├── LICENSE ├── README.md ├── fast_apdgicp ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── fast_gicp │ │ ├── cuda │ │ ├── brute_force_knn.cuh │ │ ├── compute_derivatives.cuh │ │ ├── compute_mahalanobis.cuh │ │ ├── covariance_estimation.cuh │ │ ├── covariance_regularization.cuh │ │ ├── fast_vgicp_cuda.cuh │ │ ├── find_voxel_correspondences.cuh │ │ ├── gaussian_voxelmap.cuh │ │ ├── ndt_compute_derivatives.cuh │ │ ├── ndt_cuda.cuh │ │ └── vector3_hash.cuh │ │ ├── gicp │ │ ├── experimental │ │ │ ├── fast_gicp_mp.hpp │ │ │ └── fast_gicp_mp_impl.hpp │ │ ├── fast_apdgicp.hpp │ │ ├── fast_gicp.hpp │ │ ├── fast_gicp_st.hpp │ │ ├── fast_vgicp.hpp │ │ ├── fast_vgicp_cuda.hpp │ │ ├── fast_vgicp_voxel.hpp │ │ ├── gicp_settings.hpp │ │ ├── impl │ │ │ ├── fast_apdgicp_impl.hpp │ │ │ ├── fast_gicp_impl.hpp │ │ │ ├── fast_gicp_st_impl.hpp │ │ │ ├── fast_vgicp_cuda_impl.hpp │ │ │ ├── fast_vgicp_impl.hpp │ │ │ └── lsq_registration_impl.hpp │ │ └── lsq_registration.hpp │ │ ├── ndt │ │ ├── impl │ │ │ └── ndt_cuda_impl.hpp │ │ ├── ndt_cuda.hpp │ │ └── ndt_settings.hpp │ │ └── so3 │ │ └── so3.hpp ├── package.xml └── src │ ├── align.cpp │ ├── fast_gicp │ ├── cuda │ │ ├── brute_force_knn.cu │ │ ├── compute_derivatives.cu │ │ ├── compute_mahalanobis.cu │ │ ├── covariance_estimation.cu │ │ ├── covariance_estimation_rbf.cu │ │ ├── covariance_regularization.cu │ │ ├── fast_vgicp_cuda.cu │ │ ├── find_voxel_correspondences.cu │ │ ├── gaussian_voxelmap.cu │ │ ├── ndt_compute_derivatives.cu │ │ └── ndt_cuda.cu │ ├── gicp │ │ ├── experimental │ │ │ └── fast_gicp_mp.cpp │ │ ├── fast_apdgicp.cpp │ │ ├── fast_gicp.cpp │ │ ├── fast_gicp_st.cpp │ │ ├── fast_vgicp.cpp │ │ ├── fast_vgicp_cuda.cpp │ │ └── lsq_registration.cpp │ └── ndt │ │ └── ndt_cuda.cpp │ ├── kitti.cpp │ ├── kitti.py │ ├── python │ └── main.cpp │ └── test │ └── gicp_test.cpp ├── msgs_radar ├── CMakeLists.txt ├── README.md ├── msg │ ├── RadarScanExtended.msg │ └── RadarTargetExtended.msg └── package.xml └── radar_graph_slam ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps ├── floor_detection_nodelet.cpp ├── preprocessing_nodelet.cpp ├── radar_graph_slam_nodelet.cpp └── scan_matching_odometry_nodelet.cpp ├── cmake └── FindG2O.cmake ├── config └── params.yaml ├── doc ├── fig_carpark_map.png ├── fig_map_compare.png ├── graph.png ├── mapping_smoke.gif ├── overview.png ├── traj_plot_no_imu.png ├── traj_plot_with_imu.png └── traj_plot_with_imu_no_floor.png ├── include ├── dbscan │ ├── DBSCAN_kdtree.h │ ├── DBSCAN_precomp.h │ └── DBSCAN_simple.h ├── g2o │ ├── edge_3d_velocity.hpp │ ├── edge_plane_identity.hpp │ ├── edge_plane_parallel.hpp │ ├── edge_plane_prior.hpp │ ├── edge_se3_gt_utm.hpp │ ├── edge_se3_interial.hpp │ ├── edge_se3_plane.hpp │ ├── edge_se3_priorquat.hpp │ ├── edge_se3_priorvec.hpp │ ├── edge_se3_priorxy.hpp │ ├── edge_se3_priorxyz.hpp │ ├── edge_se3_priorz.hpp │ ├── edge_se3_se3.hpp │ ├── edge_se3_z.hpp │ ├── g2o_types.hpp │ └── robust_kernel_io.hpp ├── radar_ego_velocity_estimator.h ├── radar_graph_slam │ ├── graph_slam.hpp │ ├── imu_preintegration.hpp │ ├── information_matrix_calculator.hpp │ ├── keyframe.hpp │ ├── keyframe_updater.hpp │ ├── loop_detector.hpp │ ├── map_cloud_generator.hpp │ ├── nav_state.hpp │ ├── polynomial_interpolation.hpp │ ├── registrations.hpp │ ├── ros_time_hash.hpp │ └── ros_utils.hpp ├── rio_utils │ ├── data_types.h │ ├── math_helper.h │ ├── radar_point_cloud.h │ ├── ros_helper.h │ ├── simple_profiler.h │ └── strapdown.h ├── scan_context │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── Scancontext.h │ ├── nanoflann.hpp │ └── tictoc.h └── utility_radar.h ├── launch └── radar_graph_slam.launch ├── msg ├── Barometer.msg ├── FloorCoeffs.msg └── ScanMatchingStatus.msg ├── nodelet_plugins.xml ├── package.xml ├── rviz └── radar_graph_slam_path.rviz ├── setup.py ├── src ├── g2o │ └── robust_kernel_io.cpp ├── gps_traj_align.cpp ├── gt_adjust.cpp ├── radar_ego_velocity_estimator.cpp └── radar_graph_slam │ ├── 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