├── .gitignore ├── LICENCE.md ├── README.md ├── matlab ├── GtCalc.m ├── LM_solver │ ├── f_initT_withPlane.m │ ├── f_optm_MLE.m │ ├── f_optm_MLE_cam.m │ ├── f_optm_MLE_with_cam.m │ ├── f_optm_MLE_with_s.m │ ├── f_optm_with_s.m │ ├── jocbian │ │ ├── f_derivative_Pjk_Ri.m │ │ ├── f_derivative_Pjk_Rj.m │ │ ├── f_derivative_Pjk_s.m │ │ ├── f_derivative_Pjk_ti.m │ │ ├── f_derivative_Pjk_tj.m │ │ ├── f_derivative_Pk_R.m │ │ ├── f_derivative_Pk_barP.m │ │ ├── f_derivative_Pk_n.m │ │ ├── f_derivative_Pk_t.m │ │ ├── f_derivative_e_Pjk.m │ │ ├── f_derivative_pjk_pik.m │ │ ├── f_derivative_pk_uk.m │ │ ├── f_e_jocb_R.m │ │ ├── f_e_jocb_Ri.m │ │ ├── f_e_jocb_Rj.m │ │ ├── f_e_jocb_barP.m │ │ ├── f_e_jocb_n.m │ │ ├── f_e_jocb_s.m │ │ ├── f_e_jocb_t.m │ │ ├── f_e_jocb_ti.m │ │ ├── f_e_jocb_tj.m │ │ ├── f_e_jocb_uik.m │ │ └── f_e_jocb_ujk.m │ └── obj │ │ ├── f_obj_ijk.m │ │ ├── f_obj_pjk.m │ │ └── f_obj_pk.m ├── colmap │ ├── cmap2rgb.m │ ├── f_getPairedPxPt3D.m │ ├── f_getPxPoints3D.m │ ├── plot_model.m │ ├── quat2rotmat.m │ ├── read_array.m │ ├── read_depth_map.m │ ├── read_model.m │ ├── read_normal_map.m │ ├── read_ply.m │ ├── wirte_model.m │ ├── write_array.m │ └── write_ply.m ├── figures │ ├── cali_scene.png │ ├── helpnotes.png │ └── overview.png ├── main_cali_real.m ├── main_cali_real_eval.m ├── main_cali_real_eval2.m ├── main_cali_simu.m ├── undist_imgs.m ├── utils │ ├── f_PxsWithProErr_c.m │ ├── f_PxsWithProErr_l.m │ ├── f_calcPlaneCovariance.m │ ├── f_dataPreprocess.m │ ├── f_dataPreprocess2.m │ ├── f_err_analysis.m │ ├── f_findPlaneWithpx.m │ ├── f_findPtsfromPx.m │ ├── f_kmeans.m │ ├── f_lee2rotm.m │ ├── f_load_data.m │ ├── f_myundistortImage.m │ ├── f_planeChooseInCamera.m │ ├── f_rotm2lee.m │ ├── f_skew.m │ └── plane_ransac │ │ ├── f_Plane3dVal.m │ │ ├── f_PlaneFitIn3D.m │ │ └── f_plane_ransac.m └── visualize │ ├── f_plot_match.m │ ├── f_plot_match2.m │ ├── f_pro_livox2cam.m │ ├── f_pro_livox2cam_i.m │ └── f_pt_project_depth2image.m ├── ros_ws ├── .catkin_workspace └── src 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