├── .clang-format ├── .github └── workflows │ └── build.yml ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps ├── floor_detection_nodelet.cpp ├── hdl_graph_slam_nodelet.cpp ├── prefiltering_nodelet.cpp └── scan_matching_odometry_nodelet.cpp ├── cmake └── FindG2O.cmake ├── docker ├── build.sh ├── howtouse.md ├── kinetic │ └── Dockerfile ├── kinetic_llvm │ └── Dockerfile ├── melodic │ └── Dockerfile ├── melodic_llvm │ └── Dockerfile ├── noetic │ └── Dockerfile ├── noetic_llvm │ └── Dockerfile └── run.sh ├── imgs ├── birds.png ├── ford1.png ├── ford2.png ├── ford3.png ├── hdl_400_graph.png ├── hdl_400_points.png ├── hdl_graph_slam.png ├── nodelets.png ├── nodelets.vsdx ├── packages.png └── top.png ├── include ├── g2o │ ├── edge_plane_identity.hpp │ ├── edge_plane_parallel.hpp │ ├── edge_plane_prior.hpp │ ├── edge_se3_plane.hpp │ ├── edge_se3_priorquat.hpp │ ├── edge_se3_priorvec.hpp │ ├── edge_se3_priorxy.hpp │ ├── edge_se3_priorxyz.hpp │ └── robust_kernel_io.hpp └── hdl_graph_slam │ ├── graph_slam.hpp │ ├── information_matrix_calculator.hpp │ ├── keyframe.hpp │ ├── keyframe_updater.hpp │ ├── loop_detector.hpp │ ├── map_cloud_generator.hpp │ ├── nmea_sentence_parser.hpp │ ├── registrations.hpp │ ├── ros_time_hash.hpp │ └── ros_utils.hpp ├── launch ├── hdl_graph_slam.launch ├── hdl_graph_slam_400.launch ├── hdl_graph_slam_501.launch ├── hdl_graph_slam_imu.launch ├── hdl_graph_slam_kitti.launch └── msf_config.yaml ├── msg ├── FloorCoeffs.msg └── ScanMatchingStatus.msg ├── nodelet_plugins.xml ├── package.xml ├── rviz └── hdl_graph_slam.rviz ├── setup.py ├── src ├── g2o │ └── robust_kernel_io.cpp └── hdl_graph_slam │ ├── __init__.py │ ├── bag_player.py │ ├── ford2bag.py │ ├── graph_slam.cpp │ ├── information_matrix_calculator.cpp │ ├── keyframe.cpp │ ├── map2odom_publisher.py │ ├── map_cloud_generator.cpp │ └── registrations.cpp └── srv ├── DumpGraph.srv ├── LoadGraph.srv └── SaveMap.srv /.clang-format: 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