├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── double-laser.yaml ├── single-laser.yaml └── slamparams.yaml ├── docker ├── Dockerfile ├── docker-compose.yaml ├── entrypoint ├── fastrtps_profile.xml ├── launch_content │ ├── single-laser.yaml │ └── slam.launch.py └── makefile ├── launch ├── multi_slam.launch ├── multi_slam.launch.py └── slam.launch.py ├── package.xml ├── src ├── OdometryAnalyzer.cpp ├── OdometryAnalyzer.h ├── SlamNode.cpp ├── SlamNode.h ├── ThreadGrid.cpp ├── ThreadGrid.h ├── ThreadLocalize.cpp ├── ThreadLocalize.h ├── ThreadMapping.cpp ├── ThreadMapping.h ├── ThreadSLAM.cpp ├── ThreadSLAM.h ├── obcore │ ├── base │ │ ├── CartesianCloud.cpp │ │ ├── CartesianCloud.h │ │ ├── CartesianCloudFactory.cpp │ │ ├── CartesianCloudFactory.h │ │ ├── Logger.cpp │ │ ├── Logger.h │ │ ├── Point.h │ │ ├── PointCloud.cpp │ │ ├── PointCloud.h │ │ ├── System.h │ │ ├── System.inl │ │ ├── Time.cpp │ │ ├── Time.h │ │ ├── Timer.cpp │ │ ├── Timer.h │ │ ├── tools.cpp │ │ ├── tools.h │ │ └── types.h │ └── math │ │ ├── linalg │ │ ├── MatrixFactory.cpp │ │ ├── MatrixFactory.h │ │ ├── eigen │ │ │ ├── Matrix.cpp │ │ │ ├── Matrix.h │ │ │ ├── Vector.cpp │ │ │ └── Vector.h │ │ ├── gsl │ │ │ ├── Matrix.cpp │ │ │ ├── Matrix.h │ │ │ ├── Vector.cpp │ │ │ └── Vector.h │ │ ├── linalg.h │ │ └── linalg.h.in │ │ └── mathbase.h ├── obvision │ ├── reconstruct │ │ ├── Sensor.cpp │ │ ├── Sensor.h │ │ ├── grid │ │ │ ├── RayCastAxisAligned2D.cpp │ │ │ ├── RayCastAxisAligned2D.h │ │ │ ├── RayCastPolar2D.cpp │ │ │ ├── RayCastPolar2D.h │ │ │ ├── SensorPolar2D.cpp │ │ │ ├── SensorPolar2D.h │ │ │ ├── TsdGrid.cpp │ │ │ ├── TsdGrid.h │ │ │ ├── TsdGridBranch.cpp │ │ │ ├── TsdGridBranch.h │ │ │ ├── TsdGridComponent.cpp │ │ │ ├── TsdGridComponent.h │ │ │ ├── TsdGridPartition.cpp │ │ │ └── TsdGridPartition.h │ │ └── reconstruct_defs.h │ └── registration │ │ ├── Trace.cpp │ │ ├── Trace.h │ │ ├── amcl │ │ └── AdaptiveMonteCarloMatching.h │ │ ├── icp │ │ ├── ClosedFormEstimator2D.cpp │ │ ├── ClosedFormEstimator2D.h │ │ ├── IRigidEstimator.h │ │ ├── Icp.cpp │ │ ├── Icp.h │ │ ├── IcpMultiInitIterator.cpp │ │ ├── IcpMultiInitIterator.h │ │ ├── PointToLineEstimator2D.cpp │ │ ├── PointToLineEstimator2D.h │ │ ├── assign │ │ │ ├── AnnPairAssignment.cpp │ │ │ ├── AnnPairAssignment.h │ │ │ ├── FlannPairAssignment.cpp │ │ │ ├── FlannPairAssignment.h │ │ │ ├── NaboPairAssignment.cpp │ │ │ ├── NaboPairAssignment.h │ │ │ ├── PairAssignment.cpp │ │ │ ├── PairAssignment.h │ │ │ ├── ProjectivePairAssignment.cpp │ │ │ ├── ProjectivePairAssignment.h │ │ │ ├── assignbase.h │ │ │ └── filter │ │ │ │ ├── DistanceFilter.cpp │ │ │ │ ├── DistanceFilter.h │ │ │ │ ├── IPostAssignmentFilter.h │ │ │ │ ├── IPreAssignmentFilter.h │ │ │ │ ├── OcclusionFilter.cpp │ │ │ │ ├── OcclusionFilter.h │ │ │ │ ├── OutOfBoundsFilter2D.cpp │ │ │ │ ├── OutOfBoundsFilter2D.h │ │ │ │ ├── ReciprocalFilter.cpp │ │ │ │ ├── ReciprocalFilter.h │ │ │ │ ├── RobotFootprintFilter.cpp │ │ │ │ ├── RobotFootprintFilter.h │ │ │ │ ├── TrimmedFilter.cpp │ │ │ │ └── TrimmedFilter.h │ │ └── icp_def.h │ │ └── ransacMatching │ │ ├── PDFMatching.cpp │ │ ├── PDFMatching.h │ │ ├── RandomMatching.cpp │ │ ├── RandomMatching.h │ │ ├── RandomNormalMatching.cpp │ │ ├── RandomNormalMatching.h │ │ ├── TSD_PDFMatching.cpp │ │ ├── TSD_PDFMatching.h │ │ ├── TwinPointMatching.cpp │ │ └── TwinPointMatching.h ├── slam.cpp └── test.cpp ├── srv └── StartStopSLAM.srv ├── tsd_multi_slam.yaml └── tsd_slam.yaml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/autonohm/ohm_tsd_slam/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/autonohm/ohm_tsd_slam/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: 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