├── .gitignore ├── LICENSE ├── README.md ├── ROS ├── .gitignore ├── build.sh ├── rename.py ├── run_camera.sh ├── run_collect.sh ├── run_lidar.sh └── src │ ├── CMakeLists.txt │ ├── calibration │ └── thomas_calibration │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── launch │ │ └── collect.launch │ │ ├── package.xml │ │ └── script │ │ ├── CLEmain.m │ │ ├── bag2kitti.m │ │ ├── calib2kitti.m │ │ ├── calibMat2CV.m │ │ ├── calibStereo.m │ │ ├── calibrator.py │ │ ├── cameracalibrator.py │ │ ├── checkRectify.m │ │ ├── compress.m │ │ ├── convert.m │ │ ├── costCLextrinsic.m │ │ ├── costReproj.m │ │ ├── demo.m │ │ ├── icp2kitti.m │ │ ├── readCalibrationFromOpenCV.m │ │ ├── testCalibration.m │ │ └── writeMat.m │ ├── camera │ └── mynteye_wrapper_d │ │ ├── CMakeLists.txt │ │ ├── launch │ │ ├── display.launch │ │ ├── mynteye.launch │ │ └── slam │ │ │ ├── orb_slam2.launch │ │ │ ├── vins_fusion.launch │ │ │ └── vins_mono.launch │ │ ├── mesh │ │ ├── D-0315.mtl │ │ └── D-0315.obj │ │ ├── msg │ │ └── Temp.msg │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── rviz │ │ └── mynteye.rviz │ │ ├── src │ │ ├── configuru.hpp │ │ ├── mynteye_listener.cc │ │ ├── mynteye_wrapper_node.cc │ │ ├── mynteye_wrapper_nodelet.cc │ │ ├── pointcloud_generator.cc │ │ └── pointcloud_generator.h │ │ └── srv │ │ └── GetParams.srv │ ├── controller │ ├── CMakeLists.txt │ ├── msg │ │ └── Cmd.msg │ ├── package.xml │ └── scripts │ │ ├── can_bus.py │ │ ├── get_permission.sh │ │ ├── run.py │ │ └── xbox.py │ ├── gps │ ├── CMakeLists.txt │ ├── msg │ │ └── GPS.msg │ ├── package.xml │ └── scripts │ │ ├── get_permission.sh │ │ └── run_gps.py │ ├── imu │ ├── CMakeLists.txt │ ├── msg │ │ └── IMU.msg │ ├── package.xml │ └── scripts │ │ ├── mtdef.py │ │ ├── mtdevice.py │ │ └── mtnode.py │ ├── lidar │ ├── velodyne │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── velodyne_driver │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── VelodyneNode.cfg │ │ ├── include │ │ │ └── velodyne_driver │ │ │ │ ├── driver.h │ │ │ │ ├── input.h │ │ │ │ ├── ring_sequence.h │ │ │ │ └── time_conversion.hpp │ │ ├── launch │ │ │ └── nodelet_manager.launch │ │ ├── nodelet_velodyne.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── driver │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── driver.cc │ │ │ │ ├── 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 │ │ │ └── timeconversiontest.cpp │ ├── velodyne_laserscan │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── VelodyneLaserScan.cfg │ │ ├── include │ │ │ └── velodyne_laserscan │ │ │ │ └── velodyne_laserscan.h │ │ ├── nodelets.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── node.cpp │ │ │ ├── nodelet.cpp │ │ │ └── velodyne_laserscan.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 │ │ ├── msg │ │ │ ├── VelodynePacket.msg │ │ │ └── VelodyneScan.msg │ │ └── package.xml │ └── velodyne_pointcloud │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ ├── CloudNode.cfg │ │ └── TransformNode.cfg │ │ ├── include │ │ └── velodyne_pointcloud │ │ │ ├── calibration.h │ │ │ ├── convert.h │ │ │ ├── datacontainerbase.h │ │ │ ├── organized_cloudXYZIR.h │ │ │ ├── pointcloudXYZIR.h │ │ │ ├── rawdata.h │ │ │ └── transform.h │ │ ├── launch │ │ ├── 32e_points.launch │ │ ├── 64e_S3.launch │ │ ├── VLP-32C_points.launch │ │ ├── VLP16_points.launch │ │ ├── cloud_nodelet.launch │ │ ├── laserscan_nodelet.launch │ │ └── transform_nodelet.launch │ │ ├── nodelets.xml │ │ ├── package.xml │ │ ├── params │ │ ├── 32db.yaml │ │ ├── 64e_s2.1-sztaki.yaml │ │ ├── 64e_s3-xiesc.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 │ │ │ ├── convert.cc │ │ │ ├── organized_cloudXYZIR.cc │ │ │ ├── pointcloudXYZIR.cc │ │ │ ├── transform.cc │ │ │ ├── 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 │ └── tools │ └── save_img.py ├── ckpt └── .gitkeep ├── device ├── __init__.py ├── camera │ ├── CMakeLists.txt │ ├── build.sh │ ├── run.py │ └── src │ │ ├── main.cpp │ │ └── util │ │ ├── cam_utils.cc │ │ ├── cam_utils.h │ │ ├── mat_warper.cpp │ │ └── mat_warper.h ├── controller │ ├── __init__.py │ ├── controller.py │ ├── passive_xbox.py │ └── xbox.py ├── gps │ ├── __init__.py │ └── gps.py ├── imu │ ├── __init__.py │ ├── mtdef.py │ ├── mtdevice.py │ └── mtnode.py ├── lidar │ ├── __init__.py │ ├── lidar.py │ ├── open_port.sh │ └── velodyne-driver │ │ ├── CMakeLists.txt │ │ ├── build.sh │ │ ├── src │ │ └── velodyne.cpp │ │ └── test.py └── sensor_manager.py ├── doc ├── robocar.jpg └── video_link.png ├── learning ├── __init__.py ├── costmap_dataset.py ├── datasets.py ├── models.py └── path_model.py ├── scripts ├── .gitignore ├── carla │ ├── Town01 │ │ ├── navigation.csv │ │ ├── navigation_with_dynamic_obstacles.csv │ │ ├── one_turn.csv │ │ └── straight.csv │ ├── Town02 │ │ ├── navigation.csv │ │ ├── navigation_with_dynamic_obstacles.csv │ │ ├── one_turn.csv │ │ └── straight.csv │ ├── asynchronous_control_carla.py │ ├── collect_sim_data-2.py │ ├── collect_sim_data.py │ ├── train_GAN.py │ ├── train_GAN_unpaired.py │ └── train_path.py ├── dataset │ └── train_path.py ├── ff │ ├── bezier_curve.py │ ├── camera │ │ ├── basic_tools.py │ │ ├── coordinate_transformation.py │ │ └── parameters.py │ ├── capac_controller.py │ ├── carla_sensor.py │ ├── collect_ipm.py │ ├── collect_pm.py │ ├── collect_pm_real_time.py │ └── system │ │ ├── __init__.py │ │ ├── env_path.py │ │ └── load_carla.py ├── ff_collect_ipm_data.py ├── ff_collect_pm_data.py ├── generate_data │ ├── generate_image_semantic.py │ ├── manaul_collect_sim_data.py │ ├── manual_control_steeringwheel.py │ ├── visualizer.py │ └── wheel_config.ini ├── install.sh ├── other │ └── calibration.py ├── real │ ├── active-record.py │ ├── bag-record.py │ ├── calc_path_len.py │ ├── cat_img.py │ ├── draw_path.py │ ├── get_permission.sh │ ├── passive-record.py │ ├── run.py │ └── test.py ├── requirements.txt └── test │ ├── asynchronous_control_carla_img.py │ ├── manual_control.py │ ├── run_carla.py │ ├── spawn_npc.py │ ├── test_carla.py │ ├── test_carla_data.py │ ├── test_ipm.py │ ├── test_map.py │ ├── test_sim.py │ └── train_path_img.py ├── simulator ├── __init__.py ├── official_code.py ├── sensor_manager.py └── xbox.py ├── utils ├── __init__.py ├── camera_info.py ├── camera_info_sim.py ├── local_planner.py ├── local_planner_sim.py ├── manual_gps.py ├── map-mark.png ├── nav.png ├── navigator.py └── navigator_sim.py └── video └── README.md /.gitignore: -------------------------------------------------------------------------------- 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