├── .gitignore ├── .gitmodules ├── README.md ├── img └── image-20210816125917009.png └── src ├── calib_pkg ├── lidar_camera_tools │ ├── CMakeLists.txt │ ├── include │ │ └── get_sync_data │ │ │ ├── get_sync_data.cpp │ │ │ └── get_sync_data.h │ ├── launch │ │ └── get_sync_data.launch │ ├── package.xml │ └── src │ │ └── get_sync_data_node.cpp └── lidar_imu_calib │ ├── README.md │ ├── lidar_imu_calib │ ├── CMakeLists.txt │ ├── include │ │ └── calibExRLidar2Imu.h │ ├── launch │ │ └── calib_exR_lidar2imu.launch │ ├── package.xml │ └── src │ │ ├── calib_exR_lidar2imu_node.cpp │ │ └── lib │ │ └── calibExRLidar2Imu.cpp │ └── ndt_omp │ ├── .clang-format │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── apps │ └── align.cpp │ ├── include │ └── pclomp │ │ ├── gicp_omp.h │ │ ├── gicp_omp_impl.hpp │ │ ├── ndt_omp.h │ │ ├── ndt_omp_impl.hpp │ │ ├── voxel_grid_covariance_omp.h │ │ └── voxel_grid_covariance_omp_impl.hpp │ ├── package.xml │ └── src │ └── pclomp │ ├── gicp_omp.cpp │ ├── ndt_omp.cpp │ └── voxel_grid_covariance_omp.cpp ├── driver_pkg ├── HesaiLidar_General_ROS │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── change notes.md │ ├── config │ │ └── correction.csv │ ├── launch │ │ └── hesai_lidar.launch │ ├── msg │ │ ├── PandarPacket.msg │ │ └── PandarScan.msg │ ├── package.xml │ └── src │ │ ├── HesaiLidar_General_SDK │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── include │ │ │ └── pandarGeneral_sdk │ │ │ │ └── pandarGeneral_sdk.h │ │ ├── src │ │ │ ├── PandarGeneralRaw │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── include │ │ │ │ │ ├── log.h │ │ │ │ │ ├── pandarGeneral │ │ │ │ │ │ ├── pandarGeneral.h │ │ │ │ │ │ └── point_types.h │ │ │ │ │ └── version.h │ │ │ │ └── src │ │ │ │ │ ├── input.cc │ │ │ │ │ ├── input.h │ │ │ │ │ ├── pandarGeneral.cc │ │ │ │ │ ├── pandarGeneral_internal.cc │ │ │ │ │ ├── pandarGeneral_internal.h │ │ │ │ │ ├── pandarQT.h │ │ │ │ │ ├── pandarXT.h │ │ │ │ │ ├── pcap_reader.cpp │ │ │ │ │ └── pcap_reader.h │ │ │ ├── pandarGeneral_sdk.cc │ │ │ ├── tcp_command_client.c │ │ │ ├── tcp_command_client.h │ │ │ ├── util.c │ │ │ └── util.h │ │ └── test │ │ │ └── test.cc │ │ └── main.cc ├── ethzasl_xsens_driver │ ├── .gitignore │ ├── AUTHORS │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENCE │ ├── README │ ├── launch │ │ └── xsens_driver.launch │ ├── mainpage.dox │ ├── nodes │ │ ├── mtdef.py │ │ ├── mtdevice.py │ │ └── mtnode.py │ └── package.xml ├── hesai_to_velodyne │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── XYZIRT.launch │ ├── package.xml │ └── src │ │ └── hesai_to_velodyne.cpp ├── livox_ros_driver │ ├── .gitignore │ ├── LICENSE.txt │ ├── README.md │ ├── README_CN.md │ ├── images │ │ └── broadcast_code.png │ └── livox_ros_driver │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ └── version.cmake │ │ ├── common │ │ ├── FastCRC │ │ │ ├── FastCRC.h │ │ │ ├── FastCRC_tables.hpp │ │ │ ├── FastCRCsw.cpp │ │ │ ├── LICENSE.md │ │ │ └── README.md │ │ ├── comm │ │ │ ├── comm_device.h │ │ │ ├── comm_protocol.cpp │ │ │ ├── comm_protocol.h │ │ │ ├── gps_protocol.cpp │ │ │ ├── gps_protocol.h │ │ │ ├── protocol.h │ │ │ ├── sdk_protocol.cpp │ │ │ └── sdk_protocol.h │ │ ├── rapidjson │ │ │ ├── allocators.h │ │ │ ├── cursorstreamwrapper.h │ │ │ ├── document.h │ │ │ ├── encodedstream.h │ │ │ ├── encodings.h │ │ │ ├── error │ │ │ │ ├── en.h │ │ │ │ └── error.h │ │ │ ├── filereadstream.h │ │ │ ├── filewritestream.h │ │ │ ├── fwd.h │ │ │ ├── internal │ │ │ │ ├── biginteger.h │ │ │ │ ├── clzll.h │ │ │ │ ├── diyfp.h │ │ │ │ ├── dtoa.h │ │ │ │ ├── ieee754.h │ │ │ │ ├── itoa.h │ │ │ │ ├── meta.h │ │ │ │ ├── pow10.h │ │ │ │ ├── regex.h │ │ │ │ ├── stack.h │ │ │ │ ├── strfunc.h │ │ │ │ ├── strtod.h │ │ │ │ └── swap.h │ │ │ ├── istreamwrapper.h │ │ │ ├── memorybuffer.h │ │ │ ├── memorystream.h │ │ │ ├── msinttypes │ │ │ │ ├── inttypes.h │ │ │ │ └── stdint.h │ │ │ ├── ostreamwrapper.h │ │ │ ├── pointer.h │ │ │ ├── prettywriter.h │ │ │ ├── rapidjson.h │ │ │ ├── reader.h │ │ │ ├── schema.h │ │ │ ├── stream.h │ │ │ ├── stringbuffer.h │ │ │ └── writer.h │ │ └── rapidxml │ │ │ ├── rapidxml.hpp │ │ │ ├── rapidxml_iterators.hpp │ │ │ ├── rapidxml_print.hpp │ │ │ └── rapidxml_utils.hpp │ │ ├── config │ │ ├── display_hub_points.rviz │ │ ├── display_lidar_points.rviz │ │ ├── livox_hub_config.json │ │ └── livox_lidar_config.json │ │ ├── launch │ │ ├── livox_hub.launch │ │ ├── livox_hub_msg.launch │ │ ├── livox_hub_rviz.launch │ │ ├── livox_lidar.launch │ │ ├── livox_lidar_msg.launch │ │ ├── livox_lidar_rviz.launch │ │ ├── livox_template.launch │ │ ├── lvx_to_rosbag.launch │ │ └── lvx_to_rosbag_rviz.launch │ │ ├── livox_ros_driver │ │ ├── include │ │ │ └── livox_ros_driver.h │ │ ├── lddc.cpp │ │ ├── lddc.h │ │ ├── ldq.cpp │ │ ├── ldq.h │ │ ├── lds.cpp │ │ ├── lds.h │ │ ├── lds_hub.cpp │ │ ├── lds_hub.h │ │ ├── lds_lidar.cpp │ │ ├── lds_lidar.h │ │ ├── lds_lvx.cpp │ │ ├── lds_lvx.h │ │ ├── livox_ros_driver.cpp │ │ ├── lvx_file.cpp │ │ └── lvx_file.h │ │ ├── msg │ │ ├── CustomMsg.msg │ │ └── CustomPoint.msg │ │ ├── package.xml │ │ └── timesync │ │ ├── timesync.cpp │ │ ├── timesync.h │ │ └── user_uart │ │ ├── user_uart.cpp │ │ └── user_uart.h ├── ouster_example │ ├── .clang-format │ ├── .dockerignore │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CMakeSettings.json │ ├── LICENSE │ ├── LICENSE-bin │ ├── README.rst │ ├── cmake │ │ ├── DefaultBuildType.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindGTest.cmake │ │ ├── FindOpenGL.cmake │ │ ├── FindOusterSDK.cmake │ │ ├── Findglfw3.cmake │ │ ├── Findjsoncpp.cmake │ │ ├── Findlibtins.cmake │ │ ├── OusterSDKConfig.cmake.in │ │ ├── VersionGen.cmake │ │ └── build.h.in │ ├── ouster_client │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── optional-lite │ │ │ │ ├── LICENSE.txt │ │ │ │ └── nonstd │ │ │ │ │ └── optional.hpp │ │ │ └── ouster │ │ │ │ ├── client.h │ │ │ │ ├── image_processing.h │ │ │ │ ├── impl │ │ │ │ ├── netcompat.h │ │ │ │ └── parsing.h │ │ │ │ ├── lidar_scan.h │ │ │ │ ├── types.h │ │ │ │ └── version.h │ │ └── src │ │ │ ├── client.cpp │ │ │ ├── example.cpp │ │ │ ├── image_processing.cpp │ │ │ ├── lidar_scan.cpp │ │ │ ├── netcompat.cpp │ │ │ └── types.cpp │ ├── ouster_pcap │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ouster │ │ │ │ └── os_pcap.h │ │ └── src │ │ │ └── os_pcap.cpp │ ├── ouster_ros │ │ ├── CMakeLists.txt │ │ ├── Dockerfile │ │ ├── include │ │ │ └── ouster_ros │ │ │ │ ├── point.h │ │ │ │ └── ros.h │ │ ├── msg │ │ │ └── PacketMsg.msg │ │ ├── ouster.launch │ │ ├── package.xml │ │ ├── src │ │ │ ├── img_node.cpp │ │ │ ├── os_cloud_node.cpp │ │ │ ├── os_node.cpp │ │ │ └── ros.cpp │ │ ├── srv │ │ │ └── OSConfigSrv.srv │ │ └── viz.rviz │ ├── ouster_viz │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ouster │ │ │ │ ├── colormaps.h │ │ │ │ ├── lidar_scan_viz.h │ │ │ │ └── point_viz.h │ │ └── src │ │ │ ├── camera.cpp │ │ │ ├── camera.h │ │ │ ├── cloud.cpp │ │ │ ├── cloud.h │ │ │ ├── common.h │ │ │ ├── image.cpp │ │ │ ├── image.h │ │ │ ├── lidar_scan_viz.cpp │ │ │ ├── misc.h │ │ │ ├── point_viz.cpp │ │ │ └── simple_viz.cpp │ ├── python │ │ ├── CMakeLists.txt │ │ ├── Dockerfile │ │ ├── MANIFEST.in │ │ ├── README.rst │ │ ├── docs │ │ │ ├── _static │ │ │ │ └── css │ │ │ │ │ └── ouster_rtd_tweaks.css │ │ │ ├── api.rst │ │ │ ├── changelog.rst │ │ │ ├── conf.py │ │ │ ├── devel.rst │ │ │ ├── examples.rst │ │ │ ├── images │ │ │ │ ├── Ouster_Logo_TM_Horiz_White_RGB.svg │ │ │ │ ├── Ouster_Logo_TM_Stacked_White_RGB.svg │ │ │ │ ├── brooklyn_bridge_ls_50_range_image.png │ │ │ │ ├── brooklyn_bridge_ls_50_xyz_cut.png │ │ │ │ ├── lidar_scan_destaggered.png │ │ │ │ ├── lidar_scan_staggered.png │ │ │ │ ├── lidar_scan_xyz_84.png │ │ │ │ └── lidar_scan_xyz_84_3d.png │ │ │ ├── index.rst │ │ │ └── quickstart.rst │ │ ├── mypy.ini │ │ ├── pyproject.toml │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── src │ │ │ ├── cpp │ │ │ │ ├── client.cpp │ │ │ │ └── pcap.cpp │ │ │ └── ouster │ │ │ │ ├── client │ │ │ │ ├── __init__.py │ │ │ │ ├── _bufstream.py │ │ │ │ ├── _client.pyi │ │ │ │ ├── _digest.py │ │ │ │ ├── core.py │ │ │ │ ├── data.py │ │ │ │ └── py.typed │ │ │ │ ├── pcap │ │ │ │ ├── __init__.py │ │ │ │ ├── _pcap.pyi │ │ │ │ ├── pcap.py │ │ │ │ └── py.typed │ │ │ │ └── sdk │ │ │ │ ├── __init__.py │ │ │ │ ├── examples │ │ │ │ ├── __init__.py │ │ │ │ ├── client.py │ │ │ │ ├── colormaps.py │ │ │ │ ├── open3d.py │ │ │ │ ├── pcap.py │ │ │ │ └── reference.py │ │ │ │ └── py.typed │ │ ├── tests │ │ │ ├── test_bufstream.py │ │ │ ├── test_config.py │ │ │ ├── test_core.py │ │ │ ├── test_data.py │ │ │ ├── test_destagger.py │ │ │ ├── test_metadata.py │ │ │ ├── test_pcap.py │ │ │ └── test_xyzlut.py │ │ └── tox.ini │ └── tests │ │ ├── CMakeLists.txt │ │ ├── assets │ │ ├── 1_12_os1-991937000062-16A0.json │ │ ├── 1_12_os1-991937000062-64.json │ │ ├── 1_13_os1-991937000062-16A0.json │ │ ├── 1_13_os1-991937000062-32A02.json │ │ ├── 1_13_os1-991937000062-64.json │ │ ├── 1_14_6cccd_os-882002000138-128.json │ │ ├── 1_14_6cccd_os-882002000138-32U0.json │ │ ├── 1_14_6cccd_os-882002000138-64U02.json │ │ ├── 1_14_beta_os-882004000055-128.json │ │ ├── 1_14_beta_os1-991937000062-16A0.json │ │ ├── 1_14_beta_os1-991937000062-32A02.json │ │ ├── 1_14_beta_os1-991937000062-64.json │ │ ├── 2_0_0_os1-992008000494-128_col_win.json │ │ ├── 2_0_rc2_os-992011000121-32U0.json │ │ └── ouster-studio-reduced-config-v1.json │ │ ├── bcompat_meta_json_test.cpp │ │ └── bcompat_sensor_info_data.h ├── rs_to_velodyne │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── rs_to_velodyne.cpp ├── rslidar_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── rslidarPacket.msg │ │ └── rslidarScan.msg │ └── package.xml ├── rslidar_sdk │ ├── .clang-format │ ├── .gitignore │ ├── CHANGELOG.md │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── README_CN.md │ ├── config │ │ ├── config_decoder.yaml │ │ └── config_pcap.yaml │ ├── doc │ │ ├── howto │ │ │ ├── how_to_offline_decode_pcap.md │ │ │ ├── how_to_offline_decode_pcap_cn.md │ │ │ ├── how_to_online_send_point_cloud_ros.md │ │ │ ├── how_to_online_send_point_cloud_ros_cn.md │ │ │ ├── how_to_record_and_offline_decode_rosbag.md │ │ │ ├── how_to_record_and_offline_decode_rosbag_cn.md │ │ │ ├── how_to_switch_point_type.md │ │ │ ├── how_to_switch_point_type_cn.md │ │ │ ├── how_to_use_coordinate_transformation.md │ │ │ ├── how_to_use_coordinate_transformation_cn.md │ │ │ ├── how_to_use_multi_cast_function.md │ │ │ ├── how_to_use_multi_cast_function_cn.md │ │ │ ├── how_to_use_multi_lidars.md │ │ │ ├── how_to_use_multi_lidars_cn.md │ │ │ ├── how_to_use_protobuf_function.md │ │ │ └── how_to_use_protobuf_function_cn.md │ │ ├── img │ │ │ ├── download_page.png │ │ │ └── ethernet.png │ │ └── intro │ │ │ ├── hiding_parameters_intro.md │ │ │ ├── hiding_parameters_intro_cn.md │ │ │ ├── parameter_intro.md │ │ │ └── parameter_intro_cn.md │ ├── launch │ │ ├── decoder.launch │ │ ├── start.launch │ │ └── start.py │ ├── node │ │ └── rslidar_sdk_node.cpp │ ├── package.xml │ ├── package_ros1.xml │ ├── package_ros2.xml │ ├── rviz │ │ ├── decoder.rviz │ │ ├── rviz.rviz │ │ └── rviz2.rviz │ └── src │ │ ├── adapter │ │ ├── adapter_base.hpp │ │ ├── camera_trigger_adapter.hpp │ │ ├── driver_adapter.hpp │ │ ├── packet_protobuf_adapter.hpp │ │ ├── packet_ros_adapter.hpp │ │ ├── point_cloud_protobuf_adapter.hpp │ │ └── point_cloud_ros_adapter.hpp │ │ ├── manager │ │ ├── adapter_manager.cpp │ │ └── adapter_manager.h │ │ ├── msg │ │ ├── proto_msg │ │ │ ├── packet.proto │ │ │ ├── point_cloud.proto │ │ │ └── scan.proto │ │ ├── proto_msg_translator.h │ │ ├── ros_msg │ │ │ ├── lidar_packet_ros.h │ │ │ └── lidar_scan_ros.h │ │ ├── ros_msg_translator.h │ │ └── rs_msg │ │ │ └── lidar_point_cloud_msg.h │ │ ├── rs_driver │ │ ├── .clang-format │ │ ├── CHANGELOG.md │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── README_CN.md │ │ ├── cmake │ │ │ ├── FindPCAP.cmake │ │ │ ├── cmake_uninstall.cmake.in │ │ │ ├── rs_driverConfig.cmake │ │ │ ├── rs_driverConfig.cmake.in │ │ │ ├── rs_driverConfigVersion.cmake │ │ │ └── rs_driverConfigVersion.cmake.in │ │ ├── demo │ │ │ ├── CMakeLists.txt │ │ │ ├── demo_online.cpp │ │ │ └── demo_pcap.cpp │ │ ├── doc │ │ │ ├── howto │ │ │ │ ├── how_to_decode_pcap.md │ │ │ │ ├── how_to_online_use_driver.md │ │ │ │ ├── how_to_use_multi_cast_function.md │ │ │ │ ├── how_to_use_rs_driver_viewer.md │ │ │ │ └── how_to_use_transformation_function.md │ │ │ └── img │ │ │ │ ├── install_pcl.PNG │ │ │ │ └── viewer_menu.png │ │ ├── src │ │ │ └── rs_driver │ │ │ │ ├── api │ │ │ │ └── lidar_driver.h │ │ │ │ ├── common │ │ │ │ ├── common_header.h │ │ │ │ └── error_code.h │ │ │ │ ├── driver │ │ │ │ ├── decoder │ │ │ │ │ ├── decoder_RS128.hpp │ │ │ │ │ ├── decoder_RS16.hpp │ │ │ │ │ ├── decoder_RS32.hpp │ │ │ │ │ ├── decoder_RS80.hpp │ │ │ │ │ ├── decoder_RSBP.hpp │ │ │ │ │ ├── decoder_RSHELIOS.hpp │ │ │ │ │ ├── decoder_RSM1.hpp │ │ │ │ │ ├── decoder_base.hpp │ │ │ │ │ └── decoder_factory.hpp │ │ │ │ ├── driver_param.h │ │ │ │ ├── input.hpp │ │ │ │ └── lidar_driver_impl.hpp │ │ │ │ ├── macro │ │ │ │ └── version.h.in │ │ │ │ ├── msg │ │ │ │ ├── packet_msg.h │ │ │ │ ├── point_cloud_msg.h │ │ │ │ └── scan_msg.h │ │ │ │ └── utility │ │ │ │ ├── lock_queue.h │ │ │ │ ├── thread_pool.hpp │ │ │ │ └── time.h │ │ └── tool │ │ │ ├── CMakeLists.txt │ │ │ └── rs_driver_viewer.cpp │ │ └── utility │ │ ├── common.h │ │ ├── protobuf_communicator.hpp │ │ └── yaml_reader.hpp └── velodyne │ ├── COPYING │ ├── README.md │ ├── velodyne │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── velodyne_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── VelodyneNode.cfg │ ├── include │ │ └── velodyne_driver │ │ │ ├── driver.h │ │ │ ├── input.h │ │ │ ├── ring_sequence.h │ │ │ └── time_conversion.hpp │ ├── launch │ │ └── nodelet_manager.launch │ ├── mainpage.dox │ ├── nodelet_velodyne.xml │ ├── package.xml │ ├── src │ │ ├── driver │ │ │ ├── CMakeLists.txt │ │ │ ├── driver.cc │ │ │ ├── nodelet.cc │ │ │ └── velodyne_node.cc │ │ ├── lib │ │ │ ├── CMakeLists.txt │ │ │ └── input.cc │ │ └── vdump │ └── tests │ │ ├── diagnostic_agg.yaml │ │ ├── pcap_32e_node_hertz.test │ │ ├── pcap_32e_nodelet_hertz.test │ │ ├── pcap_node_hertz.test │ │ ├── pcap_nodelet_hertz.test │ │ ├── pcap_vlp16_node_hertz.test │ │ ├── pcap_vlp16_nodelet_hertz.test │ │ └── timeconversiontest.cpp │ ├── velodyne_laserscan │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── VelodyneLaserScan.cfg │ ├── include │ │ └── velodyne_laserscan │ │ │ └── velodyne_laserscan.h │ ├── nodelets.xml │ ├── package.xml │ ├── src │ │ ├── node.cpp │ │ ├── nodelet.cpp │ │ └── velodyne_laserscan.cpp │ └── tests │ │ ├── CMakeLists.txt │ │ ├── lazy_subscriber.cpp │ │ ├── lazy_subscriber_node.test │ │ ├── lazy_subscriber_nodelet.test │ │ ├── system.cpp │ │ ├── system_node.test │ │ └── system_nodelet.test │ ├── velodyne_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── msg │ │ ├── VelodynePacket.msg │ │ └── VelodyneScan.msg │ └── package.xml │ ├── velodyne_pcl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── velodyne_pcl │ │ │ └── point_types.h │ └── package.xml │ └── velodyne_pointcloud │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── TransformNode.cfg │ ├── include │ └── velodyne_pointcloud │ │ ├── calibration.h │ │ ├── datacontainerbase.h │ │ ├── organized_cloudXYZIRT.h │ │ ├── pointcloudXYZIRT.h │ │ ├── rawdata.h │ │ └── transform.h │ ├── launch │ ├── 32e_points.launch │ ├── 64e_S3.launch │ ├── VLP-32C_points.launch │ ├── VLP16_points.launch │ ├── VLS128_points.launch │ ├── laserscan_nodelet.launch │ └── transform_nodelet.launch │ ├── mainpage.dox │ ├── nodelets.xml │ ├── package.xml │ ├── params │ ├── 32db.yaml │ ├── 64e_s2.1-sztaki.yaml │ ├── 64e_s3-xiesc.yaml │ ├── 64e_utexas.yaml │ ├── VLP16_hires_db.yaml │ ├── VLP16db.yaml │ ├── VLS128.yaml │ ├── VeloView-VLP-32C.yaml │ └── rviz_points.vcg │ ├── scripts │ └── gen_calibration.py │ ├── src │ ├── conversions │ │ ├── CMakeLists.txt │ │ ├── organized_cloudXYZIRT.cc │ │ ├── pointcloudXYZIRT.cc │ │ ├── transform.cc │ │ ├── transform_node.cc │ │ └── transform_nodelet.cc │ └── lib │ │ ├── CMakeLists.txt │ │ ├── calibration.cc │ │ └── rawdata.cc │ └── tests │ ├── 32db.xml │ ├── 64e_s2.1-sztaki.xml │ ├── CMakeLists.txt │ ├── angles-calibrated.yaml │ ├── angles.yaml │ ├── empty.xml │ ├── issue_84_float_intensities.yaml │ ├── static_vehicle_tf.launch │ ├── test_calibration.cpp │ ├── test_db_without_intensities.xml │ ├── transform_node_32e_hz.test │ ├── transform_node_64e_s2.1_hz.test │ ├── transform_node_hz.test │ ├── transform_node_vlp16_hz.test │ ├── transform_nodelet_32e_hz.test │ ├── transform_nodelet_64e_s2.1_hz.test │ ├── transform_nodelet_hz.test │ ├── transform_nodelet_vlp16_hz.test │ └── two_nodelet_managers.test ├── read_pkg ├── CMakeLists.txt ├── config │ ├── Puck_LITE.xml │ ├── Puck_LITE.yaml │ ├── VLP-16.xml │ └── VLP-16.yaml ├── launch │ ├── view_imu.launch │ ├── view_imu_hesai.launch │ ├── view_imu_livox.launch │ ├── view_imu_ouster.launch │ ├── view_imu_rslidar.launch │ ├── view_imu_velodyne.launch │ ├── view_ouster.launch │ ├── view_ouster_decoder.launch │ └── view_velodyne.launch ├── package.xml └── rviz │ ├── view_imu.rviz │ ├── view_imu_hesai.rviz │ ├── view_imu_livox.rviz │ ├── view_imu_rslidar.rviz │ ├── view_imu_velodyne.rviz │ └── view_velodyne.rviz └── third_parties └── catkin_simple ├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake └── catkin_simple-extras.cmake.em ├── package.xml └── test └── scenarios └── hello_world ├── .gitignore ├── bar ├── include │ └── bar │ │ └── hello.h ├── msg │ └── HeaderString.msg ├── package.xml └── src │ └── hello.cpp ├── baz ├── include │ └── baz │ │ └── world.h └── package.xml ├── catkin_simple └── foo ├── package.xml └── src └── main.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yanliang-wang/ws_sensor_utils/HEAD/.gitignore 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