├── .gitignore ├── README.md ├── accumulator ├── CMakeLists.txt ├── LICENSE.md ├── data │ └── example_data.yaml ├── include │ └── accumulator │ │ ├── accumulator.hpp │ │ └── yaml.hpp ├── msg │ └── AccumulatedPatterns.msg ├── package.xml ├── src │ ├── node.cpp │ └── yaml.cpp └── srv │ ├── SendPatterns.srv │ ├── SendString.srv │ └── SendUInt.srv ├── common ├── CMakeLists.txt ├── LICENSE.md ├── include │ └── common │ │ └── robust_least_squares.hpp ├── package.xml └── src │ └── robust_least_squares.cpp ├── docs ├── Schematic_drawing.png ├── calibration_board.md ├── calibration_board_front_back.png ├── detectors.md ├── figure_example_1.png ├── figure_example_2.png ├── figure_example_bad_detections.png └── multi_sensor_calibration.png ├── lidar_detector ├── CMakeLists.txt ├── LICENSE.md ├── config │ ├── config.yaml │ └── config_leica.yaml ├── example │ ├── example │ └── lidar.pcd ├── include │ └── lidar_detector │ │ ├── config.hpp │ │ ├── keypoint_detection.hpp │ │ ├── node_lib.hpp │ │ ├── visualize.hpp │ │ └── yaml.hpp ├── package.xml └── src │ ├── cli.cpp │ ├── lib │ ├── keypoint_detection.cpp │ ├── node_lib.cpp │ └── yaml.cpp │ └── node.cpp ├── mono_detector ├── CMakeLists.txt ├── LICENSE.md ├── config │ ├── image_processing.yaml │ ├── intrinsics.ini │ └── object_points.yaml ├── data │ ├── edges.png │ ├── example_image1.png │ └── example_image2.png ├── include │ └── mono_detector │ │ ├── detector.hpp │ │ ├── eigen.hpp │ │ ├── node_lib.hpp │ │ ├── pnp.hpp │ │ ├── types.hpp │ │ ├── util.hpp │ │ └── yaml.hpp ├── package.xml ├── src │ ├── cli.cpp │ ├── example │ ├── lib │ │ ├── detector.cpp │ │ ├── node_lib.cpp │ │ ├── pnp.cpp │ │ ├── util.cpp │ │ └── yaml.cpp │ └── node.cpp └── test │ └── yaml.cpp ├── multi_sensor_calibration_launch ├── CMakeLists.txt ├── LICENSE.md ├── launch │ ├── accumulator.launch │ ├── detectors.launch │ ├── optimizer.launch │ └── prius_extrinsic_calibration.launch ├── package.xml ├── rviz │ └── calibration.rviz └── scripts │ ├── play_rosbags_with_detectors.sh │ └── update_prius_urdf.sh ├── optimization ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── data │ └── example_data │ │ ├── camera.csv │ │ ├── ignored_measurements.yaml │ │ ├── lidar.csv │ │ ├── lidar_with_error.csv │ │ ├── radar.csv │ │ ├── radar_3D.csv │ │ └── radar_with_error.csv ├── lib │ └── icp │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── __init__.py │ │ ├── icp.py │ │ └── test.py ├── package.xml ├── results │ └── .gitignore ├── setup.py └── src │ ├── client.py │ ├── main.py │ ├── optimization │ ├── FCPE.py │ ├── MCPE.py │ ├── PSE.py │ ├── __init__.py │ ├── calibration_board.py │ ├── config.py │ ├── helper_functions.py │ ├── io.py │ ├── iterative_covariance_estimation.py │ ├── optimize.py │ ├── plotting.py │ └── ransac.py │ ├── server.py │ └── tune_optimizer.py ├── radar_detector ├── CMakeLists.txt ├── LICENSE.md ├── include │ └── radar_detector │ │ ├── keypoint_detection.hpp │ │ └── node_lib.hpp ├── package.xml └── src │ ├── lib │ ├── keypoint_detection.cpp │ └── node_lib.cpp │ └── node.cpp ├── stereo_detector ├── CMakeLists.txt ├── LICENSE.md ├── config │ └── config.yaml ├── include │ └── stereo_detector │ │ ├── config.hpp │ │ ├── keypoint_detection.hpp │ │ ├── node_lib.hpp │ │ └── yaml.hpp ├── package.xml └── src │ ├── cli.cpp │ ├── example │ ├── lib │ ├── keypoint_detection.cpp │ ├── node_lib.cpp │ └── yaml.cpp │ └── node.cpp └── urdf_calibration ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── doc └── example_urdf_diagram.xml ├── include └── urdf_calibration │ ├── eigen_kdl.hpp │ ├── eigen_string.hpp │ ├── types.hpp │ ├── urdf_calibration.hpp │ └── yaml.hpp ├── package.xml ├── src ├── main.cpp ├── urdf_calibration.cpp └── yaml.cpp └── test ├── calibration.urdf ├── calibration.yaml ├── output.urdf └── vehicle.urdf /.gitignore: -------------------------------------------------------------------------------- 1 | *pycache* 2 | *.img 3 | *~ 4 | 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