├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps ├── preprocessing_nodelet.cpp ├── radar_preprocessing.cpp ├── rrio_nodelet.cpp └── scan_matching_odometry_nodelet.cpp ├── cmake └── FindG2O.cmake ├── config ├── 4DRRIO_params.yaml └── params.yaml ├── doc ├── 4D-RRIO-flowchart.png ├── 4D_RRIO_loop1_demo.gif ├── cp_trajectory_top.png ├── cp_trans_rot_error_overall.png ├── nyl_trajectory_top.png └── nyl_trans_rot_error.png ├── include ├── dbscan │ ├── DBSCAN_kdtree.h │ ├── DBSCAN_precomp.h │ └── DBSCAN_simple.h ├── g2o │ ├── edge_plane_identity.hpp │ ├── edge_plane_parallel.hpp │ ├── edge_plane_prior.hpp │ ├── edge_se3_gt_utm.hpp │ ├── edge_se3_plane.hpp │ ├── edge_se3_priorquat.hpp │ ├── edge_se3_priorvec.hpp │ ├── edge_se3_priorxy.hpp │ ├── edge_se3_priorxyz.hpp │ ├── edge_se3_priorz.hpp │ ├── edge_se3_se3.hpp │ ├── edge_se3_z.hpp │ └── robust_kernel_io.hpp ├── hdbscan │ ├── EuclideanDistance.hpp │ ├── IDistanceCalculator.hpp │ ├── ManhattanDistance.hpp │ ├── bitSet.hpp │ ├── cluster.hpp │ ├── hdbscan.hpp │ ├── hdbscanAlgorithm.hpp │ ├── hdbscanConstraint.hpp │ ├── hdbscanParameters.hpp │ ├── hdbscanResult.hpp │ ├── hdbscanRunner.hpp │ ├── outlierScore.hpp │ └── undirectedGraph.hpp ├── radar_ego_velocity_estimator.h ├── rio_utils │ ├── data_types.h │ ├── math_helper.h │ ├── radar_point_cloud.h │ ├── ros_helper.h │ ├── simple_profiler.h │ └── strapdown.h ├── robust_dynamic_filter.h ├── rrio │ ├── graph_slam.hpp │ ├── information_matrix_calculator.hpp │ ├── keyframe.hpp │ ├── keyframe_updater.hpp │ ├── loop_detector.hpp │ ├── map_cloud_generator.hpp │ ├── nmea_sentence_parser.hpp │ ├── polynomial_interpolation.hpp │ ├── registrations.hpp │ ├── ros_time_hash.hpp │ └── ros_utils.hpp ├── scan_context │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── Scancontext.h │ ├── nanoflann.hpp │ └── tictoc.h └── utility_radar.h ├── launch ├── debug_file.launch ├── original_launch.launch ├── radar_inertial_odometry.launch ├── rosbag_play_radar_carpark1.launch ├── rosbag_play_radar_carpark3.launch ├── rosbag_play_radar_garden.launch ├── rosbag_play_radar_nanyanglink.launch ├── rosbag_play_radar_ntuloop2.launch ├── rosbag_play_radar_ntuloop3.launch ├── rosbag_play_radar_smoke.launch ├── rrio_dataset_player.launch └── test_file.launch ├── msg ├── FloorCoeffs.msg └── ScanMatchingStatus.msg ├── nodelet_plugins.xml ├── package.xml ├── rviz ├── 4D_RIO_rviz.rviz ├── 4D_RIS_rviz.rviz └── original_rviz.rviz ├── setup.py ├── src ├── OdomCheck_node.cpp ├── g2o │ └── robust_kernel_io.cpp ├── gps_traj_align.cpp ├── gt_adjust.cpp ├── hdbscan │ ├── EuclideanDistance.cpp │ ├── IDistanceCalculator.cpp │ ├── ManhattanDistance.cpp │ ├── bitSet.cpp │ ├── cluster.cpp │ ├── hdbscan.cpp │ ├── hdbscanAlgorithm.cpp │ ├── hdbscanConstraint.cpp │ ├── hdbscanParameters.cpp │ ├── hdbscanResult.cpp │ ├── hdbscanRunner.cpp │ ├── outlierScore.cpp │ └── undirectedGraph.cpp ├── imu_preintegration.cpp ├── radar_ego_velocity_estimator.cpp ├── read_hearder.py ├── robust_dynamic_filter.cpp ├── rrio │ ├── Scancontext.cpp │ ├── __init__.py │ ├── bag_player.py │ ├── ford2bag.py │ ├── graph_slam.cpp │ ├── information_matrix_calculator.cpp │ ├── keyframe.cpp │ ├── loop_detector.cpp │ ├── map2odom_publisher.py │ ├── map_cloud_generator.cpp │ ├── registrations.cpp │ └── ros_topic_header_check.py ├── scan_matching_odometry_node.cpp └── tf_listener.py └── srv ├── DumpGraph.srv └── SaveMap.srv /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/srirampr22/4D-RRIO/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/srirampr22/4D-RRIO/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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