├── .catkin_workspace ├── .gitignore ├── .vscode ├── launch.json └── settings.json ├── CMakeLists.txt ├── README.md ├── config ├── doc ├── 1.png ├── 环境配置.md └── 运行方式.md ├── driver_ros ├── .catkin_workspace ├── nohup.out └── src │ ├── CMakeLists.txt │ ├── displayer_qt5 │ ├── CMakeLists.txt │ ├── include │ │ └── displayer_qt5 │ │ │ ├── main_window.hpp │ │ │ ├── qlabel_with_mouse_event.h │ │ │ ├── qlabel_with_painter.h │ │ │ └── qnode.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── resources │ │ ├── images.qrc │ │ ├── images │ │ │ ├── CKYF.png │ │ │ ├── CKYF.svg │ │ │ ├── Icon.ico │ │ │ ├── blue_minimap.png │ │ │ ├── icon.png │ │ │ ├── radar_logo.png │ │ │ └── red_minimap.png │ │ └── qss │ │ │ ├── progressBarBlue.qss │ │ │ └── progressBarRed.qss │ ├── src │ │ ├── main.cpp │ │ ├── main_window.cpp │ │ ├── qlabel_with_mouse_event.cpp │ │ ├── qlabel_with_painter.cpp │ │ └── qnode.cpp │ ├── ui │ │ └── main_window.ui │ └── yaml │ │ ├── displayer_qt5.yaml │ │ └── load_params.launch │ ├── driver_bridge │ ├── CMakeLists.txt │ ├── include │ │ └── driver_bridge │ │ │ └── data_manager │ │ │ └── param.h │ ├── launch │ │ └── driver_bridge.launch │ ├── package.xml │ └── src │ │ ├── data_manager │ │ ├── CMakeLists.txt │ │ └── param.cpp │ │ └── driver_bridge.cc │ ├── hikrobot_camera │ ├── .vscode │ │ └── settings.json │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── camera-indoor.yaml │ │ ├── camera-outdoor.yaml │ │ └── camera.yaml │ ├── include │ │ └── hikrobot_camera.hpp │ ├── launch │ │ ├── hikrobot_camera.launch │ │ ├── hikrobot_camera_indoor.launch │ │ ├── hikrobot_camera_indoor_rviz.launch │ │ ├── hikrobot_camera_outdoor.launch │ │ ├── hikrobot_camera_outdoor_rviz.launch │ │ └── hikrobot_camera_rviz.launch │ ├── package.xml │ ├── rviz_config │ │ └── hikrobot.rviz │ └── src │ │ └── hikrobot_camera.cpp │ ├── livox_camera_calib │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── config │ │ ├── calib.yaml │ │ ├── config_indoor.yaml │ │ ├── config_outdoor.yaml │ │ └── multi_calib.yaml │ ├── include │ │ ├── CustomMsg.h │ │ ├── CustomPoint.h │ │ ├── common.h │ │ └── lidar_camera_calib.hpp │ ├── launch │ │ ├── bag_to_pcd.launch │ │ ├── calib.launch │ │ └── multi_calib.launch │ ├── package.xml │ ├── result │ │ └── extrinsic.txt │ ├── rviz_cfg │ │ ├── calib.rviz │ │ └── calib_indoor.rviz │ └── src │ │ ├── bag_to_pcd.cpp │ │ ├── lidar_camera_calib.cpp │ │ └── lidar_camera_multi_calib.cpp │ ├── 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 │ └── radar_msgs │ ├── CMakeLists.txt │ ├── launch │ └── radar.launch │ ├── msg │ ├── dist_point.msg │ ├── dist_points.msg │ ├── game_state.msg │ ├── point.msg │ ├── points.msg │ ├── referee_warning.msg │ ├── relative_coordinate.msg │ ├── small_map.msg │ ├── supply_projectile_action.msg │ ├── world_point.msg │ ├── yolo_point.msg │ └── yolo_points.msg │ ├── package.xml │ └── yaml │ └── radar.yaml ├── include ├── data_manager │ ├── base.h │ └── param.h ├── fuse │ ├── dbscan.h │ └── fuse.h ├── model │ └── init.h └── serial │ ├── protocol.h │ └── serial_.h ├── libs └── json │ ├── CITATION.cff │ ├── CMakeLists.txt │ ├── CODE_OF_CONDUCT.md │ ├── ChangeLog.md │ ├── LICENSE.MIT │ ├── Makefile │ ├── README.md │ ├── appveyor.yml │ ├── cmake │ ├── ci.cmake │ ├── config.cmake.in │ ├── download_test_data.cmake │ ├── nlohmann_jsonConfigVersion.cmake.in │ └── pkg-config.pc.in │ ├── include │ └── nlohmann │ │ ├── adl_serializer.hpp │ │ ├── byte_container_with_subtype.hpp │ │ ├── detail │ │ ├── conversions │ │ │ ├── from_json.hpp │ │ │ ├── to_chars.hpp │ │ │ └── to_json.hpp │ │ ├── exceptions.hpp │ │ ├── hash.hpp │ │ ├── input │ │ │ ├── binary_reader.hpp │ │ │ ├── input_adapters.hpp │ │ │ ├── json_sax.hpp │ │ │ ├── lexer.hpp │ │ │ ├── parser.hpp │ │ │ └── position_t.hpp │ │ ├── iterators │ │ │ ├── internal_iterator.hpp │ │ │ ├── iter_impl.hpp │ │ │ ├── iteration_proxy.hpp │ │ │ ├── iterator_traits.hpp │ │ │ ├── json_reverse_iterator.hpp │ │ │ └── primitive_iterator.hpp │ │ ├── json_pointer.hpp │ │ ├── json_ref.hpp │ │ ├── macro_scope.hpp │ │ ├── macro_unscope.hpp │ │ ├── meta │ │ │ ├── call_std │ │ │ │ ├── begin.hpp │ │ │ │ └── end.hpp │ │ │ ├── cpp_future.hpp │ │ │ ├── detected.hpp │ │ │ ├── identity_tag.hpp │ │ │ ├── is_sax.hpp │ │ │ ├── type_traits.hpp │ │ │ └── void_t.hpp │ │ ├── output │ │ │ ├── binary_writer.hpp │ │ │ ├── output_adapters.hpp │ │ │ └── serializer.hpp │ │ ├── string_escape.hpp │ │ └── value_t.hpp │ │ ├── json.hpp │ │ ├── json_fwd.hpp │ │ ├── ordered_map.hpp │ │ └── thirdparty │ │ └── hedley │ │ ├── hedley.hpp │ │ └── hedley_undef.hpp │ ├── meson.build │ ├── nlohmann_json.natvis │ ├── 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