├── .catkin_workspace ├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── my_convert.py ├── paper └── iros2022.pdf └── src ├── CMakeLists.txt ├── ls_extractor ├── CMakeLists.txt ├── README.md ├── config │ ├── example.rviz │ └── example.yaml ├── include │ └── ls_extractor │ │ ├── defs.h │ │ ├── impl │ │ ├── hough.h │ │ ├── smc.h │ │ └── smf.h │ │ ├── matplotlibcpp.h │ │ ├── ros_utils.h │ │ ├── utils.h │ │ └── visualizer.h ├── launch │ └── laser.launch ├── msg │ ├── LineSegment.msg │ ├── LineSegmentList.msg │ ├── PointCloudWithCov.msg │ └── PointWithCov.msg ├── package.xml └── src │ ├── impl │ ├── smc.cpp │ └── smf.cpp │ ├── laser_node.cpp │ ├── ls_test.cpp │ └── visualizer.cpp └── sparse_gslam ├── CMakeLists.txt ├── cmake └── FindG2O.cmake ├── config ├── gamepad.yaml └── swarm.yaml ├── datasets ├── aces │ ├── aces-30pts.txt │ ├── aces-60pts.txt │ ├── line_extractor.yaml │ ├── slam-10.yaml │ ├── slam-11.yaml │ ├── slam-13.yaml │ ├── slam-30.yaml │ ├── slam-4.yaml │ ├── slam-5.yaml │ ├── slam-6.yaml │ ├── slam-7.yaml │ └── slam-8.yaml ├── albertb │ ├── line_extractor.yaml │ └── slam.yaml ├── calc_time.py ├── download.sh ├── eval.sh ├── fixlog.py ├── gen_acc_table.py ├── gen_time_table.py ├── intel-lab │ ├── 180pts.txt │ ├── 30pts.txt │ ├── 45pts.txt │ ├── 60pts.txt │ ├── line_extractor.yaml │ ├── slam-10.yaml │ ├── slam-11.yaml │ ├── slam-13.yaml │ ├── slam-30.yaml │ ├── slam-4.yaml │ ├── slam-45.yaml │ ├── slam-5.yaml │ ├── slam-6.yaml │ ├── slam-60.yaml │ ├── slam-7.yaml │ ├── slam-8.yaml │ └── slam-9.yaml ├── intel-oregon │ ├── line_extractor.yaml │ └── slam.yaml ├── mit-csail │ └── line_extractor.yaml ├── mit-killian │ ├── line_extractor.yaml │ ├── slam-10.yaml │ ├── slam-11.yaml │ ├── slam-30-2.yaml │ ├── slam-30.yaml │ └── slam.yaml ├── nsh_level_a │ ├── line_extractor.yaml │ └── slam.yaml ├── olsson-3loop │ ├── line_extractor.yaml │ ├── olsson-3loop.log │ └── slam.yaml ├── olsson-demo │ ├── line_extractor.yaml │ ├── olsson-demo.log │ └── slam.yaml ├── relation_stats.py ├── rice │ ├── line_extractor.yaml │ ├── rice.log │ └── slam.yaml ├── slam_config_example.yaml ├── stanford-gates │ ├── line_extractor.yaml │ └── slam.yaml ├── sweep.py └── usc-sal │ ├── line_extractor.yaml │ └── slam.yaml ├── include ├── cartographer_bindings │ ├── ceres_scan_matcher_2d.h │ ├── correlative_scan_matcher_2d.h │ ├── fast_correlative_scan_matcher_2d.h │ ├── range_data_2d.h │ ├── range_data_inserter_2d.h │ └── ray_to_pixel_mask.h ├── ctpl_stl.h ├── data_provider.h ├── delta_vector.h ├── drone.h ├── g2o_bindings │ ├── edge_se2_rhotheta.h │ └── vertex_rhotheta.h ├── graphs.h ├── loop_closer │ └── submap_loop_closer.h ├── multicloud2.h ├── odom_error_propagator.h ├── pose_with_observation.h ├── submap.h ├── visualizer.h └── wallfollowing_multirange_onboard.h ├── launch ├── controller.launch ├── log_runner.launch ├── physical.launch ├── takeoff.launch └── virtual.launch ├── msg └── RawData.msg ├── package.xml ├── rviz_config ├── gmapping.rviz 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