├── .clang-format ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindGLM.cmake ├── FindGlog.cmake └── getGitInfo.cmake ├── config ├── calib.json ├── camera_config │ ├── F4_FE_calib │ ├── F4_left.yaml │ ├── F4_left_calib.yaml │ ├── FE_right.yaml │ ├── cl_realsense_480p_1.yaml │ ├── computer.yaml │ ├── dabai_right.yaml │ ├── data2.yaml │ ├── equidistant.yaml │ ├── fov.yaml │ ├── mei.yaml │ ├── pinhole.yaml │ ├── red_circ_1.yaml │ ├── tc_realsense_480p_0.yaml │ ├── tc_realsense_480p_1.yaml │ └── test.yaml ├── data_test.json ├── ext1.json ├── ext2.json └── pts.json ├── data ├── UbuntuMono-R.ttf ├── cali_data │ ├── camera_calib │ │ └── data.json │ ├── laser_cam_right.json │ └── red_cicle_calc_1.json ├── imgs │ ├── april_board.jpg │ ├── april_board.png │ ├── blob_board.png │ └── 图片生成.pptx ├── models │ ├── Intel_RealSense_Depth_Camera_D435.ply │ └── SIMO-LS-20S.ply ├── shader │ ├── font.frag │ ├── font.vert │ ├── rainbow.frag │ ├── rainbow.vert │ ├── texture.frag │ └── texture.vert └── times.ttf ├── doc ├── class.mmd ├── classDiagram.drawio ├── imgs │ ├── 1.png │ └── 2.png └── module.km ├── include ├── algorithm │ ├── laser_cam_ceres.h │ ├── line_detector.h │ ├── pose_local_parameterization.h │ ├── random │ │ ├── RandomGenerators.h │ │ └── random_shuffle.h │ ├── ransac │ │ ├── ransac.h │ │ ├── ransac_applications.h │ │ └── ransac_impl.h │ ├── two_cameras_ceres.h │ ├── two_lasers_ceres.h │ └── util.h ├── calibration │ ├── calib_base.hpp │ ├── calibration_state.hpp │ ├── camera_calib.hpp │ ├── camera_laser_calib.hpp │ ├── task_back_ground.hpp │ ├── two_cameras_calib.hpp │ └── two_lasers_calib.hpp ├── dev │ ├── april_board.hpp │ ├── blob_board.hpp │ ├── board.hpp │ ├── camera.hpp │ ├── chess_board.hpp │ ├── image_show.hpp │ ├── laser.hpp │ ├── sensor.hpp │ ├── sensor_data.hpp │ ├── sensor_manager.hpp │ └── util.hpp ├── glk │ ├── colormap.hpp │ ├── drawble.hpp │ ├── frame_buffer.hpp │ ├── glsl_shader.hpp │ ├── lines.hpp │ ├── loaders │ │ ├── miniply.h │ │ └── ply_loader.hpp │ ├── mesh.hpp │ ├── mesh_utils.hpp │ ├── pointcloud_buffer.hpp │ ├── primitives │ │ ├── cone.hpp │ │ ├── coordinate_system.hpp │ │ ├── cube.hpp │ │ ├── grid.hpp │ │ ├── icosahedron.hpp │ │ └── primitives.hpp │ ├── simple_lines.hpp │ ├── text_renderer.hpp │ ├── texture.hpp │ └── texture_renderer.hpp ├── guik │ ├── camera_control.hpp │ ├── gl_canvas.hpp │ ├── imgui_application.hpp │ ├── progress_interface.hpp │ ├── progress_modal.hpp │ └── projection_control.hpp ├── robot_basic_tools.hpp ├── util │ ├── draw_frame_selector.hpp │ ├── extrinsics_publisher.hpp │ ├── image_loader.hpp │ ├── singleton.hpp │ └── tf_tree.hpp └── version_info.h.in ├── launch ├── run.launch └── sim.launch ├── package.xml ├── src ├── algorithm │ ├── laser_cam_ceres.cpp │ ├── line_detector.cpp │ ├── line_fitting.cpp │ ├── random │ │ └── RandomGenerator.cpp │ ├── ransac │ │ └── ransac_applications.cpp │ ├── two_cameras_ceres.cpp │ ├── two_lasers_ceres.cpp │ └── util.cpp ├── calibration │ ├── calib_base.cpp │ ├── calibration_state.cpp │ ├── camera_calib.cpp │ ├── camera_laser_calib.cpp │ ├── two_cameras_calib.cpp │ └── two_lasers_calib.cpp ├── dev │ ├── april_board.cpp │ ├── blob_board.cpp │ ├── camera.cpp │ ├── chess_board.cpp │ ├── image_show.cpp │ ├── laser.cpp │ ├── sensor.cpp │ ├── sensor_manager.cpp │ └── util.cpp ├── glk │ ├── colormap.cpp │ ├── frame_buffer.cpp │ ├── glsl_shader.cpp │ ├── lines.cpp │ ├── loaders │ │ ├── miniply.cpp │ │ └── ply_loader.cpp │ ├── mesh.cpp │ ├── pointcloud_buffer.cpp │ ├── primitives │ │ └── primitives.cpp │ └── simple_lines.cpp ├── guik │ ├── camera_control.cpp │ ├── gl_canvas.cpp │ ├── imgui_application.cpp │ └── projection_control.cpp ├── robot_basic_tools.cpp └── util │ ├── extrinsics_publisher.cpp │ ├── image_loader.cpp │ └── tf_tree.cpp ├── srv └── Extrinsic.srv └── thirdparty ├── camera_model ├── CMakeLists.txt ├── include │ └── camera_model │ │ ├── apriltag │ │ ├── Edge.h │ │ ├── FloatImage.h │ │ ├── GLine2D.h │ │ ├── GLineSegment2D.h │ │ ├── Gaussian.h │ │ ├── GrayModel.h │ │ ├── Gridder.h │ │ ├── Homography33.h │ │ ├── MathUtil.h │ │ ├── Quad.h │ │ ├── Segment.h │ │ ├── Tag16h5.h │ │ ├── Tag16h5_other.h │ │ ├── Tag25h7.h │ │ ├── Tag25h9.h │ │ ├── Tag36h11.h │ │ ├── Tag36h11_other.h │ │ ├── Tag36h9.h │ │ ├── TagDetection.h │ │ ├── TagDetector.h │ │ ├── TagFamily.h │ │ ├── UnionFindSimple.h │ │ ├── XYWeight.h │ │ └── pch.h │ │ ├── apriltag_frontend │ │ ├── GridCalibrationTargetAprilgrid.hpp │ │ └── GridCalibrationTargetBase.hpp │ │ ├── calib │ │ ├── CameraCalibration.h │ │ └── CameraCalibrationTest.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── FovCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ ├── PolyFisheyeCamera.h │ │ ├── ScaramuzzaCamera.h │ │ └── SplineCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── code_utils │ │ ├── cv_utils.h │ │ ├── eigen_utils.h │ │ ├── math_utils │ │ │ ├── Polynomial.h │ │ │ └── math_utils.h │ │ ├── ros_utils.h │ │ └── sys_utils.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── readme.md └── src │ ├── april_calib.cc │ ├── apriltag │ ├── Edge.cc │ ├── FloatImage.cc │ ├── GLine2D.cc │ ├── GLineSegment2D.cc │ ├── Gaussian.cc │ ├── GrayModel.cc │ ├── Homography33.cc │ ├── MathUtil.cc │ ├── Quad.cc │ ├── Segment.cc │ ├── TagDetection.cc │ ├── TagDetector.cc │ ├── TagFamily.cc │ └── UnionFindSimple.cc │ ├── apriltag_frontend │ ├── GridCalibrationTargetAprilgrid.cpp │ └── GridCalibrationTargetBase.cpp │ ├── backward.hpp │ ├── calib │ ├── CameraCalibration.cc │ └── CameraCalibrationTest.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── FovCamera.cpp │ ├── PinholeCamera.cc │ ├── PinholeFullCamera.cc │ ├── PolyFisheyeCamera.cpp │ ├── ScaramuzzaCamera.cc │ └── SplineCamera.cpp │ ├── chessboard │ └── Chessboard.cc │ ├── code_utils │ ├── cv_utils.cc │ ├── math_utils │ │ └── Polynomial.cpp │ └── poly_test.cpp │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ ├── sparse_graph │ └── Transform.cc │ └── test_calib.cc ├── cv_bridge_rbt ├── CMakeLists.txt ├── include │ └── cv_bridge_rbt │ │ ├── cv_bridge.h │ │ └── rgb_colors.h ├── readme.md └── src │ ├── cv_bridge.cpp │ └── rgb_colors.cpp ├── gl3w ├── GL │ ├── gl3w.h │ └── glcorearb.h ├── KHR │ └── khrplatform.h ├── gl3w.c └── readme ├── json └── nlohmann │ ├── adl_serializer.hpp │ ├── byte_container_with_subtype.hpp │ ├── detail │ ├── conversions │ │ ├── from_json.hpp │ │ ├── to_chars.hpp │ │ └── to_json.hpp │ ├── exceptions.hpp │ ├── hash.hpp │ ├── input │ │ ├── binary_reader.hpp │ │ ├── input_adapters.hpp │ │ ├── json_sax.hpp │ │ ├── lexer.hpp │ │ ├── parser.hpp │ │ └── 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