├── .github └── workflows │ ├── humble.yml │ ├── kinetic.yml │ ├── melodic.yml │ └── noetic.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── conf ├── config_file.txt ├── lidar_camera_calibration.yaml ├── marker_coordinates.txt ├── points.txt └── transform.txt ├── dependencies ├── aruco_mapping │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── data │ │ ├── geniusF100.ini │ │ ├── ptgrey.ini │ │ └── zed_left_uurmi.ini │ ├── include │ │ └── aruco_mapping.h │ ├── launch │ │ ├── aruco_config.rviz │ │ └── aruco_mapping.launch │ ├── msg │ │ └── ArucoMarker.msg │ ├── package.xml │ └── src │ │ ├── aruco_mapping.cpp │ │ └── main.cpp ├── aruco_ros │ ├── README.md │ ├── aruco │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── ArucoThreshold.cfg │ │ ├── include │ │ │ └── aruco │ │ │ │ ├── aruco.h │ │ │ │ ├── arucofidmarkers.h │ │ │ │ ├── board.h │ │ │ │ ├── boarddetector.h │ │ │ │ ├── cameraparameters.h │ │ │ │ ├── cvdrawingutils.h │ │ │ │ ├── exports.h │ │ │ │ ├── marker.h │ │ │ │ └── markerdetector.h │ │ ├── package.xml │ │ └── src │ │ │ └── aruco │ │ │ ├── aruco_selectoptimalmarkers.cpp │ │ │ ├── arucofidmarkers.cpp │ │ │ ├── board.cpp │ │ │ ├── boarddetector.cpp │ │ │ ├── cameraparameters.cpp │ │ │ ├── cvdrawingutils.cpp │ │ │ ├── marker.cpp │ │ │ └── markerdetector.cpp │ ├── aruco_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── Marker.msg │ │ │ └── MarkerArray.msg │ │ └── package.xml │ └── aruco_ros │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ └── ArucoThreshold.cfg │ │ ├── etc │ │ ├── marker26_5cm.jpg │ │ ├── marker26_5cm_margin_1cm.jpg │ │ ├── marker26_5cm_margin_2cm.jpg │ │ ├── marker582_5cm.jpg │ │ ├── marker582_5cm_margin_2cm.jpg │ │ ├── marker_in_hand.jpg │ │ ├── marker_in_object.jpg │ │ ├── reem_gazebo_floating_marker.png │ │ └── reem_gazebo_floating_marker_world.png │ │ ├── include │ │ └── aruco_ros │ │ │ └── aruco_ros_utils.h │ │ ├── launch │ │ ├── double.launch │ │ ├── marker_publisher.launch │ │ └── single.launch │ │ ├── package.xml │ │ └── src │ │ ├── aruco_ros_utils.cpp │ │ ├── marker_publish.cpp │ │ ├── simple_double.cpp │ │ └── simple_single.cpp └── aruco_ros_old │ ├── README.md │ ├── aruco │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── ArucoThreshold.cfg │ ├── include │ │ └── aruco │ │ │ ├── aruco.h │ │ │ ├── arucofidmarkers.h │ │ │ ├── board.h │ │ │ ├── boarddetector.h │ │ │ ├── cameraparameters.h │ │ │ ├── cvdrawingutils.h │ │ │ ├── exports.h │ │ │ ├── marker.h │ │ │ └── markerdetector.h │ ├── package.xml │ └── src │ │ └── aruco │ │ ├── aruco_selectoptimalmarkers.cpp │ │ ├── arucofidmarkers.cpp │ │ ├── board.cpp │ │ ├── boarddetector.cpp │ │ ├── cameraparameters.cpp │ │ ├── cvdrawingutils.cpp │ │ ├── marker.cpp │ │ └── markerdetector.cpp │ ├── aruco_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── Marker.msg │ │ └── MarkerArray.msg │ └── package.xml │ └── aruco_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── ArucoThreshold.cfg │ ├── etc │ ├── marker26_5cm.jpg │ ├── marker26_5cm_margin_1cm.jpg │ ├── marker26_5cm_margin_2cm.jpg │ ├── marker582_5cm.jpg │ ├── marker582_5cm_margin_2cm.jpg │ ├── marker_in_hand.jpg │ ├── marker_in_object.jpg │ ├── reem_gazebo_floating_marker.png │ └── reem_gazebo_floating_marker_world.png │ ├── include │ └── aruco_ros │ │ └── aruco_ros_utils.h │ ├── launch │ ├── double.launch │ ├── marker_publisher.launch │ └── single.launch │ ├── package.xml │ └── src │ ├── aruco_ros_utils.cpp │ ├── marker_publish.cpp │ ├── simple_double.cpp │ └── simple_single.cpp ├── images ├── aruco_axis.png ├── board_dim_label.jpg ├── deg801.jpg ├── deg802.jpg ├── deg803.jpg ├── experimental_setup.jpg ├── pcl.png ├── setup_mm1.jpg ├── setup_mm2.jpg ├── setup_view1.jpg └── setup_view2.jpg ├── include └── lidar_camera_calibration │ ├── Corners.h │ ├── Find_RT.h │ ├── PreprocessUtils.h │ └── Utils.h ├── launch └── find_transform.launch ├── log └── avg_values.txt ├── msg └── marker_6dof.msg ├── package.xml ├── pointcloud_fusion ├── CMakeLists.txt ├── README.md ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.5.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── 3.7.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ 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