├── CMakeLists.txt ├── ICP ├── EvaPos.py ├── EvaPos.pyZone.Identifier ├── EvaPos.pycom.dropbox.attrs ├── Solution1.csv ├── Solution1.csvZone.Identifier ├── Solution1.csvcom.dropbox.attrs ├── Solution2.csv ├── Solution2.csvZone.Identifier ├── Solution2.csvcom.dropbox.attrs ├── iterative_closest_point │ ├── TtransformExample.py │ ├── TtransformExample.pyZone.Identifier │ ├── TtransformExample.pycom.dropbox.attrs │ ├── icpslam.py │ ├── icpslam.pyZone.Identifier │ ├── icpslam.pycom.dropbox.attrs │ ├── iterative_closest_point.py │ ├── iterative_closest_point.pyZone.Identifier │ ├── iterative_closest_point.pycom.dropbox.attrs │ ├── poseExample.py │ ├── poseExample.pyZone.Identifier │ ├── poseExample.pycom.dropbox.attrs │ ├── toyicp.py │ ├── toyicp.pyZone.Identifier │ └── toyicp.pycom.dropbox.attrs └── utils │ ├── __init__.py │ ├── __init__.pyZone.Identifier │ ├── __init__.pycom.dropbox.attrs │ ├── __pycache__ │ ├── __init__.cpython-312.pyc │ ├── __init__.cpython-312.pyccom.dropbox.attrs │ ├── angle.cpython-312.pyc │ └── angle.cpython-312.pyccom.dropbox.attrs │ ├── angle.py │ ├── angle.pyZone.Identifier │ ├── angle.pycom.dropbox.attrs │ ├── plot.py │ ├── plot.pyZone.Identifier │ └── plot.pycom.dropbox.attrs ├── README.md ├── data └── 2025-02-06-16-30-08.bag ├── lidar_subscriber ├── CMakeLists.txt ├── config │ ├── params.yaml │ ├── uwb_imu.rviz │ └── uwb_imu_fusion.rviz ├── launch │ ├── fusion.launch │ ├── fusion.launchZone.Identifier │ ├── gnssSpp.launch │ ├── loam - Copy.launch:Zone.Identifier │ ├── loam.launch │ ├── uwbRT.launch │ ├── uwb_imu_batch - 副本.launch:Zone.Identifier │ ├── uwb_imu_batch.launch │ ├── uwb_imu_fusion_sim - 副本.launch:Zone.Identifier │ └── uwb_imu_fusion_sim.launch ├── package.xml ├── rviz │ ├── gnssSpp.rviz │ ├── gps_trajectory.rviz │ ├── uwb_imu_batch - Copy.rviz:Zone.Identifier │ ├── uwb_ray_tracer - Copy.rviz:Zone.Identifier │ └── uwb_ray_tracer.rviz ├── src │ ├── GPSRAIM.cpp │ ├── IMUJacobian.cpp │ ├── RangingRC - Copy.cpp:Zone.Identifier │ ├── RangingRC.cpp │ ├── gnssSpp.cpp │ ├── lidar_subscriber_node.cpp │ ├── loam_mapping_node.cpp │ ├── ndt_omp_mapping_node.cpp │ ├── ndt_omp_node.cpp │ ├── ndt_rosbag_mapping_node.cpp │ ├── test.cpp │ ├── user_teleop.cpp │ ├── uwb_imu_EKF_node.cpp │ ├── uwb_imu_batch_node.cpp │ ├── uwb_imu_node - 副本.cpp:Zone.Identifier │ ├── uwb_imu_node.cpp │ ├── uwb_imu_sim_node.cpp │ ├── uwb_node - 副本.cpp:Zone.Identifier │ └── uwb_node.cpp └── taslo_trajectory.txt └── ndt_omp ├── .clang-format ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps └── align.cpp ├── data ├── 251370668.pcd ├── 251371071.pcd └── screenshot.png ├── docker ├── foxy │ └── Dockerfile ├── foxy_llvm │ └── Dockerfile ├── galactic │ └── Dockerfile ├── galactic_llvm │ └── Dockerfile ├── melodic │ └── Dockerfile ├── melodic_llvm │ └── Dockerfile ├── noetic │ └── Dockerfile └── noetic_llvm │ └── Dockerfile ├── include └── pclomp │ ├── gicp_omp.h │ ├── gicp_omp_impl.hpp │ 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