├── CMakeLists.txt ├── CMakeLists.txt.user ├── LICENSE ├── README.md ├── cfg └── algorithmParameters.cfg ├── config ├── calib_icp.yaml ├── calib_preprocess.yaml └── calib_yellow_gt.yaml ├── data └── example │ └── top_front │ ├── cfg.yaml │ ├── data_cfg.yaml │ ├── eps_opt.csv │ ├── merged_before.pcd │ ├── merged_ini.pcd │ ├── merged_opt.pcd │ ├── opt_report.yaml │ ├── plane │ ├── data_plane_1.pcd │ ├── data_plane_2.pcd │ ├── data_plane_3.pcd │ ├── data_planes.pcd │ ├── ref_plane_1.pcd │ ├── ref_plane_2.pcd │ ├── ref_plane_3.pcd │ └── ref_planes.pcd │ ├── raw │ ├── data_filter.pcd │ └── ref_filter.pcd │ ├── ref_cfg.yaml │ └── simulation_result.yaml ├── image ├── calibration_result.png ├── data_planes.png ├── filter.png ├── merged.png ├── plane_extraction.png └── ref_planes.png ├── include ├── ColorMap.h ├── Kabsch.hpp ├── cal_icp.h ├── calib_pointcloud.h ├── common │ ├── algos │ │ ├── convex_hullxy.hpp │ │ ├── graph.hpp │ │ └── hungarian_bigraph_matcher.hpp │ ├── bounding_box.hpp │ ├── color.hpp │ ├── common.hpp │ ├── common_ros.hpp │ ├── geometry.hpp │ ├── math.hpp │ ├── parameter.hpp │ ├── publisher.hpp │ ├── time.hpp │ ├── transform.hpp │ ├── types │ │ ├── feature.hpp │ │ ├── object.hpp │ │ └── type.h │ └── utilis_plane.h ├── mutil_cal_eval.h ├── plane_fitter.hpp └── utils.h ├── launch └── evaluation_plane_fitting.launch ├── lidar_appearance_calibration.kdev4 ├── package.xml ├── result └── yellow_gt.yaml ├── rviz └── plane_extraction.rviz ├── src ├── calib_evaluation.cpp ├── calib_evaluation_mse.cpp ├── calib_icp.cpp ├── calib_plane_extraction.cpp ├── calib_preprocess.cpp ├── simulation_data_generation.cpp └── simulation_result.yaml └── test ├── cal_icp.cpp ├── calibration.cpp └── multi_cal_eval.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ram-lab/lidar_appearance_calibration/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- 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