp │ │ │ ├── ndt_omp.cpp │ │ │ └── voxel_grid_covariance_omp.cpp │ │ ├── TeaserLO │ │ ├── TeaserFeaturesLO.cpp │ │ └── TeaserLO.cpp │ │ ├── align.cpp │ │ └── lidar_odometry │ │ ├── ImageProjector.cpp │ │ ├── LidarFrame.cpp │ │ └── point_cloud_analysis.cpp ├── visual_lidar_odometry_lib │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ ├── ColorBasedVLO │ │ │ └── ColorBasedVLO.hpp │ │ ├── ComboVLO │ │ │ └── ComboVLO.hpp │ │ ├── FeatureFusionVLO │ │ │ ├── FeatureFusionMatcher.hpp │ │ │ └── FeatureFusionVLO.hpp │ │ ├── HuangsVLO │ │ │ ├── HuangVLO.hpp │ │ │ └── LidarOdometer1DOF.hpp │ │ ├── VLO6dof │ │ │ └── VLO6dof.hpp │ │ ├── VOwithScaleVLO │ │ │ └── VOwithScaleVLO.hpp │ │ ├── VisualLidarFrame.hpp │ │ └── VisualLidarFusionFrame.hpp │ ├── package.xml │ └── src │ │ ├── ColorBasedVLO │ │ └── ColorBasedVLO.cpp │ │ ├── ComboVLO │ │ └── ComboVLO.cpp │ │ ├── FeatureFusionVLO │ │ ├── FeatureFusionMatcher.cpp │ │ └── FeatureFusionVLO.cpp │ │ ├── HuangsVLO │ │ ├── HuangVLO.cpp │ │ └── LidarOdometer1DOF.cpp │ │ ├── VLO6dof │ │ └── VLO6dof.cpp │ │ ├── VOwithScaleVLO │ │ └── VOwithScaleVLO.cpp │ │ ├── VisualLidarFrame.cpp │ │ ├── VisualLidarFusionFrame.cpp │ │ └── multiplevlo.cpp └── visual_odometry_lib │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ ├── IVisualOdometer.hpp │ ├── VO_FrameToFrame_5point.hpp │ ├── VO_PnP.hpp │ ├── geometry │ │ └── Camera.hpp │ ├── utils │ │ └── conversions.hpp │ └── visual_odometry │ │ ├── FeatureDetector.hpp │ │ ├── FeatureMatcher.hpp │ │ ├── Map.hpp │ │ ├── MapPoint.hpp │ │ └── VisualFrame.hpp │ ├── package.xml │ └── src │ ├── IVisualOdometer.cpp │ ├── VO_FrameToFrame_5point.cpp │ ├── VO_PnP.cpp │ ├── geometry │ └── Camera.cpp │ ├── utils │ └── conversions.cpp │ └── visual_odometry │ ├── FeatureDetector.cpp │ ├── FeatureMatcher.cpp │ ├── Map.cpp │ ├── MapPoint.cpp │ └── VisualFrame.cpp └── utils ├── cloud_msgs ├── CMakeLists.txt ├── msg │ └── cloud_info.msg └── package.xml ├── kitti_read_utils ├── CMakeLists.txt ├── package.xml └── src │ ├── Laserscan.cpp │ ├── Laserscan.h │ ├── geometry.h │ ├── kitti_utils.cpp │ ├── kitti_utils.h │ ├── main.cpp │ ├── point_traits.h │ ├── string_utils.cpp │ ├── string_utils.h │ └── transform.h └── perception_open3d ├── LICENSE ├── README.md ├── open3d_conversions ├── CMakeLists.txt ├── CONTRIBUTORS.md ├── Doxyfile ├── README.md ├── include │ └── open3d_conversions │ │ └── open3d_conversions.h ├── package.xml ├── src │ └── open3d_conversions.cpp └── test │ └── test_open3d_conversions.cpp └── open3d_conversions_examples ├── CMakeLists.txt ├── CONTRIBUTORS.md ├── README.md ├── data └── fragment.pcd ├── package.xml └── src ├── ex_conv_times.cpp ├── ex_downsample.cpp ├── ex_paint_uniform.cpp ├── ex_plane_segmentation.cpp ├── ex_pub.cpp ├── ex_statistical_outlier_removal.cpp └── ex_sub.cpp 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