├── 4DRadarSLAM ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps │ ├── preprocessing_nodelet_ntu.cpp │ ├── radar_graph_slam_nodelet.cpp │ └── scan_matching_odometry_nodelet.cpp ├── cmake │ └── FindG2O.cmake ├── config │ ├── params_msc.yaml │ └── params_ntu.yaml ├── doc │ ├── fig_carpark_map.png │ ├── fig_flowchart_4dradarslam.png │ ├── fig_flowchart_system.png │ ├── fig_map_compare.png │ └── mapping_smoke.gif ├── include │ ├── VelInt │ │ ├── cost_functions.h │ │ ├── math_utils.h │ │ ├── preint.h │ │ └── types.h │ ├── 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 │ ├── patchworkpp │ │ ├── patchworkpp.hpp │ │ └── utils.hpp │ ├── radar_ego_velocity_estimator.h │ ├── radar_graph_slam │ │ ├── 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 │ ├── rio_utils │ │ ├── data_types.h │ │ ├── math_helper.h │ │ ├── radar_point_cloud.h │ │ ├── ros_helper.h │ │ ├── simple_profiler.h │ │ └── strapdown.h │ ├── scan_context │ │ ├── KDTreeVectorOfVectorsAdaptor.h │ │ ├── Scancontext.h │ │ ├── nanoflann.hpp │ │ └── tictoc.h │ └── utility_radar.h ├── launch │ ├── ntu_cp.launch │ ├── ntu_loop2.launch │ ├── ntu_loop3.launch │ ├── ntu_nyl.launch │ └── rosbag_play_ntu.launch ├── msg │ ├── FloorCoeffs.msg │ └── ScanMatchingStatus.msg ├── nodelet_plugins.xml ├── package.xml ├── rviz │ └── radar_graph_slam.rviz ├── setup.py ├── src │ ├── g2o │ │ └── robust_kernel_io.cpp │ ├── gps_traj_align.cpp │ ├── gt_adjust.cpp │ ├── radar_ego_velocity_estimator.cpp │ └── radar_graph_slam │ │ ├── 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 └── srv │ ├── DumpGraph.srv │ └── SaveMap.srv ├── CMakeLists.txt ├── README.md ├── docker ├── Dockerfile ├── build.sh └── run.sh ├── fast_apdgicp ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── fast_gicp │ │ ├── cuda │ │ ├── brute_force_knn.cuh │ │ ├── compute_derivatives.cuh │ │ ├── compute_mahalanobis.cuh │ │ ├── covariance_estimation.cuh │ │ ├── covariance_regularization.cuh │ │ ├── fast_vgicp_cuda.cuh │ │ ├── find_voxel_correspondences.cuh │ │ ├── gaussian_voxelmap.cuh │ │ ├── ndt_compute_derivatives.cuh │ │ ├── ndt_cuda.cuh │ │ └── vector3_hash.cuh │ │ ├── gicp │ │ ├── experimental │ │ │ ├── fast_gicp_mp.hpp │ │ │ └── fast_gicp_mp_impl.hpp │ │ ├── fast_apdgicp.hpp │ │ ├── fast_gicp.hpp │ │ ├── fast_gicp_st.hpp │ │ ├── fast_vgicp.hpp │ │ ├── fast_vgicp_cuda.hpp │ │ ├── fast_vgicp_voxel.hpp │ │ ├── gicp_settings.hpp │ │ ├── impl │ │ │ ├── fast_apdgicp_impl.hpp │ │ │ ├── fast_gicp_impl.hpp │ │ │ ├── fast_gicp_st_impl.hpp │ │ │ ├── fast_vgicp_cuda_impl.hpp │ │ │ ├── fast_vgicp_impl.hpp │ │ │ └── lsq_registration_impl.hpp │ │ └── lsq_registration.hpp │ │ ├── ndt │ │ ├── impl │ │ │ └── ndt_cuda_impl.hpp │ │ ├── ndt_cuda.hpp │ │ └── ndt_settings.hpp │ │ └── so3 │ │ └── so3.hpp ├── package.xml └── src │ ├── align.cpp │ ├── fast_gicp │ ├── cuda │ │ ├── brute_force_knn.cu │ │ ├── compute_derivatives.cu │ │ ├── compute_mahalanobis.cu │ │ ├── covariance_estimation.cu │ │ ├── covariance_estimation_rbf.cu │ │ ├── covariance_regularization.cu │ │ ├── fast_vgicp_cuda.cu │ │ ├── find_voxel_correspondences.cu │ │ ├── gaussian_voxelmap.cu │ │ ├── ndt_compute_derivatives.cu │ │ └── ndt_cuda.cu │ ├── gicp │ │ ├── experimental │ │ │ └── fast_gicp_mp.cpp │ │ ├── fast_apdgicp.cpp │ │ ├── fast_gicp.cpp │ │ ├── fast_gicp_st.cpp │ │ ├── fast_vgicp.cpp │ │ ├── fast_vgicp_cuda.cpp │ │ └── lsq_registration.cpp │ └── ndt │ │ └── ndt_cuda.cpp │ ├── kitti.cpp │ ├── kitti.py │ ├── python │ └── main.cpp │ └── test │ └── gicp_test.cpp └── 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 │ ├── ndt_omp.h │ ├── ndt_omp_impl.hpp │ ├── voxel_grid_covariance_omp.h │ └── 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