├── CMakeLists.txt ├── README.md ├── apps ├── calib_warp.cpp └── test_sim.cpp ├── doc ├── cloud_map.png ├── flow.png └── res.png ├── include ├── calib_lidar_imu.h ├── math_utils.h └── registrations.hpp ├── launch └── calib_lidar_imu.launch ├── package.xml ├── src ├── calib_lidar_imu.cpp └── registrations.cpp └── thirdparty ├── fast_gicp ├── gicp │ ├── experimental │ │ ├── fast_gicp_mp.cpp │ │ ├── fast_gicp_mp.hpp │ │ └── fast_gicp_mp_impl.hpp │ ├── fast_gicp.cpp │ ├── fast_gicp.hpp │ ├── fast_gicp_st.cpp │ ├── fast_gicp_st.hpp │ ├── fast_vgicp.cpp │ ├── fast_vgicp.hpp │ ├── fast_vgicp_voxel.hpp │ ├── gicp_settings.hpp │ ├── impl │ │ ├── fast_gicp_impl.hpp │ │ ├── fast_gicp_st_impl.hpp │ │ ├── fast_vgicp_impl.hpp │ │ └── lsq_registration_impl.hpp │ ├── lsq_registration.cpp │ └── lsq_registration.hpp ├── opt │ └── gauss_newton.hpp └── so3 │ └── so3.hpp └── pclomp ├── gicp_omp.cpp ├── gicp_omp.h ├── gicp_omp_impl.hpp ├── ndt_omp.cpp ├── ndt_omp.h ├── ndt_omp_impl.hpp ├── voxel_grid_covariance_omp.cpp ├── voxel_grid_covariance_omp.h └── voxel_grid_covariance_omp_impl.hpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/README.md -------------------------------------------------------------------------------- /apps/calib_warp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/apps/calib_warp.cpp -------------------------------------------------------------------------------- /apps/test_sim.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/apps/test_sim.cpp -------------------------------------------------------------------------------- /doc/cloud_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/doc/cloud_map.png -------------------------------------------------------------------------------- /doc/flow.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/doc/flow.png -------------------------------------------------------------------------------- /doc/res.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/doc/res.png -------------------------------------------------------------------------------- /include/calib_lidar_imu.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/include/calib_lidar_imu.h -------------------------------------------------------------------------------- /include/math_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/include/math_utils.h -------------------------------------------------------------------------------- /include/registrations.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/include/registrations.hpp -------------------------------------------------------------------------------- /launch/calib_lidar_imu.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/launch/calib_lidar_imu.launch -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/package.xml -------------------------------------------------------------------------------- /src/calib_lidar_imu.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/src/calib_lidar_imu.cpp -------------------------------------------------------------------------------- /src/registrations.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/src/registrations.cpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/experimental/fast_gicp_mp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/experimental/fast_gicp_mp.cpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/experimental/fast_gicp_mp.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/experimental/fast_gicp_mp.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/experimental/fast_gicp_mp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/experimental/fast_gicp_mp_impl.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_gicp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_gicp.cpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_gicp.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_gicp.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_gicp_st.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_gicp_st.cpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_gicp_st.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_gicp_st.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_vgicp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_vgicp.cpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_vgicp.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_vgicp.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/fast_vgicp_voxel.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/fast_vgicp_voxel.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/gicp_settings.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/gicp_settings.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/impl/fast_gicp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/impl/fast_gicp_impl.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/impl/fast_gicp_st_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/impl/fast_gicp_st_impl.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/impl/fast_vgicp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/impl/fast_vgicp_impl.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/impl/lsq_registration_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/impl/lsq_registration_impl.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/lsq_registration.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/lsq_registration.cpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/gicp/lsq_registration.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/gicp/lsq_registration.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/opt/gauss_newton.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/opt/gauss_newton.hpp -------------------------------------------------------------------------------- /thirdparty/fast_gicp/so3/so3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/fast_gicp/so3/so3.hpp -------------------------------------------------------------------------------- /thirdparty/pclomp/gicp_omp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/gicp_omp.cpp -------------------------------------------------------------------------------- /thirdparty/pclomp/gicp_omp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/gicp_omp.h -------------------------------------------------------------------------------- /thirdparty/pclomp/gicp_omp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/gicp_omp_impl.hpp -------------------------------------------------------------------------------- /thirdparty/pclomp/ndt_omp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/ndt_omp.cpp -------------------------------------------------------------------------------- /thirdparty/pclomp/ndt_omp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/ndt_omp.h -------------------------------------------------------------------------------- /thirdparty/pclomp/ndt_omp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/ndt_omp_impl.hpp -------------------------------------------------------------------------------- /thirdparty/pclomp/voxel_grid_covariance_omp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/voxel_grid_covariance_omp.cpp -------------------------------------------------------------------------------- /thirdparty/pclomp/voxel_grid_covariance_omp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/voxel_grid_covariance_omp.h -------------------------------------------------------------------------------- /thirdparty/pclomp/voxel_grid_covariance_omp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengwei0427/calib_lidar_imu/HEAD/thirdparty/pclomp/voxel_grid_covariance_omp_impl.hpp --------------------------------------------------------------------------------