├── .gitignore ├── LICENSE ├── README.md ├── aslam_tsvd_solver ├── CMakeLists.txt ├── include │ └── aslam-tsvd-solver │ │ └── aslam-tsvd-solver.h ├── package.xml └── src │ └── aslam-tsvd-solver.cc ├── incremental_calibration ├── CMakeLists.txt ├── conf │ └── config.xml ├── include │ └── aslam │ │ └── calibration │ │ ├── algorithms │ │ ├── matrixOperations.h │ │ ├── matrixOperations.tpp │ │ ├── permute.h │ │ └── permute.tpp │ │ ├── base │ │ ├── Serializable.h │ │ ├── Singleton.tpp │ │ └── Timestamp.h │ │ ├── core │ │ ├── IncrementalEstimator.h │ │ ├── IncrementalOptimizationProblem.h │ │ └── OptimizationProblem.h │ │ ├── data-structures │ │ ├── Grid.h │ │ ├── Grid.tpp │ │ ├── VectorDesignVariable.h │ │ └── VectorDesignVariable.tpp │ │ ├── exceptions │ │ ├── BadArgumentException.h │ │ ├── Exception.h │ │ ├── InvalidOperationException.h │ │ ├── NullPointerException.h │ │ └── OutOfBoundException.h │ │ ├── functions │ │ ├── ContinuousFunction.h │ │ ├── ContinuousFunction1v.h │ │ ├── ContinuousFunction1v.tpp │ │ ├── ContinuousFunctionMv.h │ │ ├── ContinuousFunctionMv.tpp │ │ ├── DigammaFunction.h │ │ ├── DigammaFunction.tpp │ │ ├── DiscreteFunction.h │ │ ├── DiscreteFunction1v.h │ │ ├── DiscreteFunction1v.tpp │ │ ├── DiscreteFunctionMv.h │ │ ├── DiscreteFunctionMv.tpp │ │ ├── Function.h │ │ ├── Function.tpp │ │ ├── IncompleteGammaPFunction.h │ │ ├── IncompleteGammaQFunction.h │ │ ├── LogFactorialFunction.h │ │ ├── LogGammaFunction.h │ │ └── LogGammaFunction.tpp │ │ ├── geometry │ │ ├── Transformation.h │ │ ├── Transformation2d.h │ │ ├── Transformation2d.tpp │ │ ├── Transformation3d.h │ │ └── Transformation3d.tpp │ │ ├── statistics │ │ ├── ChiSquareDistribution.h │ │ ├── ContinuousDistribution.h │ │ ├── ContinuousDistribution1v.h │ │ ├── ContinuousDistribution1v.tpp │ │ ├── ContinuousDistributionMv.h │ │ ├── ContinuousDistributionMv.tpp │ │ ├── DiscreteDistribution.h │ │ ├── DiscreteDistribution1v.h │ │ ├── DiscreteDistribution1v.tpp │ │ ├── DiscreteDistributionMv.h │ │ ├── DiscreteDistributionMv.tpp │ │ ├── Distribution.h │ │ ├── Distribution.tpp │ │ ├── EstimatorML.h │ │ ├── EstimatorMLNormal1v.h │ │ ├── EstimatorMLNormalMv.h │ │ ├── EstimatorMLNormalMv.tpp │ │ ├── GammaDistribution.h │ │ ├── GammaDistribution.tpp │ │ ├── Histogram.h │ │ ├── Histogram1v.h │ │ ├── Histogram1v.tpp │ │ ├── HistogramMv.h │ │ ├── HistogramMv.tpp │ │ ├── NormalDistribution.h │ │ ├── NormalDistribution1v.h │ │ ├── NormalDistributionMv.h │ │ ├── NormalDistributionMv.tpp │ │ ├── Randomizer.h │ │ ├── Randomizer.tpp │ │ ├── SampleDistribution.h │ │ ├── SampleDistribution.tpp │ │ ├── UniformDistribution.h │ │ ├── UniformDistribution1v.h │ │ ├── UniformDistribution1v.tpp │ │ ├── UniformDistributionMv.h │ │ └── UniformDistributionMv.tpp │ │ ├── tpl │ │ ├── And.h │ │ ├── Boolean.h │ │ ├── Equals.h │ │ ├── If.h │ │ ├── IfThenElse.h │ │ ├── IsInteger.h │ │ ├── IsNumeric.h │ │ ├── IsReal.h │ │ ├── IsVoid.h │ │ ├── Not.h │ │ └── Or.h │ │ └── utils │ │ ├── OuterProduct.h │ │ ├── OuterProduct.tpp │ │ ├── SizeTSupport.h │ │ └── SsizeTSupport.h ├── package.xml ├── src │ ├── base │ │ ├── Serializable.cpp │ │ └── Timestamp.cpp │ ├── core │ │ ├── IncrementalEstimator.cpp │ │ ├── IncrementalOptimizationProblem.cpp │ │ └── OptimizationProblem.cpp │ ├── exceptions │ │ ├── Exception.cpp │ │ ├── InvalidOperationException.cpp │ │ └── NullPointerException.cpp │ ├── functions │ │ ├── IncompleteGammaPFunction.cpp │ │ ├── IncompleteGammaQFunction.cpp │ │ ├── LogFactorialFunction.cpp │ │ └── LogGammaFunction.cpp │ └── statistics │ │ ├── ChiSquareDistribution.cpp │ │ ├── EstimatorMLNormal1v.cpp │ │ └── NormalDistribution1v.cpp └── test │ ├── IncrementalOptimizationProblemTest.cpp │ ├── MatrixOperations.cpp │ ├── OptimizationProblemTest.cpp │ ├── VectorDesignVariableTest.cpp │ └── test_main.cpp ├── incremental_calibration_examples ├── incremental_calibration_examples_2dlrf │ ├── .gitignore │ ├── CMakeLists.txt │ ├── conf │ │ └── config.xml │ ├── include │ │ └── aslam │ │ │ └── calibration │ │ │ └── 2dlrf │ │ │ ├── ErrorTermMotion.h │ │ │ ├── ErrorTermObservation.h │ │ │ └── utils.h │ ├── package.xml │ ├── src │ │ └── 2dlrf │ │ │ ├── ErrorTermMotion.cpp │ │ │ ├── ErrorTermObservation.cpp │ │ │ ├── simulate-offline.cpp │ │ │ ├── simulate-online-new.cpp │ │ │ ├── simulate-online.cpp │ │ │ └── utils.cpp │ └── test │ │ ├── ErrorTermMotionTest.cpp │ │ ├── ErrorTermObservationTest.cpp │ │ └── test_main.cpp ├── incremental_calibration_examples_camera │ ├── .gitignore │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── conf │ │ └── config.xml │ ├── include │ │ └── aslam │ │ │ └── calibration │ │ │ └── camera │ │ │ ├── CameraCalibrator.h │ │ │ └── CameraValidator.h │ ├── package.xml │ └── src │ │ └── camera │ │ ├── CameraCalibrator.cpp │ │ ├── CameraValidator.cpp │ │ ├── calibrateCamera.cpp │ │ └── validateCamera.cpp ├── incremental_calibration_examples_car │ ├── .gitignore │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── conf │ │ └── config.xml │ ├── include │ │ └── aslam │ │ │ └── calibration │ │ │ └── car │ │ │ ├── algo │ │ │ ├── CarCalibrator.h │ │ │ ├── CarCalibratorOptions.h │ │ │ ├── OptimizationProblemSpline.h │ │ │ ├── bestQuat.h │ │ │ └── splinesToFile.h │ │ │ ├── data │ │ │ ├── DMIMeasurement.h │ │ │ ├── MeasurementsContainer.h │ │ │ ├── PoseMeasurement.h │ │ │ ├── SteeringMeasurement.h │ │ │ ├── VelocitiesMeasurement.h │ │ │ └── WheelSpeedsMeasurement.h │ │ │ ├── design-variables │ │ │ └── OdometryDesignVariables.h │ │ │ ├── error-terms │ │ │ ├── ErrorTermPose.h │ │ │ ├── ErrorTermSteering.h │ │ │ ├── ErrorTermVelocities.h │ │ │ └── ErrorTermWheel.h │ │ │ └── geo │ │ │ └── geodetic.h │ ├── package.xml │ ├── src │ │ ├── algo │ │ │ ├── CarCalibrator.cpp │ │ │ ├── CarCalibratorOptions.cpp │ │ │ ├── OptimizationProblemSpline.cpp │ │ │ ├── bestQuat.cpp │ │ │ └── splinesToFile.cpp │ │ ├── design-variables │ │ │ └── OdometryDesignVariables.cpp │ │ ├── error-terms │ │ │ ├── ErrorTermPose.cpp │ │ │ ├── ErrorTermSteering.cpp │ │ │ ├── ErrorTermVelocities.cpp │ │ │ └── ErrorTermWheel.cpp │ │ ├── geo │ │ │ └── geodetic.cpp │ │ └── realworld │ │ │ ├── analyzer.cpp │ │ │ └── calibrator.cpp │ └── test │ │ ├── error-terms │ │ ├── ErrorTermPoseTest.cpp │ │ ├── ErrorTermSteeringTest.cpp │ │ ├── ErrorTermVelocitiesTest.cpp │ │ └── ErrorTermWheelTest.cpp │ │ └── test_main.cpp ├── incremental_calibration_examples_egomotion_sensors │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── conf │ │ └── simulation.xml │ ├── include │ │ └── aslam │ │ │ └── calibration │ │ │ └── egomotion │ │ │ ├── algo │ │ │ ├── Calibrator.h │ │ │ ├── CalibratorOptions.h │ │ │ ├── OptimizationProblemSpline.h │ │ │ ├── bestQuat.h │ │ │ └── splinesToFile.h │ │ │ ├── data │ │ │ ├── MeasurementsContainer.h │ │ │ └── MotionMeasurement.h │ │ │ ├── design-variables │ │ │ └── DesignVariables.h │ │ │ └── simulation │ │ │ ├── SimulationData.h │ │ │ ├── SimulationParams.h │ │ │ ├── Trajectory.h │ │ │ ├── TrajectoryParams.h │ │ │ └── simulationEngine.h │ ├── package.xml │ └── src │ │ ├── algo │ │ ├── Calibrator.cpp │ │ ├── CalibratorOptions.cpp │ │ ├── OptimizationProblemSpline.cpp │ │ ├── bestQuat.cpp │ │ └── splinesToFile.cpp │ │ ├── design-variables │ │ └── DesignVariables.cpp │ │ └── simulation │ │ ├── SimulationParams.cpp │ │ ├── TrajectoryParams.cpp │ │ ├── simulationEngine.cpp │ │ └── simulator.cpp └── incremental_calibration_examples_time_delay │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── conf │ └── simulation.xml │ ├── include │ └── aslam │ │ └── calibration │ │ └── time-delay │ │ ├── algo │ │ ├── Calibrator.h │ │ ├── CalibratorOptions.h │ │ ├── OptimizationProblemSpline.h │ │ ├── bestQuat.h │ │ └── splinesToFile.h │ │ ├── data │ │ ├── MeasurementsContainer.h │ │ ├── PoseMeasurement.h │ │ └── WheelSpeedMeasurement.h │ │ ├── design-variables │ │ └── OdometryDesignVariables.h │ │ ├── error-terms │ │ ├── ErrorTermPose.h │ │ └── ErrorTermWheel.h │ │ └── simulation │ │ ├── SimulationData.h │ │ ├── SimulationParams.h │ │ ├── Trajectory.h │ │ ├── TrajectoryParams.h │ │ └── simulationEngine.h │ ├── package.xml │ ├── src │ ├── algo │ │ ├── Calibrator.cpp │ │ ├── CalibratorOptions.cpp │ │ ├── OptimizationProblemSpline.cpp │ │ ├── bestQuat.cpp │ │ └── splinesToFile.cpp │ ├── design-variables │ │ └── OdometryDesignVariables.cpp │ ├── error-terms │ │ ├── ErrorTermPose.cpp │ │ └── ErrorTermWheel.cpp │ └── simulation │ │ ├── SimulationData.cpp │ │ ├── SimulationParams.cpp │ │ ├── Trajectory.cpp │ │ ├── TrajectoryParams.cpp │ │ ├── simulationEngine.cpp │ │ └── simulator.cpp │ └── test │ ├── error-terms │ ├── ErrorTermPoseTest.cpp │ └── ErrorTermWheelTest.cpp │ └── test_main.cpp ├── incremental_calibration_python ├── CMakeLists.txt ├── include │ └── module.cpp ├── package.xml ├── setup.py └── src │ ├── IncrementalEstimator.cpp │ ├── LinearSolver.cpp │ ├── OptimizationProblem.cpp │ ├── VisionDataAssociation.cpp │ ├── incremental_calibration │ └── __init__.py │ └── module.cpp └── incremental_calibration_vision ├── .gitignore ├── 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