├── .clang-format ├── .gitignore ├── LICENSE ├── README.md ├── camera_tools ├── CMakeLists.txt ├── README.md ├── config │ ├── publish_info_example.yaml │ └── split_image_example.yaml ├── include │ └── camera_tools │ │ ├── change_frame_id.hpp │ │ ├── image_operations.hpp │ │ ├── publish_info.hpp │ │ └── split_image.hpp ├── launch │ ├── change_frame_id.launch │ ├── publish_info.launch │ └── split_image.launch ├── package.xml └── src │ ├── change_frame_id.cpp │ ├── change_frame_id_main.cpp │ ├── image_operations.cpp │ ├── publish_info.cpp │ ├── publish_info_main.cpp │ ├── split_image.cpp │ └── split_image_main.cpp ├── degeneracy_analysis ├── degeneracy_analysis.m ├── point_to_plane_linear.txt ├── point_to_plane_nonlinear.txt ├── point_to_point_linear.txt ├── point_to_point_nonlinear.txt └── skew.m ├── eigen_ext ├── CMakeLists.txt ├── include │ └── eigen_ext │ │ ├── covariance.hpp │ │ ├── geometry.hpp │ │ ├── matrix.hpp │ │ └── precomputed_transform_components.hpp ├── package.xml └── test │ ├── covariance.cpp │ ├── geometry.cpp │ ├── main.cpp │ └── matrix.cpp ├── eigen_gtsam ├── CMakeLists.txt ├── include │ └── eigen_gtsam │ │ ├── eigen_gtsam.hpp │ │ └── geometry.hpp ├── package.xml └── src │ └── geometry.cpp ├── eigen_ros ├── CMakeLists.txt ├── README.md ├── include │ └── eigen_ros │ │ ├── body_frames.hpp │ │ ├── body_frames_tf.hpp │ │ ├── eigen_ros.hpp │ │ ├── geometry_msgs.hpp │ │ ├── imu.hpp │ │ ├── nav_msgs.hpp │ │ ├── odometry.hpp │ │ ├── pose.hpp │ │ ├── sensor_msgs.hpp │ │ ├── stamped.hpp │ │ ├── statistics_msgs.hpp │ │ ├── std_msgs.hpp │ │ └── twist.hpp ├── package.xml ├── src │ ├── body_frames.cpp │ ├── body_frames_tf.cpp │ ├── body_frames_tf_node.cpp │ ├── eigen_ros.cpp │ ├── geometry_msgs.cpp │ ├── imu.cpp │ ├── nav_msgs.cpp │ ├── odometry.cpp │ ├── pose.cpp │ ├── sensor_msgs.cpp │ ├── statistics_msgs.cpp │ ├── std_msgs.cpp │ └── twist.cpp ├── srv │ └── lookup_transform.srv └── test │ ├── eigen_ros.cpp │ ├── geometry_msgs.cpp │ ├── imu.cpp │ ├── include │ └── test │ │ └── test_instances.hpp │ ├── nav_msgs.cpp │ ├── odometry.cpp │ ├── pose.cpp │ ├── sensor_msgs.cpp │ ├── src │ └── test_instances.cpp │ └── statistics_msgs.cpp ├── imu_tools ├── CMakeLists.txt ├── README.md ├── config │ ├── analysis.yaml │ └── transform.yaml ├── include │ └── imu_tools │ │ ├── imu_analysis.hpp │ │ └── imu_transform.hpp ├── launch │ ├── imu_analysis.launch │ └── imu_transform.launch ├── package.xml └── src │ ├── imu_analysis.cpp │ ├── imu_analysis_main.cpp │ ├── imu_transform.cpp │ └── imu_transform_main.cpp ├── navigation_tools ├── CMakeLists.txt ├── README.md ├── include │ └── navigation_tools │ │ ├── combine_transforms.hpp │ │ ├── integrate_imu.hpp │ │ ├── integrate_imu_graph_test.hpp │ │ └── odometry_to_tf.hpp ├── launch │ ├── combine_transforms.launch │ ├── integrate_imu.launch │ └── odometry_to_tf.launch ├── package.xml └── src │ ├── combine_transforms.cpp │ ├── combine_transforms_node.cpp │ ├── integrate_imu.cpp │ ├── integrate_imu_graph_test.cpp │ ├── integrate_imu_node.cpp │ ├── odometry_to_tf.cpp │ └── odometry_to_tf_node.cpp ├── plotting ├── align_to_first_pose.m ├── align_trajectory.m ├── compute_frame_track_statistics.m ├── compute_jacobians_data.m ├── compute_pose_data.m ├── compute_pose_errors.m ├── compute_relative_poses.m ├── compute_track_retention.m ├── compute_trajectory_length.m ├── compute_twist_data.m ├── compute_vector_errors.m ├── create_save_directory.m ├── default_plot_opts.m ├── extract_angular_velocities.m ├── extract_frame_ids.m ├── extract_linear_velocities.m ├── extract_pose_with_covariance_stamped.m ├── extract_poses.m ├── extract_position.m ├── extract_positions.m ├── extract_positions_from_rigid3d.m ├── extract_quaternion.m ├── extract_quaternions.m ├── extract_statistics.m ├── extract_timestamps.m ├── extract_twists.m ├── from_PointCloud2.m ├── interp_transform.m ├── interp_vector.m ├── interpolate_trajectory.m ├── jacobian_data_from_rosbags.m ├── main.m ├── main_surface_spiral_2.m ├── main_ue4.m ├── matrix_to_pose.m ├── odom_data_from_rosbags.m ├── plot_and_save.m ├── plot_and_save_jacobians.m ├── plot_gaussian_ellipsoid │ ├── license.txt │ └── plot_gaussian_ellipsoid.m ├── plot_jacobian.m ├── plot_normalised_covariance_scatter.m ├── plot_pointcloud_statistics.m ├── plot_pose.m ├── plot_pose_with_cov.m ├── plot_statistics.m ├── plot_summary_statistics.m ├── plot_trajectory.m ├── plot_twist.m ├── pose_to_matrix.m ├── pose_to_rigid3d.m ├── poses_to_rigid3d.m ├── raw_data_from_rosbags.m ├── recompute_trajectory.m ├── save_and_close_figure.m ├── skew.m ├── split_poses.m ├── stereo_statistics_from_rosbags.m ├── stereo_statistics_main.m └── stereo_statistics_plot_and_save.m ├── pointcloud_tools ├── CMakeLists.txt ├── README.md ├── include │ └── pointcloud_tools │ │ ├── compute_distances.hpp │ │ ├── impl │ │ ├── compute_distances.hpp │ │ ├── pclpointcloud2_utilities.hpp │ │ ├── pclpointcloud_transform.hpp │ │ ├── pclpointcloud_utilities.hpp │ │ └── registration_utilities.hpp │ │ ├── pclpointcloud2_utilities.hpp │ │ ├── pclpointcloud_transform.hpp │ │ ├── pclpointcloud_utilities.hpp │ │ ├── point_types.hpp │ │ ├── pointcloud_analyser.hpp │ │ ├── pointcloud_file_converter.hpp │ │ ├── pointcloud_range_filter.hpp │ │ └── registration_utilities.hpp ├── launch │ ├── pointcloud_analyser.launch │ ├── pointcloud_compute_distances.launch │ └── pointcloud_range_filter.launch ├── package.xml ├── src │ ├── compute_distances_main.cpp │ ├── pclpointcloud2_utilities.cpp │ ├── point_types.cpp │ ├── pointcloud_analyser.cpp │ ├── pointcloud_analyser_main.cpp │ ├── pointcloud_file_converter.cpp │ ├── pointcloud_file_converter_main.cpp │ └── pointcloud_file_converter_open3d.cpp ├── srv │ ├── file_to_message.srv │ └── message_to_file.srv └── test │ ├── include │ └── test_instances.hpp │ ├── main.cpp │ ├── pclpointcloud2_utilities.cpp │ ├── pclpointcloud_transform.cpp │ ├── pclpointcloud_utilities.cpp │ └── src │ └── test_instances.cpp ├── serpent ├── CMakeLists.txt ├── config │ ├── debug_default.yaml │ ├── filter_default.yaml │ ├── format_default.yaml │ ├── mission_default.yaml │ ├── normal_estimation_default.yaml │ ├── robot_default.yaml │ └── tuning_default.yaml ├── diagrams │ ├── serpent_architecture_diagram.png │ ├── serpent_factor_graph.png │ └── serpent_software.png ├── include │ └── serpent │ │ ├── back_end │ │ ├── graph_manager-inl.hpp │ │ ├── graph_manager.hpp │ │ └── optimisation.hpp │ │ ├── front_end │ │ ├── frontend.hpp │ │ ├── lidar │ │ │ ├── point_types.hpp │ │ │ ├── pointcloud_add_unit_vectors.hpp │ │ │ ├── pointcloud_filter.hpp │ │ │ ├── pointcloud_formatter.hpp │ │ │ ├── pointcloud_normal_estimation-inl.hpp │ │ │ ├── pointcloud_normal_estimation.hpp │ │ │ ├── registration-inl.hpp │ │ │ ├── registration.hpp │ │ │ ├── registration_covariance-inl.hpp │ │ │ ├── registration_covariance.hpp │ │ │ ├── registration_methods-inl.hpp │ │ │ ├── registration_methods.hpp │ │ │ ├── transform_pointcloud-inl.hpp │ │ │ └── transform_pointcloud.hpp │ │ └── stereo │ │ │ ├── match_filters.hpp │ │ │ ├── sensor_point_types.hpp │ │ │ ├── stereo_cost_functions.hpp │ │ │ ├── stereo_equations-inl.hpp │ │ │ ├── stereo_equations.hpp │ │ │ ├── stereo_factor_finder.hpp │ │ │ ├── stereo_feature_tracker.hpp │ │ │ ├── stereo_keypoint_matcher.hpp │ │ │ └── window_functions.hpp │ │ ├── mapping │ │ ├── mapping-inl.hpp │ │ └── mapping.hpp │ │ └── utils │ │ ├── ros_conversion.hpp │ │ ├── utilities-inl.hpp │ │ └── utilities.hpp ├── launch │ ├── analyse_track_distances.launch │ ├── load_parameters.launch │ ├── record.launch │ ├── rosbag.launch │ ├── serpent.launch │ ├── serpent_backend.launch │ ├── serpent_frontend.launch │ ├── serpent_stereo_pipeline.launch │ └── serpent_visualisation.launch ├── msg │ ├── ImuArray.msg │ ├── ImuBiases.msg │ ├── PoseGraph.msg │ ├── StereoFeature.msg │ ├── StereoFeatures.msg │ └── StereoTrackerStatistics.msg ├── package.xml ├── perspective │ ├── serpent.perspective │ └── serpent_stereo_pipeline.perspective ├── rviz │ ├── serpent.rviz │ ├── serpent_vid.rviz │ └── stereo.rviz ├── scripts │ └── metrics_node.py ├── setup.py ├── src │ ├── back_end │ │ ├── graph_manager.cpp │ │ └── optimisation.cpp │ ├── front_end │ │ ├── frontend.cpp │ │ ├── lidar │ │ │ ├── point_types.cpp │ │ │ ├── pointcloud_add_unit_vectors.cpp │ │ │ ├── pointcloud_filter.cpp │ │ │ ├── pointcloud_formatter.cpp │ │ │ ├── registration_covariance.cpp │ │ │ └── registration_methods.cpp │ │ └── stereo │ │ │ ├── match_filters.cpp │ │ │ ├── sensor_point_types.cpp │ │ │ ├── stereo_cost_functions.cpp │ │ │ ├── stereo_factor_finder.cpp │ │ │ ├── stereo_feature_tracker.cpp │ │ │ ├── stereo_keypoint_matcher.cpp │ │ │ └── window_functions.cpp │ ├── nodes │ │ ├── backend_node.cpp │ │ ├── frontend_node.cpp │ │ ├── node.cpp │ │ └── stereo_pipeline_node.cpp │ └── utils │ │ ├── ros_conversion.cpp │ │ └── utilities.cpp └── test │ ├── data │ └── imu_up_10msg.bag │ ├── graph_manager.cpp │ ├── include │ └── test │ │ ├── read_data.hpp │ │ ├── test_data.hpp │ │ └── test_utils.hpp │ ├── registration_covariance.cpp │ ├── serpent.cpp │ ├── src │ ├── read_data.cpp │ ├── test_data.cpp │ └── test_utils.cpp │ └── test_main.cpp ├── simulator_prcp_missions ├── CMakeLists.txt ├── README.md ├── config │ └── serpent │ │ ├── debug.yaml │ │ ├── eels_head.yaml │ │ ├── filter.yaml │ │ ├── format.yaml │ │ ├── mission │ │ ├── surface_ellipse_1.yaml │ │ ├── surface_ellipse_2.yaml │ │ ├── surface_spiral_1.yaml │ │ ├── surface_spiral_2.yaml │ │ ├── surface_spiral_2_noiseless.yaml │ │ ├── surface_stationary_1.yaml │ │ └── surface_traverse_1.yaml │ │ ├── normal_estimation.yaml │ │ └── tuning.yaml ├── launch │ ├── body_frames.launch │ ├── integrate_imu.launch │ ├── serpent.launch │ └── serpent_stereo_pipeline.launch └── package.xml ├── snowboard ├── CMakeLists.txt ├── README.md ├── config │ ├── camera_calibration │ │ └── snowboard_left │ │ │ ├── ds-none-camchain.yaml │ │ │ ├── eucm-none-camchain.yaml │ │ │ └── omni-radtan-camchain.yaml │ ├── camera_tools │ │ ├── split_kit0.yaml │ │ └── split_kit1.yaml │ ├── liosam │ │ ├── snowboard_liosam.yaml │ │ └── snowboard_liosam_indoor.yaml │ ├── locus │ │ ├── fiducial_pose_mammoth.yaml │ │ ├── lo_filtering_snowboard.yaml │ │ ├── lo_frames_snowboard.yaml │ │ ├── lo_localization_snowboard.yaml │ │ ├── lo_odometry_snowboard.yaml │ │ └── lo_settings_snowboard.yaml │ └── serpent │ │ ├── debug.yaml │ │ ├── filter.yaml │ │ ├── format.yaml │ │ ├── mission │ │ ├── ice_rink.yaml │ │ ├── mammoth_outdoor.yaml │ │ └── tunnel.yaml │ │ ├── normal_estimation.yaml │ │ ├── snowboard.yaml │ │ └── tuning.yaml ├── launch │ ├── body_frames.launch │ ├── imu_transform.launch │ ├── integrate_imu.launch │ ├── liosam.launch │ ├── locus.launch │ ├── range_filter.launch │ ├── rviz.launch │ ├── serpent.launch │ ├── serpent_ice_rink_flat_loop.launch │ ├── serpent_ice_rink_flat_loop_stereo_pipeline.launch │ ├── serpent_ice_rink_objects_loop.launch │ ├── serpent_ice_rink_stationary.launch │ ├── serpent_mammoth_lidar.launch │ ├── serpent_mammoth_stereo.launch │ ├── serpent_mammoth_stereo_pipeline.launch │ ├── serpent_tunnel.launch │ ├── split_image.launch │ ├── split_images.launch │ ├── stereo_depth.launch │ └── undistort_stereo.launch ├── package.xml ├── perspective │ └── cameras.perspective ├── rviz │ ├── locus.rviz │ └── snowboard.rviz └── scripts │ └── repair_ouster_timestamps.py ├── statistics_msgs ├── CMakeLists.txt ├── msg │ ├── Covariance.msg │ ├── CovarianceFloat32.msg │ ├── CovarianceFloat32Stamped.msg │ ├── CovarianceStamped.msg │ ├── SummaryStatistics.msg │ ├── SummaryStatisticsArray.msg │ └── SummaryStatisticsStamped.msg └── package.xml └── ue4_missions ├── CMakeLists.txt ├── README.md ├── config ├── left_camera_info.yaml ├── right_camera_info.yaml └── serpent │ ├── debug.yaml │ ├── filter.yaml │ ├── format.yaml │ ├── mission │ └── icy_surface.yaml │ ├── normal_estimation.yaml │ ├── tuning.yaml │ └── ue4_platform.yaml ├── launch ├── body_frames.launch ├── publish_camera_info.launch ├── rviz.launch 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