├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── data ├── C_T_L.txt ├── C_T_L_concatanated_2022_01_28_15_06_51.txt ├── C_T_L_concatanated_2022_01_28_15_11_20.txt ├── C_T_L_concatanated_2022_01_28_15_15_06.txt ├── C_T_L_concatanated_2022_01_28_15_20_21.txt ├── C_T_L_concatanated_2022_01_28_15_30_47.txt ├── C_T_L_final.txt ├── C_T_L_final_0.txt ├── C_T_L_final_1.txt ├── C_T_L_final_2.txt ├── C_T_L_final_3_kalibr.txt ├── I_T_C_final.txt ├── I_T_C_init.txt ├── I_T_C_kalibr.txt ├── I_T_L_final.txt ├── I_T_L_init.txt ├── cam_imu_results │ ├── I_T_C_2022_01_28_15_06_51.txt │ ├── I_T_C_2022_01_28_15_11_20.txt │ ├── I_T_C_2022_01_28_15_15_06.txt │ ├── I_T_C_2022_01_28_15_20_21.txt │ ├── I_T_C_2022_01_28_15_30_47.txt │ ├── mocalResidual │ │ ├── I_T_C_2022_01_28_15_06_51.txt │ │ ├── I_T_C_2022_01_28_15_11_20.txt │ │ ├── I_T_C_2022_01_28_15_15_06.txt │ │ ├── I_T_C_2022_01_28_15_20_21.txt │ │ └── I_T_C_2022_01_28_15_30_47.txt │ └── repErrResidual │ │ ├── I_T_C_2022_01_28_15_06_51.txt │ │ ├── I_T_C_2022_01_28_15_11_20.txt │ │ ├── I_T_C_2022_01_28_15_15_06.txt │ │ ├── I_T_C_2022_01_28_15_20_21.txt │ │ └── I_T_C_2022_01_28_15_30_47.txt ├── camera_imu_calib_dt.csv ├── camera_imu_calib_extrinsics.csv ├── camera_imu_lidar_results │ ├── C_T_L_final_2022_01_28_15_06_51.txt │ ├── C_T_L_final_2022_01_28_15_11_20.txt │ ├── C_T_L_final_2022_01_28_15_15_06.txt │ ├── C_T_L_final_2022_01_28_15_20_21.txt │ ├── C_T_L_final_2022_01_28_15_30_47.txt │ ├── I_T_C_final_2022_01_28_15_06_51.txt │ ├── I_T_C_final_2022_01_28_15_11_20.txt │ ├── I_T_C_final_2022_01_28_15_15_06.txt │ ├── I_T_C_final_2022_01_28_15_20_21.txt │ ├── I_T_C_final_2022_01_28_15_30_47.txt │ ├── I_T_L_final_2022_01_28_15_06_51.txt │ ├── I_T_L_final_2022_01_28_15_11_20.txt │ ├── I_T_L_final_2022_01_28_15_15_06.txt │ ├── I_T_L_final_2022_01_28_15_20_21.txt │ └── I_T_L_final_2022_01_28_15_30_47.txt ├── compareITC.asv ├── compareITC.m ├── compareWithKalibr.m ├── daisyChainTF.m ├── differencebwIndividualAndJointCalibration.m ├── displayAllITC.m ├── imu_bias.csv ├── imu_trajectory.csv ├── imu_velocity.csv ├── kalibrResults.m ├── kalibr_results │ ├── I_T_C_kalibr_2022_01_28_15_06_51.txt │ ├── I_T_C_kalibr_2022_01_28_15_11_20.txt │ ├── I_T_C_kalibr_2022_01_28_15_15_06.txt │ ├── I_T_C_kalibr_2022_01_28_15_20_21.txt │ └── I_T_C_kalibr_2022_01_28_15_30_47.txt ├── lidar_imu_calib_dt.csv ├── lidar_imu_calib_extrinsics.csv ├── lidar_imu_results │ ├── I_T_L_2022_01_28_15_06_51.txt │ ├── I_T_L_2022_01_28_15_11_20.txt │ ├── I_T_L_2022_01_28_15_15_06.txt │ ├── I_T_L_2022_01_28_15_20_21.txt │ └── I_T_L_2022_01_28_15_30_47.txt ├── lo_trajectory.csv ├── plotBias.m ├── plotCalib_camera_imu.m ├── plotCalib_lidar_imu.m ├── plotResidual_cameraimulidar.m ├── plotTrajectory.m ├── plotVelocity.m ├── pylon_calib.yaml ├── residual_cameraimulidar.csv └── resultsfromcameraimucalibration.m ├── launch ├── camera_imu_lidar_calibration.launch ├── camera_imu_lidar_calibration_bagcreater.launch ├── ros_calib_init.launch └── ros_ndt_lodom.launch ├── package.xml └── src ├── core ├── calibManager.cpp ├── calibManager.h └── calibManagerOptions.h ├── init ├── InertialInitializer.cpp └── InertialInitializer.h ├── relpose └── relativePose.h ├── ros_camera_imu_lidar_calibration_bag_generator.cpp ├── ros_camera_imu_lidar_calibration_test.cpp ├── state ├── Propagator.cpp ├── Propagator.h ├── State.cpp ├── State.h ├── StateHelper.cpp ├── StateHelper.h └── StateOptions.h ├── track ├── cameraPoseTracking.cpp ├── cameraPoseTracking.h ├── lidarOdometry.cpp ├── lidarOdometry.h ├── lidarPlaneDetector.cpp └── lidarPlaneDetector.h ├── types ├── IMU.h ├── Pose.h ├── Quat.h ├── Type.h └── Vec.h ├── update ├── UpdaterCameraLidarConstraint.cpp ├── UpdaterCameraLidarConstraint.h ├── UpdaterCameraTracking.cpp ├── UpdaterCameraTracking.h ├── UpdaterLidarOdometry.cpp ├── UpdaterLidarOdometry.h └── UpdaterOptions.h └── utils ├── color.h ├── eigen_utils.h ├── math_utils.h ├── parse_ros.h ├── pcl_utils.h 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