├── .gitignore ├── .gitmodules ├── AutomaticCalibration.pdf ├── CreateObstacles.m ├── LICENSE.md ├── LiDAR_simulation.fig ├── LiDAR_simulation.jpg ├── LiDAR_simulation_only.m ├── README.md ├── calibrateIntrinsicParameters.m ├── checkInsidePolygon.m ├── checkInsidePolygonGiven3DPoints.m ├── checkInsidePolygonGivenPlaneAndTwoPoints.m ├── checkRingOrderWithOriginalPerTarget.m ├── checkSimulatorRingOrder.m ├── computeAngleSum.m ├── computeDistributionCost.m ├── computePointsToPlaneDistance.m ├── correctSSLiDARPoints.m ├── estimateIntrinsicLie.m ├── figure ├── IntroVideo.png ├── SSLiDARCalibrated.png ├── SSLiDARN.png ├── SSLiDARNF.png ├── SimulationSSLiDAR.png ├── SimulationSpinning.png ├── SpinningLiDAR1Target.png └── SpinningLiDARNTargets.png ├── findArrayToMatrixIndex.m ├── findIntersectionOfPlaneAndLine.m ├── findIntersectionOfPlaneAndLineGivenPlane.m ├── findOnWhichSperePolygon.m ├── genFrameCoordinate.m ├── genLiDARArray.m ├── genLiDARGrid.m ├── genLiDARNoiseModel.m ├── genLiDARPointsDistribution.m ├── genLiDARTagPoints.m ├── genPointsInPolygon.m ├── genRotatingHeadLiDARNoiseModel.m ├── genSolidStateLiDARNoiseModel.m ├── generateTable.m ├── generateTable2.m ├── generateTable3.m ├── getLiDARPreperties.m ├── getNoise.m ├── inhull.m ├── intensityToMatrix.m ├── intersect3DLine.m ├── intersectPlane.m ├── intersection.m ├── limitInBoundaryWithBoundaryPlanes.m ├── limitInBoundaryWithMaxMin.m ├── loadVelodyneUltraPuckV2.m ├── main_solid_state_lidar.m ├── main_spinning_lidar.m ├── measureSolidStateEndPoints.m ├── movePointGivenAVector.m ├── noise ├── addTwoTypesOfNoise.m ├── complexHomogeneousNoiseModel.m ├── complexMechanicalNoiseModel.m ├── complexMechanicalNoiseModelToXYZ.m ├── genSinusoidalWave.m ├── mechanismSixParamsToSim3.m ├── mechanismThreeParamsToSim3.m ├── noNoise.m ├── noSimpleMechanicalNoiseModel.m ├── projectPointToSphere.m ├── returnPointFromUnitGrid.m ├── simpleBent.m ├── simpleBent2PlaneDirection.m ├── simpleHomogeneousNoiseModel.m ├── simpleHomogeneousNoiseModelAddOnNoise.m ├── simpleMechanicalNoiseModel.m ├── sinusoidalWaveNoise.m ├── whiteNoiseRotatingHead.m └── whiteNoiseSolidState.m ├── normalizedDiff.m ├── parseLiDARStruct.m ├── parsingPoints.m ├── scenes ├── getScene0.m ├── getScene1.m ├── getScene10.m ├── getScene11.m ├── getScene12.m ├── getScene13.m ├── getScene14.m ├── getScene2.m ├── getScene21.m ├── getScene22.m ├── getScene23.m ├── getScene24.m ├── getScene25.m ├── getScene26.m ├── getScene27.m ├── getScene28.m ├── getScene29.m ├── getScene3.m ├── getScene30.m ├── getScene4.m ├── getScene5.m ├── getScene6.m ├── getScene7.m ├── getScene8.m ├── getScene9.m └── getScene91.m ├── simOPASSLiDAR.m ├── sim_lidartag ├── genGriddedPoints.m ├── genPointIntensityBasedOnImageTag.m ├── genTagCode.m ├── genTagImageDistribution.m ├── genUniformGrid.m ├── genUniformPoints.m ├── getGridCenter.m ├── getTagIndex.m ├── main.m ├── readTag.m ├── se_kernel.m ├── splitRegion.m ├── tagDistribution.m ├── tag_img │ ├── tag16_05_00000.png │ ├── tag16_05_00001.png │ ├── tag16_05_00002.png │ ├── tag16_05_00003.png │ ├── tag16_05_00004.png │ ├── tag16_05_00005.png │ ├── tag16_05_00006.png │ ├── tag16_05_00007.png │ ├── tag16_05_00008.png │ ├── tag16_05_00009.png │ ├── tag16_05_00010.png │ ├── tag16_05_00011.png │ ├── tag16_05_00012.png │ ├── tag16_05_00013.png │ ├── tag16_05_00014.png │ ├── tag16_05_00015.png │ ├── tag16_05_00016.png │ ├── tag16_05_00017.png │ ├── tag16_05_00018.png │ ├── tag16_05_00019.png │ ├── tag16_05_00020.png │ ├── tag16_05_00021.png │ ├── tag16_05_00022.png │ ├── tag16_05_00023.png │ ├── tag16_05_00024.png │ ├── tag16_05_00025.png │ ├── tag16_05_00026.png │ ├── tag16_05_00027.png │ ├── tag16_05_00028.png │ └── tag16_05_00029.png └── testMultiGaussian.m ├── simuateLiDAREnvironment.m ├── simulateCalibratedLiDAR.m ├── simulateLiDAR.m ├── simulateRotatingHeadLiDAR.m ├── simulateSimpleSolidStateLiDAR.m ├── splitPointsBasedOnSegment.m ├── test_SSLiDAR.m ├── test_SSLiDAR2.m ├── 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