├── .gitignore ├── CMakeLists.txt ├── README.md ├── can_bridge ├── CMakeLists.txt ├── docs │ └── Yunle_S01_CAN_CMX_V0_1_8-20180522.xlsx ├── include │ ├── CanBridge.h │ ├── CanClient.h │ ├── DefaultCanClient.h │ ├── ErrorCode.h │ ├── Msg.h │ └── utils.h ├── launch │ └── can_bridge.launch ├── package.xml ├── readme.md └── src │ ├── CanBridge.cpp │ ├── CanBridge_node.cpp │ ├── CanClient.cpp │ ├── DefaultCanClient.cpp │ └── Msg.cpp ├── common ├── .gitignore ├── static_tf │ ├── CMakeLists.txt │ ├── launch │ │ ├── record_raw_data.launch │ │ ├── static_tf_sccar.launch │ │ └── static_tf_yunlecar.launch │ ├── package.xml │ └── src │ │ └── filter_imu.cpp ├── user_protocol │ └── include │ │ └── user_protocol.h └── utils │ ├── CMakeLists.txt │ ├── include │ ├── filter_ground.h.backup │ ├── ground_filter.hpp │ ├── ground_filter.hpp.original │ └── utils.hpp │ ├── launch │ └── util_viz.launch │ ├── package.xml │ ├── params │ └── util_viz.yaml │ └── src │ ├── filter_ground.cpp.backup │ ├── ground_filter.hpp.backup │ └── util_viz.cpp ├── control ├── bst_control │ └── src │ │ ├── control_algorithm.pyc │ │ ├── find_lane.pyc │ │ └── windows.pyc ├── motor_control │ ├── README.md │ ├── car_control.ino │ └── mycar_control │ │ └── mycar_control.ino ├── waypoint_follower │ ├── CMakeLists.txt │ ├── launch │ │ └── pure_persuit.launch │ ├── nodes │ │ └── pure_persuit │ │ │ ├── pure_persuit.cpp │ │ │ ├── pure_persuit.h │ │ │ └── pure_persuit_node.cpp │ └── package.xml └── waypoint_maker │ ├── CMakeLists.txt │ ├── filtered_waypoints.csv │ ├── launch │ └── waypoint_loader.launch │ ├── nodes │ └── waypoint_loader │ │ ├── waypoint_loader.cpp │ │ └── waypoint_loader.h │ └── package.xml ├── detection ├── bst_detection │ ├── CMakeLists.txt_backup │ ├── calib │ │ ├── 1080_intrinsic.xml │ │ ├── extrinsic100.xml │ │ ├── extrinsic60.xml │ │ ├── intrins100.xml │ │ ├── intrins60.xml │ │ └── radar.yml │ ├── include │ │ └── bst_detection │ │ │ ├── api.h │ │ │ └── yunle_sensor_msg.h │ ├── launch │ │ └── bst_detection_node.launch │ ├── package.backup │ └── src │ │ └── detection_node.cpp ├── calibration │ ├── calibration_camera_lidar │ │ ├── CMakeLists.txt │ │ ├── CalibrationToolkit │ │ │ ├── calibrationtoolkit.cpp │ │ │ ├── calibrationtoolkit.h │ │ │ ├── selectionwidget.cpp │ │ │ └── selectionwidget.h │ │ ├── CalibrationToolkit_Manual.pdf │ │ ├── docs │ │ │ ├── Untitled Document~ │ │ │ ├── rccar_calibration_camera_lidar_.yaml │ │ │ ├── yunlecar_20190331_1500_autoware_camera_calibration.yml │ │ │ └── yunlecar_calibration_camera_lidar.yaml │ │ ├── launch │ │ │ └── camera_lidar_calib.launch │ │ ├── nodes │ │ │ ├── calibration_publisher │ │ │ │ ├── README.md │ │ │ │ └── calibration_publisher.cpp │ │ │ ├── calibration_test │ │ │ │ ├── camera_lidar2d_offline_calib.cpp │ │ │ │ ├── chessboard.cpp │ │ │ │ ├── chessboard.h │ │ │ │ ├── common_2d_calib.cpp │ │ │ │ ├── common_2d_calib.h │ │ │ │ ├── data_struct.h │ │ │ │ ├── image_window.cpp │ │ │ │ ├── image_window.h │ │ │ │ ├── scan_window.cpp │ │ │ │ ├── scan_window.h │ │ │ │ ├── trans.cpp │ │ │ │ └── trans.h │ │ │ └── calibration_toolkit │ │ │ │ ├── main.cpp │ │ │ │ ├── mainwindow.cpp │ │ │ │ ├── mainwindow.h │ │ │ │ └── mainwindow.ui │ │ └── package.xml │ ├── calibration_publisher │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── rccar_calibration_publisher.launch │ │ │ ├── rccar_calibration_publisher.launch~ │ │ │ ├── yunlecar_calibration_publisher.launch │ │ │ └── yunlecar_calibration_publisher.launch~ │ │ ├── package.xml │ │ └── src │ │ │ └── calibration_publisher.cpp │ └── camera_calibration │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── docs │ │ ├── 20190120_1023_autoware_camera_calibration.yaml │ │ └── smartcar_logo.png │ │ ├── nodes │ │ ├── cameracalibrator.py │ │ └── cameracheck.py │ │ ├── package.xml │ │ ├── scripts │ │ └── tarfile_calibration.py │ │ ├── setup.py │ │ └── src │ │ └── camera_calibration │ │ ├── __init__.py │ │ ├── calibrator.py │ │ ├── calibrator.pyc │ │ ├── camera_calibrator.py │ │ ├── camera_calibrator.pyc │ │ └── camera_checker.py ├── camera_point_fusion │ ├── joint_pixel_pointcloud │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── joint_pixel_pointcloud.h │ │ ├── launch │ │ │ ├── joint_pixel_pointcloud.launch │ │ │ └── joint_pixel_pointcloud.launch~ │ │ ├── package.xml │ │ ├── rviz │ │ │ └── perception.rviz │ │ └── src │ │ │ ├── joint_pixel_pointcloud.cpp │ │ │ └── joint_pixel_pointcloud_node.cpp │ └── points2image │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── points_image │ │ │ └── points_image.hpp │ │ ├── interface.yaml │ │ ├── launch │ │ └── points2image.launch │ │ ├── lib │ │ └── points_image │ │ │ └── points_image.cpp │ │ ├── nodes │ │ └── points2image │ │ │ └── points2image.cpp │ │ └── package.xml └── lidar_detection │ ├── filter_global_ground │ ├── CMakeLists.txt │ ├── include │ │ └── filter_global_ground │ │ │ └── save_map_core.h │ ├── launch │ │ └── test_filter_global_ground.launch │ ├── package.xml │ └── src │ │ ├── filter_global_ground_core.cpp │ │ └── filter_global_ground_node.cpp │ ├── lidar_cluster_detector │ ├── CMakeLists.txt │ ├── include │ │ ├── cluster.h │ │ ├── lidar_euclidean_cluster.h │ │ └── utils.h │ ├── launch │ │ └── lidar_euclidean_cluster.launch │ ├── package.xml │ └── src │ │ ├── cluster.cpp │ │ ├── lidar_euclidean_cluster.cpp │ │ ├── lidar_euclidean_cluster_node.cpp │ │ ├── preprocess.cpp │ │ ├── publisher.cpp │ │ └── utils.cpp │ ├── lidar_detector_HD │ ├── detected_objects_visualizer │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ ├── visualize_detected_objects.h │ │ │ └── visualize_rects.h │ │ ├── package.xml │ │ └── src │ │ │ ├── visualize_detected_objects.cpp │ │ │ ├── visualize_detected_objects_main.cpp │ │ │ ├── visualize_rects.cpp │ │ │ └── visualize_rects_main.cpp │ └── lidar_detection │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ ├── cluster_hd.h │ │ ├── gencolors.cpp │ │ ├── gpu_euclidean_clustering.h │ │ └── lidar_detection_core.h │ │ ├── launch │ │ ├── Yunlecar_lidar_detection.launch │ │ └── test_lidar_detection.launch │ │ ├── package.xml │ │ └── src │ │ ├── cluster_hd.cpp │ │ ├── gpu_euclidean_clustering.cu │ │ ├── lidar_detection_core.cpp │ │ └── lidar_detection_node.cpp │ └── ray_ground_filter │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ └── ray_ground_filter.cfg │ ├── include │ └── ray_ground_filter_core.h │ ├── launch │ ├── RCcar_ray_ground_filter.launch │ ├── Yunlecar_ray_ground_filter.launch │ └── test_Yunlecar_ray_ground_filter.launch │ ├── package.xml │ ├── rviz │ └── test_ese.rviz │ └── src │ ├── ray_ground_filter_core.cpp │ └── ray_ground_filter_node.cpp ├── driver ├── cv_camera_driver │ ├── CMakeLists.txt │ ├── docs │ │ └── 20190113_1301_smartcar_camera_calibration.yaml │ ├── include │ │ └── cv_camera │ │ │ ├── capture.h │ │ │ ├── driver.h │ │ │ └── exception.h │ ├── launch │ │ └── cv_camera_driver.launch │ ├── package.xml │ └── src │ │ ├── capture.cpp │ │ ├── cv_camera_node.cpp │ │ ├── cv_camera_nodelet.cpp │ │ └── driver.cpp ├── gpio │ ├── CMakeLists.txt │ ├── README.md │ ├── docs │ │ └── TX2-j21-pin.png │ ├── include │ │ ├── jetsonGPIO.h │ │ └── ros_gpio_control │ │ │ └── gpio.h │ ├── launch │ │ └── gpio.launch │ ├── package.xml │ └── src │ │ ├── gpio.cpp │ │ ├── gpio_control_node.cpp │ │ └── jetsonGPIO.cpp ├── hall_encoder │ ├── CMakeLists.txt │ ├── launch │ │ └── hall_encoder_node.launch │ ├── package.xml │ └── src │ │ ├── hall_encoder_node.cpp │ │ └── hall_encoder_node.h ├── odom_imu │ ├── CMakeLists.txt │ ├── include │ │ └── odom_imu │ │ │ ├── odom_imu.h │ │ │ ├── odom_imu.h.bak │ │ │ └── user_protocol.h │ ├── launch │ │ ├── odom_imu.launch │ │ └── test_odom_imu.launch │ ├── package.xml │ └── src │ │ ├── odom_imu.cpp │ │ ├── odom_imu.cpp.bak │ │ └── odom_imu_node.cpp ├── razor_imu_9dof │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ │ ├── imu (copy).cfg │ │ └── imu.cfg │ ├── config │ │ ├── my_razor.yaml │ │ ├── my_razor_24.yaml │ │ ├── my_razor_30.yaml │ │ ├── razor.yaml │ │ └── razor_diags.yaml │ ├── launch │ │ ├── razor-pub-3.0.launch │ │ ├── razor-pub-and-display-3-0.launch │ │ ├── razor-pub-and-display.launch │ │ └── razor-pub.launch │ ├── magnetometer_calibration │ │ ├── Matlab │ │ │ └── magnetometer_calibration │ │ │ │ ├── ellipsoid_fit.m │ │ │ │ ├── ellipsoid_fit_license.txt │ │ │ │ └── magnetometer_calibration.m │ │ └── Processing │ │ │ └── Magnetometer_calibration │ │ │ ├── Magnetometer_calibration.pde │ │ │ └── data │ │ │ └── Univers-66.vlw │ ├── nodes │ │ ├── display_3D_visualization.py │ │ ├── imu3_0.py │ │ └── imu_node.py │ ├── package.xml │ └── src │ │ └── Razor_AHRS │ │ ├── Compass.ino │ │ ├── DCM.ino │ │ ├── Math.ino │ │ ├── Output.ino │ │ ├── Razor_AHRS.ino │ │ └── Sensors.ino ├── ultrasonic_serial │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── ultrasonic_serial_node.launch │ ├── package.xml │ └── src │ │ └── ultrasonic_serial_node.cpp ├── velodyne │ ├── .gitignore │ ├── .travis.yml │ ├── COPYING │ ├── README.rst │ ├── velodyne │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── velodyne_driver │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── VelodyneNode.cfg │ │ ├── include │ │ │ └── velodyne_driver │ │ │ │ ├── input.h │ │ │ │ └── ring_sequence.h │ │ ├── launch │ │ │ └── nodelet_manager.launch │ │ ├── mainpage.dox │ │ ├── nodelet_velodyne.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── driver │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── driver.cc │ │ │ │ ├── driver.h │ │ │ │ ├── nodelet.cc │ │ │ │ └── velodyne_node.cc │ │ │ ├── lib │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── input.cc │ │ │ └── vdump │ │ └── tests │ │ │ ├── diagnostic_agg.yaml │ │ │ ├── pcap_32e_node_hertz.test │ │ │ ├── pcap_32e_nodelet_hertz.test │ │ │ ├── pcap_node_hertz.test │ │ │ ├── pcap_nodelet_hertz.test │ │ │ ├── pcap_vlp16_node_hertz.test │ │ │ └── pcap_vlp16_nodelet_hertz.test │ ├── velodyne_laserscan │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── VelodyneLaserScan.cfg │ │ ├── nodelets.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── VelodyneLaserScan.cpp │ │ │ ├── VelodyneLaserScan.h │ │ │ ├── node.cpp │ │ │ └── nodelet.cpp │ │ └── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── lazy_subscriber.cpp │ │ │ ├── lazy_subscriber_node.test │ │ │ ├── lazy_subscriber_nodelet.test │ │ │ ├── system.cpp │ │ │ ├── system_node.test │ │ │ └── system_nodelet.test │ ├── velodyne_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── mainpage.dox │ │ ├── msg │ │ │ ├── VelodynePacket.msg │ │ │ └── VelodyneScan.msg │ │ └── package.xml │ └── velodyne_pointcloud │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ ├── CloudNode.cfg │ │ └── TransformNode.cfg │ │ ├── include │ │ └── velodyne_pointcloud │ │ │ ├── calibration.h │ │ │ ├── point_types.h │ │ │ └── rawdata.h │ │ ├── launch │ │ ├── 32e_points.launch │ │ ├── VLP-32C_points.launch │ │ ├── VLP16_points.launch │ │ ├── cloud_nodelet.launch │ │ ├── laserscan_nodelet.launch │ │ └── transform_nodelet.launch │ │ ├── mainpage.dox │ │ ├── nodelets.xml │ │ ├── package.xml │ │ ├── params │ │ ├── 32db.yaml │ │ ├── 64e_s2.1-sztaki.yaml │ │ ├── 64e_utexas.yaml │ │ ├── VLP16_hires_db.yaml │ │ ├── VLP16db.yaml │ │ ├── VeloView-VLP-32C.yaml │ │ └── rviz_points.vcg │ │ ├── scripts │ │ └── gen_calibration.py │ │ ├── src │ │ ├── conversions │ │ │ ├── CMakeLists.txt │ │ │ ├── cloud_node.cc │ │ │ ├── cloud_nodelet.cc │ │ │ ├── colors.cc │ │ │ ├── colors.h │ │ │ ├── convert.cc │ │ │ ├── convert.h │ │ │ ├── ringcolors_node.cc │ │ │ ├── ringcolors_nodelet.cc │ │ │ ├── transform.cc │ │ │ ├── transform.h │ │ │ ├── transform_node.cc │ │ │ └── transform_nodelet.cc │ │ └── lib │ │ │ ├── CMakeLists.txt │ │ │ ├── calibration.cc │ │ │ └── rawdata.cc │ │ └── tests │ │ ├── 32db.xml │ │ ├── 64e_s2.1-sztaki.xml │ │ ├── CMakeLists.txt │ │ ├── angles-calibrated.yaml │ │ ├── angles.yaml │ │ ├── cloud_node_32e_hz.test │ │ ├── cloud_node_64e_s2.1_hz.test │ │ ├── cloud_node_hz.test │ │ ├── cloud_node_vlp16_hz.test │ │ ├── cloud_nodelet_32e_hz.test │ │ ├── cloud_nodelet_64e_s2.1_hz.test │ │ ├── cloud_nodelet_hz.test │ │ ├── cloud_nodelet_vlp16_hz.test │ │ ├── empty.xml │ │ ├── issue_84_float_intensities.yaml │ │ ├── static_vehicle_tf.launch │ │ ├── test_calibration.cpp │ │ ├── test_db_without_intensities.xml │ │ ├── transform_node_hz.test │ │ ├── transform_nodelet_hz.test │ │ └── two_nodelet_managers.test └── zed_wrapper │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ └── Zed.cfg │ ├── launch │ ├── README.md │ ├── zed.launch │ ├── zed_camera.launch │ ├── zed_camera_nodelet.launch │ ├── zed_multi_cam.launch │ ├── zed_multi_gpu.launch │ └── zed_no_tf.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── records │ ├── record_depth.sh │ └── record_stereo.sh │ ├── src │ ├── nodelet │ │ ├── include │ │ │ └── zed_wrapper_nodelet.hpp │ │ └── src │ │ │ └── zed_wrapper_nodelet.cpp │ ├── tools │ │ ├── include │ │ │ └── sl_tools.h │ │ └── src │ │ │ └── sl_tools.cpp │ └── zed_wrapper_node.cpp │ ├── srv │ ├── reset_odometry.srv │ ├── reset_tracking.srv │ ├── set_initial_pose.srv │ ├── start_svo_recording.srv │ └── stop_svo_recording.srv │ └── urdf │ ├── ZED.stl │ ├── ZEDM.stl │ ├── zed.urdf │ └── zedm.urdf ├── gateway ├── .gitignore ├── CMakeLists.txt ├── config │ └── server_config.ini.example ├── launch │ └── gateway.launch ├── package.xml ├── src │ ├── app.py │ ├── beans.py │ ├── common.py │ ├── connector.py │ ├── monitor.py │ ├── switch.py │ ├── telecontrol.py │ ├── video_rtmp_client.py │ └── web_server.py └── test_gateway.launch ├── launch_package ├── CMakeLists.txt ├── README.md ├── launch │ ├── smartcar.launch │ ├── test_calibration.launch │ ├── test_fusion.launch │ ├── test_local_plannner.launch │ ├── test_ndt_localization.launch │ ├── test_perception.launch │ ├── test_smartcar.launch │ └── yunle_car.launch ├── package.xml └── src │ └── welcome.cpp ├── localization └── ndt_localization │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ ├── ndt_cpu │ │ ├── NormalDistributionsTransform.h │ │ ├── Octree.h │ │ ├── Registration.h │ │ ├── SymmetricEigenSolver.h │ │ ├── VoxelGrid.h │ │ └── debug.h │ ├── ndt_gpu │ │ ├── Matrix.h │ │ ├── MatrixDevice.h │ │ ├── MatrixHost.h │ │ ├── NormalDistributionsTransform.h │ │ ├── Registration.h │ │ ├── SymmetricEigenSolver.h │ │ ├── VoxelGrid.h │ │ ├── common.h │ │ └── debug.h │ ├── ndt_localization │ │ └── ndt_localization.h │ └── pcl_omp_registration │ │ ├── impl │ │ ├── ndt.hpp │ │ └── registration.hpp │ │ ├── ndt.h │ │ └── registration.h │ ├── launch │ ├── ndt_localization.launch │ ├── points_to_costmap.launch │ ├── smartcar_ndt_localization.launch │ ├── test │ │ ├── camera.launch │ │ ├── test_path_planner.launch │ │ ├── test_pure_pursuit.launch │ │ └── test_ray_ground_filter.launch │ ├── test_ndt_localization_real.launch │ ├── test_ndt_localization_sim.launch │ └── test_yunle_ndt.launch │ ├── package.xml │ ├── params │ ├── test.yaml │ └── test.yaml~ │ ├── rviz │ ├── smartcar_test.rviz │ ├── test.rviz │ └── test_ndt_localization.rviz │ ├── src │ ├── ndt_localization.cpp │ ├── ndt_localization_node.cpp │ ├── ndt_test.cpp │ └── tf_test.cpp │ └── trajectories │ ├── 2018-10-22-19-44-24.traj │ └── 2018-10-22-20-16-18.traj ├── map ├── gen_costmap │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ │ ├── gen_costmap.cfg │ │ └── gen_costmap.yaml │ ├── launch │ │ ├── gen_costmap.launch │ │ └── test_gen_costmap.launch │ ├── package.xml │ └── src │ │ └── gen_costmap.cpp ├── map_tools │ ├── extract_globalpath │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ ├── extract_single.launch │ │ │ └── extract_whole.launch │ │ ├── map_file │ │ │ └── map.yaml │ │ ├── package.xml │ │ ├── path_file_RCcar │ │ │ ├── cross_0.csv │ │ │ ├── cross_1.csv │ │ │ ├── cross_2.csv │ │ │ ├── cross_3.csv │ │ │ ├── cross_4.csv │ │ │ ├── cross_5.csv │ │ │ ├── cross_6.csv │ │ │ ├── cross_7.csv │ │ │ ├── cross_8.csv │ │ │ ├── cross_9.csv │ │ │ ├── lane_0.csv │ │ │ ├── lane_1.csv │ │ │ ├── lane_2.csv │ │ │ ├── lane_3.csv │ │ │ ├── lane_4.csv │ │ │ ├── lane_5.csv │ │ │ └── lane_6.csv │ │ ├── path_file_Yunlecar │ │ │ ├── cross_0.csv │ │ │ ├── cross_1.csv │ │ │ ├── cross_2.csv │ │ │ ├── cross_3.csv │ │ │ ├── cross_4.csv │ │ │ ├── cross_5.csv │ │ │ ├── cross_6.csv │ │ │ ├── cross_7.csv │ │ │ ├── cross_8.csv │ │ │ ├── cross_9.csv │ │ │ ├── lane_0.csv │ │ │ ├── lane_1.csv │ │ │ ├── lane_2.csv │ │ │ ├── lane_3.csv │ │ │ ├── lane_4.csv │ │ │ ├── lane_5.csv │ │ │ └── lane_6.csv │ │ ├── rviz │ │ │ ├── path190218.png │ │ │ └── test.rviz │ │ ├── src │ │ │ ├── extract_lane_cross.cpp │ │ │ └── extract_single.cpp │ │ └── yunlecar_zetong_path.png │ └── map_filter │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ └── filter.cfg │ │ ├── launch │ │ └── map_filter.launch │ │ ├── package.xml │ │ ├── rviz │ │ └── rviz.rviz │ │ └── src │ │ └── map_filter.cpp ├── ndt_mapping │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ ├── fast_ndt_mapping │ │ │ └── LidarMapping.h │ │ ├── ndt_cpu │ │ │ ├── NormalDistributionsTransform.h │ │ │ ├── Octree.h │ │ │ ├── Registration.h │ │ │ ├── SymmetricEigenSolver.h │ │ │ ├── VoxelGrid.h │ │ │ └── debug.h │ │ ├── ndt_gpu │ │ │ ├── Matrix.h │ │ │ ├── MatrixDevice.h │ │ │ ├── MatrixHost.h │ │ │ ├── NormalDistributionsTransform.h │ │ │ ├── Registration.h │ │ │ ├── SymmetricEigenSolver.h │ │ │ ├── VoxelGrid.h │ │ │ ├── common.h │ │ │ └── debug.h │ │ └── pcl_omp_registration │ │ │ ├── impl │ │ │ ├── ndt.hpp │ │ │ └── registration.hpp │ │ │ ├── ndt.h │ │ │ └── registration.h │ ├── launch │ │ ├── collect_data.launch │ │ ├── fast_ndt_carla.launch │ │ └── fast_ndt_mapping.launch │ ├── package.xml │ ├── params │ │ ├── params_carla.yaml │ │ └── params_ndt_mapping.yaml │ ├── rviz │ │ └── test.rviz │ └── src │ │ ├── LidarMapping.1backup.cpp │ │ ├── LidarMapping.cpp │ │ └── fast_ndt_mapping_node.cpp └── static_map │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ ├── filter_ground.launch │ └── load_densy_map.launch │ ├── map_file │ └── map.yaml │ ├── package.xml │ └── src │ ├── static_map.cpp │ └── static_map_densy.cpp ├── msgs ├── autoware_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── AccelCmd.msg │ │ ├── AdjustXY.msg │ │ ├── BrakeCmd.msg │ │ ├── CameraExtrinsic.msg │ │ ├── Centroids.msg │ │ ├── CloudCluster.msg │ │ ├── CloudClusterArray.msg │ │ ├── ColorSet.msg │ │ ├── ControlCommand.msg │ │ ├── ControlCommandStamped.msg │ │ ├── DTLane.msg │ │ ├── DetectedObject.msg │ │ ├── DetectedObjectArray.msg │ │ ├── ExtractedPosition.msg │ │ ├── GeometricRectangle.msg │ │ ├── ICPStat.msg │ │ ├── ImageLaneObjects.msg │ │ ├── ImageObj.msg │ │ ├── ImageObjRanged.msg │ │ ├── ImageObjTracked.msg │ │ ├── ImageObjects.msg │ │ ├── ImageRect.msg │ │ ├── ImageRectRanged.msg │ │ ├── IndicatorCmd.msg │ │ ├── LampCmd.msg │ │ ├── Lane.msg │ │ ├── LaneArray.msg │ │ ├── NDTStat.msg │ │ ├── ObjLabel.msg │ │ ├── ObjPose.msg │ │ ├── PointsImage.msg │ │ ├── ProjectionMatrix.msg │ │ ├── RemoteCmd.msg │ │ ├── ScanImage.msg │ │ ├── Signals.msg │ │ ├── State.msg │ │ ├── StateCmd.msg │ │ ├── SteerCmd.msg │ │ ├── SyncTimeDiff.msg │ │ ├── SyncTimeMonitor.msg │ │ ├── TrafficLight.msg │ │ ├── TrafficLightResult.msg │ │ ├── TrafficLightResultArray.msg │ │ ├── TunedResult.msg │ │ ├── ValueSet.msg │ │ ├── VehicleCmd.msg │ │ ├── VehicleStatus.msg │ │ ├── VscanTracked.msg │ │ ├── VscanTrackedArray.msg │ │ ├── Waypoint.msg │ │ └── WaypointState.msg │ └── package.xml └── can_msgs │ ├── CMakeLists.txt │ └── msg │ ├── ECU.msg │ ├── Feedback.msg │ ├── TeleControl.msg │ ├── TeleReport.msg │ ├── battery.msg │ └── brake.msg └── pics ├── car1.jpeg ├── car2.jpeg ├── 底盘尺寸图.png ├── 整体图.png ├── 框架图.png └── 线控底盘.png /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SFXiang/4WD_Smart_Car/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: 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