├── README.MD ├── img ├── HD-FAST-ROTATE.png ├── HD-RESULT.jpg ├── VIRAL-RESULT.png └── handheld.jpg ├── orbvoc.dbow3 └── src ├── .vscode └── settings.json ├── cartographer ├── .bazelci │ └── presubmit.yml ├── .dockerignore ├── .github │ └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── .travis.yml ├── AUTHORS ├── BUILD.bazel ├── CHANGELOG.rst ├── CMakeLists.txt ├── CONTRIBUTING.md ├── Dockerfile.jessie ├── Dockerfile.stretch ├── Dockerfile.trusty ├── Dockerfile.trusty.bazel ├── Dockerfile.xenial ├── LICENSE ├── README.rst ├── RELEASING.rst ├── WORKSPACE ├── bazel │ ├── repositories.bzl │ └── third_party │ │ ├── BUILD.bazel │ │ ├── cairo │ │ ├── BUILD.bazel │ │ ├── cairo-features.h │ │ ├── cairo.BUILD │ │ └── config.h │ │ ├── ceres.BUILD │ │ ├── eigen.BUILD │ │ ├── expat.BUILD │ │ ├── fontconfig │ │ ├── BUILD.bazel │ │ ├── config.h │ │ └── fontconfig.BUILD │ │ ├── freetype2.BUILD │ │ ├── gd.BUILD │ │ ├── libjpeg.BUILD │ │ ├── libpng.BUILD │ │ ├── lua.BUILD │ │ ├── pixman │ │ ├── BUILD.bazel │ │ ├── config.h │ │ └── pixman.BUILD │ │ └── zlib.BUILD ├── cartographer-config.cmake.in ├── cartographer │ ├── BUILD.bazel │ ├── cloud │ │ ├── BUILD.bazel │ │ ├── client │ │ │ ├── map_builder_stub.cc │ │ │ └── map_builder_stub.h │ │ ├── internal │ │ │ ├── client │ │ │ │ ├── pose_graph_stub.cc │ │ │ │ ├── pose_graph_stub.h │ │ │ │ ├── trajectory_builder_stub.cc │ │ │ │ └── trajectory_builder_stub.h │ │ │ ├── client_server_test.cc │ │ │ ├── handlers │ │ │ │ ├── add_fixed_frame_pose_data_handler.cc │ │ │ │ ├── add_fixed_frame_pose_data_handler.h │ │ │ │ ├── add_fixed_frame_pose_data_handler_test.cc │ │ │ │ ├── add_imu_data_handler.cc │ │ │ │ ├── add_imu_data_handler.h │ │ │ │ ├── add_imu_data_handler_test.cc │ │ │ │ ├── add_landmark_data_handler.cc │ │ │ │ ├── add_landmark_data_handler.h │ │ │ │ ├── add_landmark_data_handler_test.cc │ │ │ │ ├── add_odometry_data_handler.cc │ │ │ │ ├── add_odometry_data_handler.h │ │ │ │ ├── add_odometry_data_handler_test.cc │ │ │ │ ├── add_rangefinder_data_handler.cc │ │ │ │ ├── add_rangefinder_data_handler.h │ │ │ │ ├── add_rangefinder_data_handler_test.cc │ │ │ │ ├── add_sensor_data_batch_handler.cc │ │ │ │ ├── add_sensor_data_batch_handler.h │ │ │ │ ├── add_trajectory_handler.cc │ │ │ │ ├── add_trajectory_handler.h │ │ │ │ ├── add_trajectory_handler_test.cc │ │ │ │ ├── finish_trajectory_handler.cc │ │ │ │ ├── finish_trajectory_handler.h │ │ │ │ ├── get_all_submap_poses.cc │ │ │ │ ├── get_all_submap_poses.h │ │ │ │ ├── get_constraints_handler.cc │ │ │ │ ├── get_constraints_handler.h │ │ │ │ ├── get_landmark_poses_handler.cc │ │ │ │ ├── get_landmark_poses_handler.h │ │ │ │ ├── get_landmark_poses_handler_test.cc │ │ │ │ ├── get_local_to_global_transform_handler.cc │ │ │ │ ├── get_local_to_global_transform_handler.h │ │ │ │ ├── get_submap_handler.cc │ │ │ │ ├── get_submap_handler.h │ │ │ │ ├── get_trajectory_node_poses_handler.cc │ │ │ │ ├── get_trajectory_node_poses_handler.h │ │ │ │ ├── is_trajectory_finished_handler.cc │ │ │ │ ├── is_trajectory_finished_handler.h │ │ │ │ ├── is_trajectory_frozen_handler.cc │ │ │ │ ├── is_trajectory_frozen_handler.h │ │ │ │ ├── load_state_handler.cc │ │ │ │ ├── load_state_handler.h │ │ │ │ ├── receive_global_slam_optimizations_handler.cc │ │ │ │ ├── receive_global_slam_optimizations_handler.h │ │ │ │ ├── receive_local_slam_results_handler.cc │ │ │ │ ├── receive_local_slam_results_handler.h │ │ │ │ ├── run_final_optimization_handler.cc │ │ │ │ ├── run_final_optimization_handler.h │ │ │ │ ├── set_landmark_pose_handler.cc │ │ │ │ ├── set_landmark_pose_handler.h │ │ │ │ ├── set_landmark_pose_handler_test.cc │ │ │ │ ├── write_state_handler.cc │ │ │ │ └── write_state_handler.h │ │ │ ├── local_trajectory_uploader.cc │ │ │ ├── local_trajectory_uploader.h │ │ │ ├── map_builder_context_impl.cc │ │ │ ├── map_builder_context_impl.h │ │ │ ├── map_builder_context_interface.h │ │ │ ├── map_builder_server.cc │ │ │ ├── map_builder_server.h │ │ │ ├── sensor │ │ │ │ ├── serialization.cc │ │ │ │ └── serialization.h │ │ │ └── testing │ │ │ │ ├── handler_test.h │ │ │ │ ├── mock_local_trajectory_uploader.h │ │ │ │ ├── mock_map_builder_context.h │ │ │ │ ├── test_helpers.cc │ │ │ │ └── test_helpers.h │ │ ├── map_builder_server_interface.cc │ │ ├── map_builder_server_interface.h │ │ ├── map_builder_server_main.cc │ │ ├── map_builder_server_options.cc │ │ ├── map_builder_server_options.h │ │ ├── metrics │ │ │ └── prometheus │ │ │ │ ├── family_factory.cc │ │ │ │ ├── family_factory.h │ │ │ │ └── metrics_test.cc │ │ └── proto │ │ │ ├── map_builder_server_options.proto │ │ │ └── map_builder_service.proto │ ├── common │ │ ├── blocking_queue.h │ │ ├── blocking_queue_test.cc │ │ ├── ceres_solver_options.cc │ │ ├── ceres_solver_options.h │ │ ├── config.h.cmake │ │ ├── configuration_file_resolver.cc │ │ ├── configuration_file_resolver.h │ │ ├── configuration_files_test.cc │ │ ├── fixed_ratio_sampler.cc │ │ ├── fixed_ratio_sampler.h │ │ ├── fixed_ratio_sampler_test.cc │ │ ├── histogram.cc │ │ ├── histogram.h │ │ ├── internal │ │ │ └── testing │ │ │ │ ├── thread_pool_for_testing.cc │ │ │ │ └── thread_pool_for_testing.h │ │ ├── lockless_queue.h │ │ ├── lockless_queue_test.cc │ │ ├── lua.h │ │ ├── lua_parameter_dictionary.cc │ │ ├── lua_parameter_dictionary.h │ │ ├── lua_parameter_dictionary_test.cc │ │ ├── lua_parameter_dictionary_test_helpers.h │ │ ├── make_unique.h │ │ ├── math.h │ │ ├── math_test.cc │ │ ├── mutex.h │ │ ├── optional.h │ │ ├── optional_test.cc │ │ ├── port.h │ │ ├── proto │ │ │ └── ceres_solver_options.proto │ │ ├── rate_timer.h │ │ ├── rate_timer_test.cc │ │ ├── task.cc │ │ ├── task.h │ │ ├── task_test.cc │ │ ├── thread_pool.cc │ │ ├── thread_pool.h │ │ ├── thread_pool_test.cc │ │ ├── tic_toc.h │ │ ├── time.cc │ │ └── time.h │ ├── ground_truth │ │ ├── autogenerate_ground_truth_main.cc │ │ ├── compute_relations_metrics_main.cc │ │ ├── proto │ │ │ └── relations.proto │ │ ├── relations_text_file.cc │ │ └── relations_text_file.h │ ├── io │ │ ├── color.cc │ │ ├── color.h │ │ ├── coloring_points_processor.cc │ │ ├── coloring_points_processor.h │ │ ├── counting_points_processor.cc │ │ ├── counting_points_processor.h │ │ ├── draw_trajectories.cc │ │ ├── draw_trajectories.h │ │ ├── fake_file_writer.cc │ │ ├── fake_file_writer.h │ │ ├── fake_file_writer_test.cc │ │ ├── file_writer.cc │ │ ├── file_writer.h │ │ ├── fixed_ratio_sampling_points_processor.cc │ │ ├── fixed_ratio_sampling_points_processor.h │ │ ├── frame_id_filtering_points_processor.cc │ │ ├── frame_id_filtering_points_processor.h │ │ ├── hybrid_grid_points_processor.cc │ │ ├── hybrid_grid_points_processor.h │ │ ├── image.cc │ │ ├── image.h │ │ ├── intensity_to_color_points_processor.cc │ │ ├── intensity_to_color_points_processor.h │ │ ├── internal │ │ │ ├── in_memory_proto_stream.cc │ │ │ ├── in_memory_proto_stream.h │ │ │ ├── in_memory_proto_stream_test.cc │ │ │ ├── mapping_state_serialization.cc │ │ │ └── mapping_state_serialization.h │ │ ├── migrate_serialization_format_main.cc │ │ ├── min_max_range_filtering_points_processor.cc │ │ ├── min_max_range_filtering_points_processor.h │ │ ├── null_points_processor.h │ │ ├── outlier_removing_points_processor.cc │ │ ├── outlier_removing_points_processor.h │ │ ├── pcd_writing_points_processor.cc │ │ ├── pcd_writing_points_processor.h │ │ ├── ply_writing_points_processor.cc │ │ ├── ply_writing_points_processor.h │ │ ├── points_batch.cc │ │ ├── points_batch.h │ │ ├── points_processor.h │ │ ├── points_processor_pipeline_builder.cc │ │ ├── points_processor_pipeline_builder.h │ │ ├── points_processor_pipeline_builder_test.cc │ │ ├── probability_grid_points_processor.cc │ │ ├── probability_grid_points_processor.h │ │ ├── proto_stream.cc │ │ ├── proto_stream.h │ │ ├── proto_stream_deserializer.cc │ │ ├── proto_stream_deserializer.h │ │ ├── proto_stream_deserializer_test.cc │ │ ├── proto_stream_interface.h │ │ ├── proto_stream_test.cc │ │ ├── serialization_format_migration.cc │ │ ├── serialization_format_migration.h │ │ ├── serialization_format_migration_test.cc │ │ ├── submap_painter.cc │ │ ├── submap_painter.h │ │ ├── xray_points_processor.cc │ │ ├── xray_points_processor.h │ │ ├── xyz_writing_points_processor.cc │ │ └── xyz_writing_points_processor.h │ ├── mapping │ │ ├── 2d │ │ │ ├── grid_2d.cc │ │ │ ├── grid_2d.h │ │ │ ├── map_limits.h │ │ │ ├── map_limits_test.cc │ │ │ ├── probability_grid.cc │ │ │ ├── probability_grid.h │ │ │ ├── probability_grid_range_data_inserter_2d.cc │ │ │ ├── probability_grid_range_data_inserter_2d.h │ │ │ ├── probability_grid_test.cc │ │ │ ├── range_data_inserter_2d_test.cc │ │ │ ├── submap_2d.cc │ │ │ ├── submap_2d.h │ │ │ ├── submap_2d_test.cc │ │ │ ├── xy_index.h │ │ │ └── xy_index_test.cc │ │ ├── 3d │ │ │ ├── hybrid_grid.h │ │ │ ├── hybrid_grid_test.cc │ │ │ ├── range_data_inserter_3d.cc │ │ │ ├── range_data_inserter_3d.h │ │ │ ├── range_data_inserter_3d_test.cc │ │ │ ├── submap_3d.cc │ │ │ ├── submap_3d.h │ │ │ └── submap_3d_test.cc │ │ ├── clins │ │ │ ├── basalt │ │ │ │ ├── spline │ │ │ │ │ ├── calib_bias.hpp │ │ │ │ │ ├── ceres_local_param.hpp │ │ │ │ │ ├── ceres_spline_helper.h │ │ │ │ │ ├── ceres_spline_helper_jet.h │ │ │ │ │ ├── rd_spline.h │ │ │ │ │ ├── se3_spline.h │ │ │ │ │ ├── so3_spline.h │ │ │ │ │ ├── spline_common.h │ │ │ │ │ └── spline_segment.h │ │ │ │ └── utils │ │ │ │ │ ├── assert.h │ │ │ │ │ ├── eigen_utils.hpp │ │ │ │ │ └── sophus_utils.hpp │ │ │ ├── camera_models │ │ │ │ ├── Camera.cc │ │ │ │ ├── Camera.h │ │ │ │ ├── CameraFactory.cc │ │ │ │ ├── CameraFactory.h │ │ │ │ ├── CataCamera.cc │ │ │ │ ├── CataCamera.h │ │ │ │ ├── CostFunctionFactory.cc │ │ │ │ ├── CostFunctionFactory.h │ │ │ │ ├── EquidistantCamera.cc │ │ │ │ ├── EquidistantCamera.h │ │ │ │ ├── PinholeCamera.cc │ │ │ │ ├── PinholeCamera.h │ │ │ │ ├── ScaramuzzaCamera.cc │ │ │ │ ├── ScaramuzzaCamera.h │ │ │ │ ├── gpl.cc │ │ │ │ └── gpl.h │ │ │ ├── factor │ │ │ │ └── auto_diff │ │ │ │ │ ├── camera_reprojection_factor.h │ │ │ │ │ ├── imu_factor.h │ │ │ │ │ ├── lidar_feature_factor.h │ │ │ │ │ ├── loop_closure_factor.h │ │ │ │ │ ├── motion_factor.h │ │ │ │ │ └── vicon_factor.h │ │ │ ├── feature │ │ │ │ ├── feature_extraction.h │ │ │ │ ├── lidar_feature.h │ │ │ │ └── voxel_filter.h │ │ │ ├── odometry │ │ │ │ ├── camera_state_estimator.cc │ │ │ │ ├── camera_state_estimator.h │ │ │ │ ├── imu_state_estimator.cc │ │ │ │ ├── imu_state_estimator.h │ │ │ │ ├── inertial_initializer.cc │ │ │ │ └── inertial_initializer.h │ │ │ ├── pose_graph │ │ │ │ ├── pose_graph_3d_error_term.h │ │ │ │ └── types.h │ │ │ ├── sensor_data │ │ │ │ ├── calibration.hpp │ │ │ │ ├── image_data.h │ │ │ │ ├── imu_data.h │ │ │ │ ├── lidar_data.h │ │ │ │ └── loop_closure_data.h │ │ │ ├── sophus │ │ │ │ ├── common.hpp │ │ │ │ ├── example_ensure_handler.cpp │ │ │ │ ├── rxso3.hpp │ │ │ │ ├── se2.hpp │ │ │ │ ├── se3.hpp │ │ │ │ ├── sim3.hpp │ │ │ │ ├── so2.hpp │ │ │ │ ├── so3.hpp │ │ │ │ ├── test_macros.hpp │ │ │ │ └── types.hpp │ │ │ ├── trajectory │ │ │ │ ├── se3_trajectory.hpp │ │ │ │ ├── trajectory_estimator.hpp │ │ │ │ └── trajectory_manager.hpp │ │ │ └── utils │ │ │ │ ├── ceres_callbacks.h │ │ │ │ ├── eigen_utils.hpp │ │ │ │ ├── gps_convert_utils.h │ │ │ │ ├── math_utils.h │ │ │ │ ├── tic_toc.h │ │ │ │ └── vlp_common.h │ │ ├── cvins │ │ │ ├── ct_estimator.cc │ │ │ ├── ct_estimator.h │ │ │ ├── estimator.cc │ │ │ ├── estimator.h │ │ │ ├── estimator_interface.cc │ │ │ ├── estimator_interface.h │ │ │ ├── factor │ │ │ │ ├── imu_factor.h │ │ │ │ ├── integration_base.h │ │ │ │ ├── marginalization_factor.cc │ │ │ │ ├── marginalization_factor.h │ │ │ │ ├── pose_local_parameterization.cc │ │ │ │ ├── pose_local_parameterization.h │ │ │ │ ├── projection_factor.cc │ │ │ │ ├── projection_factor.h │ │ │ │ ├── projection_td_factor.cc │ │ │ │ ├── projection_td_factor.h │ │ │ │ └── state_factor.h │ │ │ ├── feature_manager.cc │ │ │ ├── feature_manager.h │ │ │ ├── feature_tracker.cc │ │ │ ├── feature_tracker.h │ │ │ ├── initial │ │ │ │ ├── initial_aligment.cc │ │ │ │ ├── initial_alignment.h │ │ │ │ ├── initial_ex_rotation.cc │ │ │ │ ├── initial_ex_rotation.h │ │ │ │ ├── initial_sfm.cc │ │ │ │ ├── initial_sfm.h │ │ │ │ ├── solve_5pts.cc │ │ │ │ └── solve_5pts.h │ │ │ ├── lvi_estimator.cc │ │ │ ├── lvi_estimator.h │ │ │ ├── parameters.cc │ │ │ ├── parameters.h │ │ │ ├── utility.cc │ │ │ └── utility.h │ │ ├── dbow │ │ │ ├── BowVector.cc │ │ │ ├── BowVector.h │ │ │ ├── DBoW3.h │ │ │ ├── Database.cc │ │ │ ├── Database.h │ │ │ ├── DescManip.cc │ │ │ ├── DescManip.h │ │ │ ├── FeatureVector.cc │ │ │ ├── FeatureVector.h │ │ │ ├── QueryResults.cc │ │ │ ├── QueryResults.h │ │ │ ├── ScoringObject.cc │ │ │ ├── ScoringObject.h │ │ │ ├── Vocabulary.cc │ │ │ ├── Vocabulary.h │ │ │ ├── exports.h │ │ │ ├── quicklz.cc │ │ │ ├── quicklz.h │ │ │ └── timers.h │ │ ├── detect_floors.cc │ │ ├── detect_floors.h │ │ ├── grid_interface.h │ │ ├── id.h │ │ ├── id_test.cc │ │ ├── imu_tracker.cc │ │ ├── imu_tracker.h │ │ ├── imu_tracker_test.cc │ │ ├── internal │ │ │ ├── 2d │ │ │ │ ├── local_slam_result_2d.cc │ │ │ │ ├── local_slam_result_2d.h │ │ │ │ ├── local_trajectory_builder_2d.cc │ │ │ │ ├── local_trajectory_builder_2d.h │ │ │ │ ├── local_trajectory_builder_options_2d.cc │ │ │ │ ├── local_trajectory_builder_options_2d.h │ │ │ │ ├── overlapping_submaps_trimmer_2d.cc │ │ │ │ ├── overlapping_submaps_trimmer_2d.h │ │ │ │ ├── overlapping_submaps_trimmer_2d_test.cc │ │ │ │ ├── pose_graph_2d.cc │ │ │ │ ├── pose_graph_2d.h │ │ │ │ ├── pose_graph_2d_test.cc │ │ │ │ ├── ray_casting.cc │ │ │ │ ├── ray_casting.h │ │ │ │ └── scan_matching │ │ │ │ │ ├── ceres_scan_matcher_2d.cc │ │ │ │ │ ├── ceres_scan_matcher_2d.h │ │ │ │ │ ├── ceres_scan_matcher_2d_test.cc │ │ │ │ │ ├── correlative_scan_matcher_2d.cc │ │ │ │ │ ├── correlative_scan_matcher_2d.h │ │ │ │ │ ├── correlative_scan_matcher_test.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_2d.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_2d.h │ │ │ │ │ ├── fast_correlative_scan_matcher_2d_test.cc │ │ │ │ │ ├── occupied_space_cost_function_2d.h │ │ │ │ │ ├── real_time_correlative_scan_matcher_2d.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_2d.h │ │ │ │ │ ├── real_time_correlative_scan_matcher_2d_test.cc │ │ │ │ │ ├── rotation_delta_cost_functor_2d.h │ │ │ │ │ └── translation_delta_cost_functor_2d.h │ │ │ ├── 3d │ │ │ │ ├── imu_integration.h │ │ │ │ ├── initialization │ │ │ │ │ ├── imu_lidar_initializer.cc │ │ │ │ │ ├── imu_lidar_initializer.h │ │ │ │ │ ├── integration_base.h │ │ │ │ │ └── rigid3d_with_preintegrator.h │ │ │ │ ├── local_slam_result_3d.cc │ │ │ │ ├── local_slam_result_3d.h │ │ │ │ ├── local_trajectory_builder_3d.cc │ │ │ │ ├── local_trajectory_builder_3d.h │ │ │ │ ├── local_trajectory_builder_3d.lvi │ │ │ │ ├── local_trajectory_builder_3d_backup.cpp │ │ │ │ ├── local_trajectory_builder_3d_test.cc │ │ │ │ ├── local_trajectory_builder_options_3d.cc │ │ │ │ ├── local_trajectory_builder_options_3d.h │ │ │ │ ├── pose_graph_3d.cc │ │ │ │ ├── pose_graph_3d.h │ │ │ │ ├── pose_graph_3d_test.cc │ │ │ │ ├── range_data_synchronizer.cc │ │ │ │ ├── range_data_synchronizer.h │ │ │ │ ├── rotation_parameterization.h │ │ │ │ ├── scan_context │ │ │ │ │ ├── KDTreeVectorOfVectorsAdaptor.h │ │ │ │ │ ├── Scancontext.cc │ │ │ │ │ ├── Scancontext.h │ │ │ │ │ └── nanoflann.hpp │ │ │ │ └── scan_matching │ │ │ │ │ ├── ceres_scan_matcher_3d.cc │ │ │ │ │ ├── ceres_scan_matcher_3d.h │ │ │ │ │ ├── ceres_scan_matcher_3d_test.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_3d.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_3d.h │ │ │ │ │ ├── fast_correlative_scan_matcher_3d_test.cc │ │ │ │ │ ├── interpolated_grid.h │ │ │ │ │ ├── interpolated_grid_test.cc │ │ │ │ │ ├── loam_feature.cc │ │ │ │ │ ├── loam_feature.h │ │ │ │ │ ├── loam_scan_matcher.cc │ │ │ │ │ ├── loam_scan_matcher.h │ │ │ │ │ ├── low_resolution_matcher.cc │ │ │ │ │ ├── low_resolution_matcher.h │ │ │ │ │ ├── occupied_space_cost_function_3d.h │ │ │ │ │ ├── precomputation_grid_3d.cc │ │ │ │ │ ├── precomputation_grid_3d.h │ │ │ │ │ ├── precomputation_grid_3d_test.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_3d.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_3d.h │ │ │ │ │ ├── real_time_correlative_scan_matcher_3d_test.cc │ │ │ │ │ ├── rotation_delta_cost_functor_3d.h │ │ │ │ │ ├── rotation_delta_cost_functor_3d_test.cc │ │ │ │ │ ├── rotational_scan_matcher.cc │ │ │ │ │ ├── rotational_scan_matcher.h │ │ │ │ │ ├── rotational_scan_matcher_test.cc │ │ │ │ │ └── translation_delta_cost_functor_3d.h │ │ │ ├── collated_trajectory_builder.cc │ │ │ ├── collated_trajectory_builder.h │ │ │ ├── connected_components.cc │ │ │ ├── connected_components.h │ │ │ ├── connected_components_test.cc │ │ │ ├── constraints │ │ │ │ ├── constraint_builder.cc │ │ │ │ ├── constraint_builder.h │ │ │ │ ├── constraint_builder_2d.cc │ │ │ │ ├── constraint_builder_2d.h │ │ │ │ ├── constraint_builder_2d_test.cc │ │ │ │ ├── constraint_builder_3d.cc │ │ │ │ ├── constraint_builder_3d.h │ │ │ │ └── constraint_builder_3d_test.cc │ │ │ ├── global_trajectory_builder.cc │ │ │ ├── global_trajectory_builder.h │ │ │ ├── motion_filter.cc │ │ │ ├── motion_filter.h │ │ │ ├── motion_filter_test.cc │ │ │ ├── optimization │ │ │ │ ├── ceres_pose.cc │ │ │ │ ├── ceres_pose.h │ │ │ │ ├── cost_functions │ │ │ │ │ ├── acceleration_cost_function_3d.h │ │ │ │ │ ├── cost_helpers.h │ │ │ │ │ ├── cost_helpers_impl.h │ │ │ │ │ ├── landmark_cost_function_2d.h │ │ │ │ │ ├── landmark_cost_function_2d_test.cc │ │ │ │ │ ├── landmark_cost_function_3d.h │ │ │ │ │ ├── landmark_cost_function_3d_test.cc │ │ │ │ │ ├── rotation_cost_function_3d.h │ │ │ │ │ ├── spa_cost_function_2d.cc │ │ │ │ │ ├── spa_cost_function_2d.h │ │ │ │ │ ├── spa_cost_function_2d_test.cc │ │ │ │ │ └── spa_cost_function_3d.h │ │ │ │ ├── optimization_problem_2d.cc │ │ │ │ ├── optimization_problem_2d.h │ │ │ │ ├── optimization_problem_3d.cc │ │ │ │ ├── optimization_problem_3d.h │ │ │ │ ├── optimization_problem_3d_test.cc │ │ │ │ ├── optimization_problem_interface.h │ │ │ │ ├── optimization_problem_options.cc │ │ │ │ └── optimization_problem_options.h │ │ │ ├── range_data_collator.cc │ │ │ ├── range_data_collator.h │ │ │ ├── range_data_collator_test.cc │ │ │ ├── scan_matching │ │ │ │ ├── real_time_correlative_scan_matcher.cc │ │ │ │ └── real_time_correlative_scan_matcher.h │ │ │ ├── submap_controller.cc │ │ │ ├── submap_controller.h │ │ │ ├── testing │ │ │ │ ├── fake_trimmable.h │ │ │ │ ├── mock_map_builder.h │ │ │ │ ├── mock_pose_graph.h │ │ │ │ ├── mock_trajectory_builder.h │ │ │ │ ├── test_helpers.cc │ │ │ │ └── test_helpers.h │ │ │ ├── trajectory_connectivity_state.cc │ │ │ ├── trajectory_connectivity_state.h │ │ │ └── trajectory_connectivity_state_test.cc │ │ ├── local_slam_result_data.h │ │ ├── map_builder.cc │ │ ├── map_builder.h │ │ ├── map_builder_interface.h │ │ ├── map_builder_test.cc │ │ ├── msckf │ │ │ ├── corner_detector.cc │ │ │ ├── corner_detector.h │ │ │ ├── fast │ │ │ │ ├── corner_10.h │ │ │ │ ├── corner_9.h │ │ │ │ ├── fast.h │ │ │ │ ├── fast_10.cc │ │ │ │ ├── fast_10_score.cc │ │ │ │ ├── faster_corner_10_sse.cc │ │ │ │ ├── faster_corner_utilities.h │ │ │ │ └── nonmax_3x3.cc │ │ │ ├── matrix_utils.h │ │ │ ├── msckf.h │ │ │ └── types.h │ │ ├── pose_extrapolator.cc │ │ ├── pose_extrapolator.h │ │ ├── pose_extrapolator_test.cc │ │ ├── pose_graph.cc │ │ ├── pose_graph.h │ │ ├── pose_graph_interface.h │ │ ├── pose_graph_test.cc │ │ ├── pose_graph_trimmer.cc │ │ ├── pose_graph_trimmer.h │ │ ├── pose_graph_trimmer_test.cc │ │ ├── probability_values.cc │ │ ├── probability_values.h │ │ ├── probability_values_test.cc │ │ ├── proto │ │ │ ├── 2d │ │ │ │ ├── cell_limits.proto │ │ │ │ ├── grid_2d.proto │ │ │ │ ├── grid_2d_options.proto │ │ │ │ ├── local_trajectory_builder_options_2d.proto │ │ │ │ ├── map_limits.proto │ │ │ │ ├── probability_grid.proto │ │ │ │ ├── probability_grid_range_data_inserter_options_2d.proto │ │ │ │ └── submaps_options_2d.proto │ │ │ ├── 3d │ │ │ │ ├── hybrid_grid.proto │ │ │ │ ├── local_trajectory_builder_options_3d.proto │ │ │ │ ├── range_data_inserter_options_3d.proto │ │ │ │ └── submaps_options_3d.proto │ │ │ ├── connected_components.proto │ │ │ ├── eskf.proto │ │ │ ├── imu_options.proto │ │ │ ├── internal │ │ │ │ └── legacy_serialized_data.proto │ │ │ ├── lidar_options.proto │ │ │ ├── lins_options.proto │ │ │ ├── local_slam_range_data.proto │ │ │ ├── map_builder_options.proto │ │ │ ├── motion_filter_options.proto │ │ │ ├── pose_graph.proto │ │ │ ├── pose_graph │ │ │ │ ├── constraint_builder_options.proto │ │ │ │ └── optimization_problem_options.proto │ │ │ ├── pose_graph_options.proto │ │ │ ├── range_data_inserter_options.proto │ │ │ ├── scan_matching │ │ │ │ ├── ceres_scan_matcher_options_2d.proto │ │ │ │ ├── ceres_scan_matcher_options_3d.proto │ │ │ │ ├── fast_correlative_scan_matcher_options_2d.proto │ │ │ │ ├── fast_correlative_scan_matcher_options_3d.proto │ │ │ │ ├── loam_scan_matcher_options.proto │ │ │ │ └── real_time_correlative_scan_matcher_options.proto │ │ │ ├── serialization.proto │ │ │ ├── submap.proto │ │ │ ├── submap_visualization.proto │ │ │ ├── trajectory.proto │ │ │ ├── trajectory_builder_options.proto │ │ │ └── trajectory_node_data.proto │ │ ├── range_data_inserter_interface.cc │ │ ├── range_data_inserter_interface.h │ │ ├── sfm │ │ │ ├── landmark.h │ │ │ ├── landmark_impl.cc │ │ │ ├── observation.h │ │ │ ├── observation_impl.cc │ │ │ ├── sfm.h │ │ │ ├── view.h │ │ │ └── view_impl.cc │ │ ├── submaps.h │ │ ├── submaps_test.cc │ │ ├── trajectory_builder_interface.cc │ │ ├── trajectory_builder_interface.h │ │ ├── trajectory_node.cc │ │ ├── trajectory_node.h │ │ └── trajectory_node_test.cc │ ├── metrics │ │ ├── counter.cc │ │ ├── counter.h │ │ ├── family_factory.h │ │ ├── gauge.cc │ │ ├── gauge.h │ │ ├── histogram.cc │ │ ├── histogram.h │ │ ├── register.cc │ │ └── register.h │ ├── sensor │ │ ├── collator_interface.h │ │ ├── compressed_point_cloud.cc │ │ ├── compressed_point_cloud.h │ │ ├── compressed_point_cloud_test.cc │ │ ├── data.h │ │ ├── fixed_frame_pose_data.cc │ │ ├── fixed_frame_pose_data.h │ │ ├── image_data.cc │ │ ├── image_data.h │ │ ├── imu_data.cc │ │ ├── imu_data.h │ │ ├── internal │ │ │ ├── collator.cc │ │ │ ├── collator.h │ │ │ ├── collator_test.cc │ │ │ ├── dispatchable.h │ │ │ ├── ordered_multi_queue.cc │ │ │ ├── ordered_multi_queue.h │ │ │ ├── ordered_multi_queue_test.cc │ │ │ ├── test_helpers.h │ │ │ ├── trajectory_collator.cc │ │ │ ├── trajectory_collator.h │ │ │ ├── trajectory_collator_test.cc │ │ │ ├── voxel_filter.cc │ │ │ ├── voxel_filter.h │ │ │ └── voxel_filter_test.cc │ │ ├── landmark_data.cc │ │ ├── landmark_data.h │ │ ├── landmark_data_test.cc │ │ ├── map_by_time.h │ │ ├── map_by_time_test.cc │ │ ├── odometry_data.cc │ │ ├── odometry_data.h │ │ ├── point_cloud.cc │ │ ├── point_cloud.h │ │ ├── point_cloud_test.cc │ │ ├── proto │ │ │ ├── adaptive_voxel_filter_options.proto │ │ │ └── sensor.proto │ │ ├── range_data.cc │ │ ├── range_data.h │ │ ├── range_data_test.cc │ │ ├── timed_point_cloud_data.cc │ │ └── timed_point_cloud_data.h │ └── transform │ │ ├── proto │ │ └── transform.proto │ │ ├── rigid_transform.cc │ │ ├── rigid_transform.h │ │ ├── rigid_transform_test.cc │ │ ├── rigid_transform_test_helpers.h │ │ ├── timestamped_transform.cc │ │ ├── timestamped_transform.h │ │ ├── transform.cc │ │ ├── transform.h │ │ ├── transform_interpolation_buffer.cc │ │ ├── transform_interpolation_buffer.h │ │ ├── transform_interpolation_buffer_test.cc │ │ └── transform_test.cc ├── cmake │ ├── functions.cmake │ └── modules │ │ ├── FindGMock.cmake │ │ ├── FindLuaGoogle.cmake │ │ └── FindSphinx.cmake ├── configuration_files │ ├── map_builder.lua │ ├── map_builder_server.lua │ ├── pose_graph.lua │ ├── trajectory_builder.lua │ ├── trajectory_builder_2d.lua │ └── trajectory_builder_3d.lua ├── docs │ ├── CMakeLists.txt │ ├── assets │ │ ├── logo_1024dp.png │ │ ├── logo_128dp.png │ │ ├── logo_16dp.png │ │ ├── logo_16dp.svg │ │ ├── logo_192dp.png │ │ ├── logo_24dp.png │ │ ├── logo_24dp.svg │ │ ├── logo_32dp.png │ │ ├── logo_32dp.svg │ │ ├── logo_36dp.png │ │ ├── logo_36dp.svg │ │ ├── logo_48dp.png │ │ ├── logo_48dp.svg │ │ ├── logo_512dp.png │ │ ├── logo_512dp.svg │ │ ├── logo_64dp.png │ │ ├── logo_64dp.svg │ │ ├── logo_72dp.png │ │ ├── logo_96dp.png │ │ ├── logo_96dp.svg │ │ └── t_shirt │ │ │ ├── logo_cartographer.ai │ │ │ ├── logo_cartographer.svg │ │ │ ├── logo_cartographer_512dp_shaded.svg │ │ │ ├── pantone_lookup.png │ │ │ └── pantone_lookup.txt │ └── source │ │ ├── autogenerate_groundtruth.png │ │ ├── conf.py │ │ ├── configuration.rst │ │ ├── cost_functions.rst │ │ ├── evaluation.rst │ │ ├── high_level_system_overview.png │ │ ├── index.rst │ │ └── terminology.rst ├── package.xml ├── scripts │ ├── build_test_asan.sh │ ├── install_async_grpc.sh │ ├── install_cartographer_bazel.sh │ ├── install_cartographer_cmake.sh │ ├── install_cartographer_cmake_with_grpc.sh │ ├── install_ceres.sh │ ├── install_debs_bazel.sh │ ├── install_debs_cmake.sh │ ├── install_grpc.sh │ ├── install_prometheus_cpp.sh │ ├── install_proto3.sh │ ├── load_docker_cache.sh │ ├── save_docker_cache.sh │ └── update_configuration_doc.py └── tools │ └── bazel.rc ├── cartographer_ros ├── .dockerignore ├── .github │ └── ISSUE_TEMPLATE ├── .travis.yml ├── AUTHORS ├── CONTRIBUTING.md ├── Dockerfile.indigo ├── Dockerfile.kinetic ├── Dockerfile.lunar ├── Dockerfile.melodic ├── LICENSE ├── README.rst ├── cartographer_ros.rosinstall ├── cartographer_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cartographer_ros │ │ ├── CMakeLists.txt │ │ ├── assets_writer.cc │ │ ├── assets_writer.h │ │ ├── assets_writer_main.cc │ │ ├── cartographer_grpc │ │ │ ├── node_grpc_main.cc │ │ │ └── offline_node_grpc_main.cc │ │ ├── configuration_files_test.cc │ │ ├── dev │ │ │ ├── rosbag_publisher_main.cc │ │ │ └── trajectory_comparison_main.cc │ │ ├── dlio_eval_node.cc │ │ ├── gen_ground_truth_by_ndt_match.cc │ │ ├── kaist_trajectory_from_pbstream.cc │ │ ├── kitti_trajectory_from_pbstream.cc │ │ ├── kitti_urdf_param_caculator.cc │ │ ├── map_builder_bridge.cc │ │ ├── map_builder_bridge.h │ │ ├── msg_conversion.cc │ │ ├── msg_conversion.h │ │ ├── msg_conversion_test.cc │ │ ├── node.cc │ │ ├── node.h │ │ ├── node_constants.cc │ │ ├── node_constants.h │ │ ├── node_main.cc │ │ ├── node_options.cc │ │ ├── node_options.h │ │ ├── occupancy_grid_node_main.cc │ │ ├── offline_node.cc │ │ ├── offline_node.h │ │ ├── offline_node_main.cc │ │ ├── pb_range_data_to_ros_cloud_main.cc │ │ ├── pbstream_3d_map_publisher_main.cc │ │ ├── pbstream_map_publisher_main.cc │ │ ├── pbstream_to_ros_map_main.cc │ │ ├── playable_bag.cc │ │ ├── playable_bag.h │ │ ├── read_constraints_from_pbsteam.cc │ │ ├── ros_log_sink.cc │ │ ├── ros_log_sink.h │ │ ├── ros_map.cc │ │ ├── ros_map.h │ │ ├── ros_map_writing_points_processor.cc │ │ ├── ros_map_writing_points_processor.h │ │ ├── rosbag_validate_main.cc │ │ ├── sensor_bridge.cc │ │ ├── sensor_bridge.h │ │ ├── split_string.cc │ │ ├── split_string.h │ │ ├── start_trajectory_main.cc │ │ ├── submap.cc │ │ ├── submap.h │ │ ├── tf_bridge.cc │ │ ├── tf_bridge.h │ │ ├── time_conversion.cc │ │ ├── time_conversion.h │ │ ├── time_conversion_test.cc │ │ ├── trajectory_info_from_pbstream.cc │ │ ├── trajectory_options.cc │ │ ├── trajectory_options.h │ │ ├── urdf_reader.cc │ │ ├── urdf_reader.h │ │ └── viral_trajectory_from_pbstream.cc │ ├── configuration_files │ │ ├── assets_writer_backpack_2d.lua │ │ ├── assets_writer_backpack_2d_ci.lua │ │ ├── assets_writer_backpack_3d.lua │ │ ├── assets_writer_ros_map.lua │ │ ├── backpack_2d.lua │ │ ├── backpack_2d_localization.lua │ │ ├── backpack_2d_localization_evaluation.lua │ │ ├── backpack_2d_server.lua │ │ ├── backpack_3d.lua │ │ ├── backpack_3d_localization.lua │ │ ├── demo_2d.rviz │ │ ├── demo_3d.rviz │ │ ├── pr2.lua │ │ ├── revo_lds.lua │ │ ├── taurob_tracker.lua │ │ ├── transform.lua │ │ └── visualize_pbstream.lua │ ├── launch │ │ ├── assets_writer_backpack_2d.launch │ │ ├── assets_writer_backpack_3d.launch │ │ ├── assets_writer_ros_map.launch │ │ ├── backpack_2d.launch │ │ ├── backpack_3d.launch │ │ ├── demo_backpack_2d.launch │ │ ├── demo_backpack_2d_localization.launch │ │ ├── demo_backpack_3d.launch │ │ ├── demo_backpack_3d_localization.launch │ │ ├── demo_pr2.launch │ │ ├── demo_revo_lds.launch │ │ ├── demo_taurob_tracker.launch │ │ ├── grpc_demo_backpack_2d.launch │ │ ├── grpc_demo_backpack_2d_localization.launch │ │ ├── offline_backpack_2d.launch │ │ ├── offline_backpack_3d.launch │ │ ├── taurob_tracker.launch │ │ └── visualize_pbstream.launch │ ├── package.xml │ ├── scripts │ │ ├── cartographer_grpc_server.sh │ │ ├── dev │ │ │ └── compare_localization_to_offline_trajectory.sh │ │ ├── remove_leading_slashes.py │ │ └── tf_remove_frames.py │ └── urdf │ │ ├── backpack_2d.urdf │ │ └── backpack_3d.urdf ├── cartographer_ros_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── LandmarkEntry.msg │ │ ├── LandmarkList.msg │ │ ├── SensorTopics.msg │ │ ├── StatusCode.msg │ │ ├── StatusResponse.msg │ │ ├── SubmapEntry.msg │ │ ├── SubmapList.msg │ │ ├── SubmapTexture.msg │ │ └── TrajectoryOptions.msg │ ├── package.xml │ └── srv │ │ ├── FinishTrajectory.srv │ │ ├── StartTrajectory.srv │ │ ├── SubmapQuery.srv │ │ └── WriteState.srv ├── cartographer_rviz │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cartographer_rviz │ │ ├── drawable_submap.cc │ │ ├── drawable_submap.h │ │ ├── ogre_slice.cc │ │ ├── ogre_slice.h │ │ ├── submaps_display.cc │ │ └── submaps_display.h │ ├── ogre_media │ │ └── materials │ │ │ ├── glsl120 │ │ │ ├── glsl120.program │ │ │ ├── submap.frag │ │ │ └── submap.vert │ │ │ └── scripts │ │ │ └── submap.material │ ├── package.xml │ └── rviz_plugin_description.xml ├── docs │ ├── CMakeLists.txt │ └── source │ │ ├── assets_writer.rst │ │ ├── conf.py │ │ ├── configuration.rst │ │ ├── data.rst │ │ ├── demos.rst │ │ ├── faq.rst │ │ ├── index.rst │ │ ├── ros_api.rst │ │ └── tuning.rst ├── jenkins │ ├── Dockerfile.kinetic │ ├── Jenkinsfile │ ├── jenkins-slave │ └── worker.py └── scripts │ ├── catkin_test_results.sh │ ├── check_access_token.sh │ ├── install.sh │ ├── install_debs.sh │ ├── load_docker_cache.sh │ ├── prepare_catkin_workspace.sh │ ├── prepare_jenkins_catkin_workspace.sh │ ├── ros_entrypoint.sh │ └── save_docker_cache.sh ├── ctlvi ├── CMakeLists.txt ├── config │ ├── assets_writer_tongji.lua │ ├── basic_config_3d.lua │ ├── lvio │ │ ├── fisheye_mask_720x540.jpg │ │ ├── tongji.yaml │ │ ├── viral.yaml │ │ └── viral_left.yaml │ ├── tongji.lua │ ├── transform.lua │ └── viral.lua ├── launch │ ├── demo │ │ ├── demo_ctlvi_tongji.launch │ │ └── demo_ctlvi_viral.launch │ └── offline │ │ ├── ctlvi_map_viewer.launch │ │ ├── ctlvi_map_viewer_rectified.launch │ │ ├── offline_ctlvi_tongji.launch │ │ └── offline_ctlvi_viral.launch ├── package.xml ├── rviz │ └── ctlvi.rviz ├── tf_tree │ └── frames.pdf └── urdf 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