├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake_modules ├── FindBLAS.cmake ├── FindCSparse.cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── FindG2O.cmake ├── FindLAPACK.cmake └── FindSuiteSparse.cmake ├── doc ├── SLAM类图.png ├── coordsTransform.png ├── g2o_result.png ├── lidar_scan.png ├── loop_closure_detect.png ├── map.png ├── occupiedMap.png ├── scanContextDesc.png ├── scanContextRaw.png ├── slam仿真流程图.png ├── test.bmp └── 差速机器人模型.png ├── include ├── IMUCalibration.h ├── IMUOdomFusionEKF.h ├── KDTreeVectorOfVectorsAdaptor.h ├── calibration.h ├── dataContainer.h ├── dataType.h ├── edgeSE2.h ├── graphOptimize.h ├── gridBase.h ├── gridCell.h ├── gridCellOperations.h ├── gridMapBase.h ├── icp.h ├── laserSimulation.h ├── loadMap.h ├── loopClosureBase.h ├── loopClosureICP.h ├── loopClosureScanContext.h ├── mapInfo.h ├── nanoflann.hpp ├── ndt.h ├── occupiedGridMap.h ├── occupiedMap.h ├── odomSimulation.h ├── pointCloudMap.h ├── readConfigFile.h ├── readScanContext.h ├── saveAsBMP.h ├── saveMap.h ├── scanContainer.h ├── scanContext.h ├── scanMatch.h ├── se2.h ├── slamProcessor.h ├── time_manage.h ├── utils.h ├── vertexPointXY.h └── vertexSE2.h ├── simulation_file ├── laser_data.txt ├── laser_data2.txt ├── odometry.txt ├── odometry2.txt ├── result.g2o ├── scanContext_data.txt └── test.map ├── src ├── IMUCalibration.cpp ├── IMUOdomFusionEKF.cpp ├── calibration.cpp ├── dataContainer.cpp ├── edgeSE2.cpp ├── graphOptimize.cpp ├── gridBase.cpp ├── gridCell.cpp ├── gridCellOperations.cpp ├── gridMapBase.cpp ├── icp.cpp ├── laserSimulation.cpp ├── loadMap.cpp ├── loopClosureICP.cpp ├── loopClosureScanContext.cpp ├── mapInfo.cpp ├── occupiedGridMap.cpp ├── occupiedMap.cpp ├── odomSimulation.cpp ├── pointCloudMap.cpp ├── readConfigFile.cpp ├── readScanContext.cpp ├── saveAsBMP.cpp ├── saveMap.cpp ├── scanContainer.cpp ├── scanContext.cpp ├── scanMatch.cpp ├── slamProcessor.cpp ├── time_manage.cpp ├── vertexPointXY.cpp └── vertexSE2.cpp └── test ├── CMakeLists.txt ├── g2o_test ├── CMakeLists.txt └── g2oTest.cpp ├── gridMapBase_test ├── CMakeLists.txt └── gridMapBaseTest.cpp ├── icp_test ├── CMakeLists.txt └── icpTest.cpp ├── load_map_test ├── CMakeLists.txt └── loadMapTest.cpp ├── localization_test ├── CMakeLists.txt └── localizationTest.cpp ├── loopClosure_test ├── CMakeLists.txt └── loopClosureTest.cpp ├── occupiedMap_test ├── CMakeLists.txt └── occupiedMapTest.cpp ├── scan_context_test ├── CMakeLists.txt └── scanContextTest.cpp ├── scan_match_test ├── CMakeLists.txt └── scanMatchTest.cpp ├── slam_simulation_test ├── CMakeLists.txt └── slamSimulationTest.cpp ├── slam_simulation_with_g2o ├── CMakeLists.txt └── slamSimulationTest.cpp └── slam_simulation_without_g2o ├── CMakeLists.txt └── slamSimulationTest.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/softdream/Slam-Project-Of-MyOwn/HEAD/CMakeLists.txt 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