├── README.md ├── calib_odom ├── CMakeLists.txt ├── README.assets │ ├── 1554776817122.png │ ├── 1554777572171.png │ └── 1554777724377.png ├── README.md ├── include │ └── calib_odom │ │ └── Odom_Calib.hpp ├── launch │ └── odomCalib.launch ├── package.xml ├── src │ ├── Odom_Calib.cpp │ └── main.cpp ├── 第一课（公开课）PPT.pdf └── 第二课-里程计.pdf ├── cartographer_annotations ├── .gitignore ├── README.md ├── common │ ├── blocking_queue.h │ ├── blocking_queue_test.cc │ ├── ceres_solver_options.cc │ ├── ceres_solver_options.h │ ├── config.h │ ├── config.h.cmake │ ├── configuration_file_resolver.cc │ ├── configuration_file_resolver.h │ ├── fixed_ratio_sampler.cc │ ├── fixed_ratio_sampler.h │ ├── fixed_ratio_sampler_test.cc │ ├── histogram.cc │ ├── histogram.h │ ├── lua.h │ ├── lua_parameter_dictionary.cc │ ├── lua_parameter_dictionary.h │ ├── lua_parameter_dictionary_test.cc │ ├── lua_parameter_dictionary_test_helpers.h │ ├── make_unique.h │ ├── make_unique_test.cc │ ├── math.h │ ├── math_test.cc │ ├── mutex.h │ ├── port.h │ ├── port_le_test.cpp │ ├── proto │ │ └── ceres_solver_options.proto │ ├── rate_timer.h │ ├── rate_timer_test.cc │ ├── thread_pool.cc │ ├── thread_pool.h │ ├── time.cc │ └── time.h ├── ground_truth │ └── compute_relations_metrics_main.cc ├── io │ ├── cairo_types.h │ ├── coloring_points_processor.cc │ ├── coloring_points_processor.h │ ├── counting_points_processor.cc │ ├── counting_points_processor.h │ ├── file_writer.cc │ ├── file_writer.h │ ├── fixed_ratio_sampling_points_processor.cc │ ├── fixed_ratio_sampling_points_processor.h │ ├── intensity_to_color_points_processor.cc │ ├── intensity_to_color_points_processor.h │ ├── min_max_range_filtering_points_processor.cc │ ├── min_max_range_filtering_points_processor.h │ ├── null_points_processor.h │ ├── outlier_removing_points_processor.cc │ ├── outlier_removing_points_processor.h │ ├── pcd_writing_points_processor.cc │ ├── pcd_writing_points_processor.h │ ├── ply_writing_points_processor.cc │ ├── ply_writing_points_processor.h │ ├── points_batch.cc │ ├── points_batch.h │ ├── points_processor.h │ ├── points_processor_pipeline_builder.cc │ ├── points_processor_pipeline_builder.h │ ├── proto_stream.cc │ ├── proto_stream.h │ ├── proto_stream_test.cc │ ├── xray_points_processor.cc │ ├── xray_points_processor.h │ ├── xyz_writing_points_processor.cc │ └── xyz_writing_points_processor.h ├── kalman_filter │ ├── gaussian_distribution.h │ ├── gaussian_distribution_test.cc │ ├── pose_tracker.cc │ ├── pose_tracker.h │ ├── pose_tracker_test.cc │ ├── proto │ │ └── pose_tracker_options.proto │ ├── unscented_kalman_filter.h │ └── unscented_kalman_filter_test.cc ├── mapping │ ├── collated_trajectory_builder.cc │ ├── collated_trajectory_builder.h │ ├── detect_floors.cc │ ├── detect_floors.h │ ├── global_trajectory_builder_interface.h │ ├── id.h │ ├── imu_tracker.cc │ ├── imu_tracker.h │ ├── map_builder.cc │ ├── map_builder.h │ ├── odometry_state_tracker.cc │ ├── odometry_state_tracker.h │ ├── probability_values.cc │ ├── probability_values.h │ ├── probability_values_test.cc │ ├── proto │ │ ├── map_builder_options.proto │ │ ├── sparse_pose_graph.proto │ │ ├── sparse_pose_graph_options.proto │ │ ├── submap_visualization.proto │ │ ├── trajectory.proto │ │ ├── trajectory_builder_options.proto │ │ └── trajectory_connectivity.proto │ ├── sparse_pose_graph.cc │ ├── sparse_pose_graph.h │ ├── sparse_pose_graph │ │ ├── constraint_builder.cc │ │ ├── constraint_builder.h │ │ ├── optimization_problem_options.cc │ │ ├── optimization_problem_options.h │ │ └── proto │ │ │ ├── constraint_builder_options.proto │ │ │ └── optimization_problem_options.proto │ ├── submaps.cc │ ├── submaps.h │ ├── submaps_test.cc │ ├── trajectory_builder.cc │ ├── trajectory_builder.h │ ├── trajectory_connectivity.cc │ ├── trajectory_connectivity.h │ ├── trajectory_connectivity_test.cc │ └── trajectory_node.h ├── mapping_2d │ ├── global_trajectory_builder.cc │ ├── global_trajectory_builder.h │ ├── local_trajectory_builder.cc │ ├── local_trajectory_builder.h │ ├── local_trajectory_builder_options.cc │ ├── local_trajectory_builder_options.h │ ├── map_limits.h │ ├── map_limits_test.cc │ ├── probability_grid.h │ ├── probability_grid_test.cc │ ├── proto │ │ ├── cell_limits.proto │ │ ├── local_trajectory_builder_options.proto │ │ ├── map_limits.proto │ │ ├── probability_grid.proto │ │ ├── range_data_inserter_options.proto │ │ └── submaps_options.proto │ ├── range_data_inserter.cc │ ├── range_data_inserter.h │ ├── range_data_inserter_test.cc │ ├── ray_casting.cc │ ├── ray_casting.h │ ├── scan_matching │ │ ├── ceres_scan_matcher.cc │ │ ├── ceres_scan_matcher.h │ │ ├── ceres_scan_matcher_test.cc │ │ ├── correlative_scan_matcher.cc │ │ ├── correlative_scan_matcher.h │ │ ├── correlative_scan_matcher_test.cc │ │ ├── fast_correlative_scan_matcher.cc │ │ ├── fast_correlative_scan_matcher.h │ │ ├── fast_correlative_scan_matcher_test.cc │ │ ├── fast_global_localizer.cc │ │ ├── fast_global_localizer.h │ │ ├── occupied_space_cost_functor.h │ │ ├── proto │ │ │ ├── ceres_scan_matcher_options.proto │ │ │ ├── fast_correlative_scan_matcher_options.proto │ │ │ └── real_time_correlative_scan_matcher_options.proto │ │ ├── real_time_correlative_scan_matcher.cc │ │ ├── real_time_correlative_scan_matcher.h │ │ ├── real_time_correlative_scan_matcher_test.cc │ │ ├── rotation_delta_cost_functor.h │ │ └── translation_delta_cost_functor.h │ ├── sparse_pose_graph.cc │ ├── sparse_pose_graph.h │ ├── sparse_pose_graph │ │ ├── constraint_builder.cc │ │ ├── constraint_builder.h │ │ ├── optimization_problem.cc │ │ ├── optimization_problem.h │ │ └── spa_cost_function.h │ ├── sparse_pose_graph_test.cc │ ├── submaps.cc │ ├── submaps.h │ ├── submaps_test.cc │ ├── xy_index.h │ └── xy_index_test.cc ├── mapping_3d │ ├── acceleration_cost_function.h │ ├── ceres_pose.cc │ ├── ceres_pose.h │ ├── global_trajectory_builder.cc │ ├── global_trajectory_builder.h │ ├── hybrid_grid.h │ ├── hybrid_grid_test.cc │ ├── imu_integration.cc │ ├── imu_integration.h │ ├── kalman_local_trajectory_builder.cc │ ├── kalman_local_trajectory_builder.h │ ├── kalman_local_trajectory_builder_options.cc │ ├── kalman_local_trajectory_builder_options.h │ ├── kalman_local_trajectory_builder_test.cc │ ├── local_trajectory_builder.cc │ ├── local_trajectory_builder.h │ ├── local_trajectory_builder_interface.h │ ├── local_trajectory_builder_options.cc │ ├── local_trajectory_builder_options.h │ ├── motion_filter.cc │ ├── motion_filter.h │ ├── motion_filter_test.cc │ ├── optimizing_local_trajectory_builder.cc │ ├── optimizing_local_trajectory_builder.h │ ├── optimizing_local_trajectory_builder_options.cc │ ├── optimizing_local_trajectory_builder_options.h │ ├── proto │ │ ├── hybrid_grid.proto │ │ ├── kalman_local_trajectory_builder_options.proto │ │ ├── local_trajectory_builder_options.proto │ │ ├── motion_filter_options.proto │ │ ├── optimizing_local_trajectory_builder_options.proto │ │ ├── range_data_inserter_options.proto │ │ └── submaps_options.proto │ ├── range_data_inserter.cc │ ├── range_data_inserter.h │ ├── range_data_inserter_test.cc │ ├── rotation_cost_function.h │ ├── scan_matching │ │ ├── ceres_scan_matcher.cc │ │ ├── ceres_scan_matcher.h │ │ ├── ceres_scan_matcher_test.cc │ │ ├── fast_correlative_scan_matcher.cc │ │ ├── fast_correlative_scan_matcher.h │ │ ├── fast_correlative_scan_matcher_test.cc │ │ ├── interpolated_grid.h │ │ ├── interpolated_grid_test.cc │ │ ├── occupied_space_cost_functor.h │ │ ├── precomputation_grid.cc │ │ ├── precomputation_grid.h │ │ ├── precomputation_grid_test.cc │ │ ├── proto │ │ │ ├── ceres_scan_matcher_options.proto │ │ │ └── fast_correlative_scan_matcher_options.proto │ │ ├── real_time_correlative_scan_matcher.cc │ │ ├── real_time_correlative_scan_matcher.h │ │ ├── real_time_correlative_scan_matcher_test.cc │ │ ├── rotation_delta_cost_functor.h │ │ ├── rotational_scan_matcher.cc │ │ ├── rotational_scan_matcher.h │ │ └── translation_delta_cost_functor.h │ ├── sparse_pose_graph.cc │ ├── sparse_pose_graph.h │ ├── sparse_pose_graph │ │ ├── constraint_builder.cc │ │ ├── constraint_builder.h │ │ ├── optimization_problem.cc │ │ ├── optimization_problem.h │ │ ├── optimization_problem_test.cc │ │ └── spa_cost_function.h │ ├── submaps.cc │ ├── submaps.h │ └── translation_cost_function.h ├── sensor │ ├── collator.cc │ ├── collator.h │ ├── collator_test.cc │ ├── compressed_point_cloud.cc │ ├── compressed_point_cloud.h │ ├── compressed_point_cloud_test.cc │ ├── configuration.cc │ ├── configuration.h │ ├── data.h │ ├── ordered_multi_queue.cc │ ├── ordered_multi_queue.h │ ├── ordered_multi_queue_le_test.cc │ ├── ordered_multi_queue_test.cc │ ├── point_cloud.cc │ ├── point_cloud.h │ ├── point_cloud_test.cc │ ├── proto │ │ ├── adaptive_voxel_filter_options.proto │ │ ├── configuration.proto │ │ └── sensor.proto │ ├── range_data.cc │ ├── range_data.h │ ├── range_data_test.cc │ ├── voxel_filter.cc │ ├── voxel_filter.h │ └── voxel_filter_test.cc └── transform │ ├── proto │ └── transform.proto │ ├── rigid_transform.cc │ ├── rigid_transform.h │ ├── rigid_transform_le2_grid2_test.cc │ ├── rigid_transform_test_helpers.h │ ├── transform.cc │ ├── transform.h │ ├── transform_interpolation_buffer.cc │ ├── transform_interpolation_buffer.h │ ├── transform_interpolation_buffer_test.cc │ └── transform_test.cc ├── champion_nav_msgs ├── CMakeLists.txt ├── msg │ └── ChampionNavLaserScan.msg └── package.xml ├── gmapping ├── README.assets │ ├── 1555126014034.png │ └── gmapping.png ├── README.md ├── bag │ └── gmapping.bag ├── openslam_gmapping │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README │ ├── build_tools │ │ ├── Makefile.app │ │ ├── Makefile.generic-shared-object │ │ ├── Makefile.subdirs │ │ ├── generate_shared_object │ │ ├── message │ │ ├── pretty_compiler │ │ └── testlib │ ├── carmenwrapper │ │ ├── carmenwrapper.cpp │ │ └── carmenwrapper.h │ ├── docs │ │ ├── Instructions.txt │ │ ├── scanmatcher.tex │ │ └── userver.txt │ ├── gfs-carmen │ │ ├── Makefile │ │ └── gfs-carmen.cpp │ ├── grid │ │ ├── Makefile │ │ ├── graphmap.cpp │ │ └── map_test.cpp │ ├── gridfastslam │ │ ├── CMakeLists.txt │ │ ├── gfs2log.cpp │ │ ├── gfs2neff.cpp │ │ ├── gfs2rec.cpp │ │ ├── gfs2stat.cpp │ │ ├── gfs2stream.cpp │ │ ├── gfsreader.cpp │ │ ├── gfsreader.h │ │ ├── gridslamprocessor.cpp │ │ ├── gridslamprocessor_tree.cpp │ │ └── motionmodel.cpp │ ├── gui │ │ ├── CMakeLists.txt │ │ ├── gfs2img.cpp │ │ ├── gfs_logplayer.cpp │ │ ├── gfs_nogui.cpp │ │ ├── gfs_simplegui.cpp │ │ ├── gsp_thread.cpp │ │ ├── gsp_thread.h │ │ ├── qgraphpainter.cpp │ │ ├── qgraphpainter.h │ │ ├── qmappainter.cpp │ │ ├── qmappainter.h │ │ ├── qnavigatorwidget.cpp │ │ ├── qnavigatorwidget.h │ │ ├── qparticleviewer.cpp │ │ ├── qparticleviewer.h │ │ ├── qpixmapdumper.cpp │ │ ├── qpixmapdumper.h │ │ ├── qslamandnavwidget.cpp │ │ └── qslamandnavwidget.h │ ├── include │ │ └── gmapping │ │ │ ├── grid │ │ │ ├── accessstate.h │ │ │ ├── array2d.h │ │ │ ├── harray2d.h │ │ │ └── map.h │ │ │ ├── gridfastslam │ │ │ ├── gridslamprocessor.h │ │ │ ├── gridslamprocessor.hxx │ │ │ └── motionmodel.h │ │ │ ├── log │ │ │ ├── configuration.h │ │ │ └── sensorlog.h │ │ │ ├── particlefilter │ │ │ └── particlefilter.h │ │ │ ├── scanmatcher │ │ │ ├── icp.h │ │ │ ├── scanmatcher.h │ │ │ └── smmap.h │ │ │ ├── sensor │ │ │ ├── sensor_base │ │ │ │ ├── sensor.h │ │ │ │ └── sensorreading.h │ │ │ ├── sensor_odometry │ │ │ │ ├── odometryreading.h │ │ │ │ └── odometrysensor.h │ │ │ └── sensor_range │ │ │ │ ├── rangereading.h │ │ │ │ └── rangesensor.h │ │ │ └── utils │ │ │ ├── autoptr.h │ │ │ ├── commandline.h │ │ │ ├── gvalues.h │ │ │ ├── macro_params.h │ │ │ ├── point.h │ │ │ └── stat.h │ ├── ini │ │ ├── gfs-LMS-10cm.ini │ │ ├── gfs-LMS-20cm.ini │ │ ├── gfs-LMS-5cm.ini │ │ ├── gfs-PLS-10cm.ini │ │ └── gfs-PLS-5cm.ini │ ├── log │ │ ├── Makefile │ │ ├── carmenconfiguration.cpp │ │ ├── carmenconfiguration.h │ │ ├── configuration.cpp │ │ ├── log_plot.cpp │ │ ├── log_test.cpp │ │ ├── rdk2carmen.cpp │ │ ├── scanstudio2carmen.cpp │ │ ├── sensorlog.cpp │ │ ├── sensorstream.cpp │ │ └── sensorstream.h │ ├── package.xml │ ├── particlefilter │ │ ├── particlefilter.cpp │ │ ├── particlefilter_test.cpp │ │ ├── pf.h │ │ └── range_bearing.cpp │ ├── scanmatcher │ │ ├── CMakeLists.txt │ │ ├── correlationGrid.cpp │ │ ├── correlationGrid.h │ │ ├── eig3.cpp │ │ ├── eig3.h │ │ ├── gridlinetraversal.h │ │ ├── icptest.cpp │ │ ├── lumiles.h │ │ ├── scanmatch_test.cpp │ │ ├── scanmatcher.cpp │ │ ├── scanmatcher.new.cpp │ │ ├── scanmatcherprocessor.cpp │ │ ├── scanmatcherprocessor.h │ │ └── smmap.cpp │ ├── sensor │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── sensor_base │ │ │ ├── CMakeLists.txt │ │ │ ├── sensor.cpp │ │ │ ├── sensoreading.h │ │ │ └── sensorreading.cpp │ │ ├── sensor_odometry │ │ │ ├── CMakeLists.txt │ │ │ ├── odometryreading.cpp │ │ │ └── odometrysensor.cpp │ │ └── sensor_range │ │ │ ├── CMakeLists.txt │ │ │ ├── rangereading.cpp │ │ │ └── rangesensor.cpp │ └── utils │ │ ├── CMakeLists.txt │ │ ├── autoptr_test.cpp │ │ ├── datasmoother.h │ │ ├── dmatrix.h │ │ ├── movement.cpp │ │ ├── movement.h │ │ ├── optimizer.h │ │ ├── orientedboundingbox.h │ │ ├── orientedboundingbox.hxx │ │ ├── printmemusage.cpp │ │ ├── printmemusage.h │ │ ├── printpgm.h │ │ ├── stat.cpp │ │ └── stat_test.cpp ├── slam_gmapping │ ├── .gitignore │ ├── .travis.yml │ ├── gmapping │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── gmapping_sim.launch │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── main.cpp │ │ │ ├── nodelet.cpp │ │ │ ├── replay.cpp │ │ │ ├── slam_gmapping.cpp │ │ │ ├── slam_gmapping.h │ │ │ └── tftest.cpp │ │ └── test │ │ │ ├── basic_localization_laser_different_beamcount.test │ │ │ ├── basic_localization_stage.launch │ │ │ ├── basic_localization_stage_replay.launch │ │ │ ├── basic_localization_stage_replay2.launch │ │ │ ├── basic_localization_symmetry.launch │ │ │ ├── basic_localization_upside_down.launch │ │ │ ├── rtest.cpp │ │ │ └── test_map.py │ └── slam_gmapping │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml ├── 第五课-基于滤波的SLAM算法.pdf └── 第四课-帧间匹配算法.pdf ├── laser_undistortion ├── CMakeLists.txt ├── README.assets │ ├── laser_undistortion.jpg │ └── laser_undistortion.png ├── README.md ├── bag │ └── laser.bag ├── launch │ └── LaserUndistortion.launch ├── package.xml ├── src │ └── LidarMotionUndistortion.cpp └── 第三课-激光雷达及畸变去除.pdf ├── ls_slam ├── CMakeLists.txt ├── README.assets │ ├── GN.png │ ├── GN1.png │ ├── GN2.png │ ├── error.png │ ├── xianxinghua.png │ └── ykb.png ├── README.md ├── data │ ├── intel-e.dat │ ├── intel-v.dat │ ├── killian-e.dat │ ├── killian-v.dat │ ├── test_quadrat-e.dat │ └── test_quadrat-v.dat ├── include │ └── ls_slam │ │ ├── gaussian_newton.h │ │ └── readfile.h ├── package.xml ├── src │ ├── gaussian_newton.cpp │ ├── main.cpp │ └── readfile.cpp └── 第六课-图优化SLAM算法.pdf ├── occupany_mapping ├── CMakeLists.txt ├── 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