├── .gitignore ├── Dockerfile ├── README.md ├── ortho_projector ├── CMakeLists.txt ├── README.md ├── include │ └── ortho_projector │ │ ├── ortho_projector.h │ │ └── terrain_mapper.h ├── nodelet_plugins.xml ├── package.xml ├── src │ ├── ortho_projector.cpp │ ├── ortho_projector_node.cpp │ ├── ortho_projector_nodelet.cpp │ ├── terrain_mapper.cpp │ ├── terrain_mapper_node.cpp │ └── terrain_mapper_nodelet.cpp └── tests │ └── dummy_tf.launch ├── sand_classifier ├── CMakeLists.txt ├── README.md ├── include │ └── sand_classifier │ │ ├── classifier.h │ │ ├── classifier_v1.h │ │ └── classifier_v2.h ├── models │ ├── svm_type_0_c_10_g_-20_w_25_ave_170711.model │ ├── svm_type_0_c_10_g_-20_w_25_ave_lbp_170711.model │ ├── svm_type_0_c_10_g_-40_w_25_pyramid_1.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_DCT.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_DCT_new.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_LBP.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_LBP_DCT.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_LBP_DCT_35.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_LBP_new.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_LBP_new_0625.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_LBP_with_intensity.model │ ├── svm_type_0_c_20_g_-20_w_25_pyramid_1_AVE_with_intensity.model │ ├── svm_type_0_c_20_g_-20_w_35_pyramid_1_AVE_DCT_new.model │ └── svm_type_0_c_20_g_-20_w_45_pyramid_1_AVE_DCT_new.model ├── nodelet_plugins.xml ├── package.xml ├── spoc_lite │ ├── Makefile │ ├── Makefile_JPL │ ├── Makefile_home │ ├── README.md │ ├── classification.cpp │ ├── classification.h │ ├── classification_ibo.cpp │ ├── classification_ibo.h │ ├── history │ ├── ibo.cpp │ ├── ibo.h │ ├── ibo │ │ ├── bco.cpp │ │ ├── bco.h │ │ ├── bco_mc.cpp │ │ ├── bco_mc.h │ │ ├── bfo.cpp │ │ ├── bfo.h │ │ ├── bop.h │ │ ├── buo.cpp │ │ ├── buo.h │ │ ├── lbp.cpp │ │ ├── lbp.h │ │ ├── libsvm.cpp │ │ ├── libsvm.h │ │ ├── linearsvm │ │ │ ├── blas │ │ │ │ ├── blas.h │ │ │ │ ├── blasp.h │ │ │ │ ├── daxpy.c │ │ │ │ ├── ddot.c │ │ │ │ ├── dnrm2.c │ │ │ │ └── dscal.c │ │ │ ├── linear.cpp │ │ │ ├── linear.h │ │ │ ├── tron.cpp │ │ │ └── tron.h │ │ ├── svm.cpp │ │ ├── svm.h │ │ ├── svm_linear.cpp │ │ └── svm_linear.h │ ├── main.cpp │ ├── main.h │ ├── result_ave_lbp │ │ └── svm_type_0_c_10_g_-20_w_25.model │ ├── sample_images │ │ ├── 2017_0622_marsyard.png │ │ └── C002310.pgm │ ├── setting_svm_ave.txt │ ├── setting_svm_ave_2017_0622.txt │ ├── setting_svm_ave_lbp.txt │ └── setting_svm_ave_lbp_2017_0622.txt ├── src │ ├── classifier.cpp │ ├── classifier_v1.cpp │ ├── classifier_v2.cpp │ ├── sand_classifier_node.cpp │ └── sand_classifier_nodelet.cpp └── tests │ ├── data │ ├── camera.yaml │ └── sample.jpg │ ├── test_classifier.cpp │ ├── test_classifier.test │ ├── test_ros_api.cpp │ └── test_ros_api.test ├── spoc_lite.rosinstall └── spoc_lite ├── CMakeLists.txt ├── config ├── ortho_projector.yaml └── 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