serpent
State Estimation through Robust Perception in Extreme and Novel Terrains
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최종 버전 다운로드 (.zip)- publish_info_example.yaml
- split_image_example.yaml
- change_frame_id.hpp
- image_operations.hpp
- publish_info.hpp
- split_image.hpp
- change_frame_id.launch
- publish_info.launch
- split_image.launch
- change_frame_id.cpp
- change_frame_id_main.cpp
- image_operations.cpp
- publish_info.cpp
- publish_info_main.cpp
- split_image.cpp
- split_image_main.cpp
- CMakeLists.txt
- package.xml
- README.md
- degeneracy_analysis.m
- point_to_plane_linear.txt
- point_to_plane_nonlinear.txt
- point_to_point_linear.txt
- point_to_point_nonlinear.txt
- skew.m
- covariance.hpp
- geometry.hpp
- matrix.hpp
- precomputed_transform_components.hpp
- covariance.cpp
- geometry.cpp
- main.cpp
- matrix.cpp
- CMakeLists.txt
- package.xml
- eigen_gtsam.hpp
- geometry.hpp
- geometry.cpp
- CMakeLists.txt
- package.xml
- body_frames.hpp
- body_frames_tf.hpp
- eigen_ros.hpp
- geometry_msgs.hpp
- imu.hpp
- nav_msgs.hpp
- odometry.hpp
- pose.hpp
- sensor_msgs.hpp
- stamped.hpp
- statistics_msgs.hpp
- std_msgs.hpp
- twist.hpp
- body_frames.cpp
- body_frames_tf.cpp
- body_frames_tf_node.cpp
- eigen_ros.cpp
- geometry_msgs.cpp
- imu.cpp
- nav_msgs.cpp
- odometry.cpp
- pose.cpp
- sensor_msgs.cpp
- statistics_msgs.cpp
- std_msgs.cpp
- twist.cpp
- lookup_transform.srv
- test_instances.hpp
- test_instances.cpp
- eigen_ros.cpp
- geometry_msgs.cpp
- imu.cpp
- nav_msgs.cpp
- odometry.cpp
- pose.cpp
- sensor_msgs.cpp
- statistics_msgs.cpp
- CMakeLists.txt
- package.xml
- README.md
- analysis.yaml
- transform.yaml
- imu_analysis.hpp
- imu_transform.hpp
- imu_analysis.launch
- imu_transform.launch
- imu_analysis.cpp
- imu_analysis_main.cpp
- imu_transform.cpp
- imu_transform_main.cpp
- CMakeLists.txt
- package.xml
- README.md
- combine_transforms.hpp
- integrate_imu.hpp
- integrate_imu_graph_test.hpp
- odometry_to_tf.hpp
- combine_transforms.launch
- integrate_imu.launch
- odometry_to_tf.launch
- combine_transforms.cpp
- combine_transforms_node.cpp
- integrate_imu.cpp
- integrate_imu_graph_test.cpp
- integrate_imu_node.cpp
- odometry_to_tf.cpp
- odometry_to_tf_node.cpp
- CMakeLists.txt
- package.xml
- README.md
- license.txt
- plot_gaussian_ellipsoid.m
- align_to_first_pose.m
- align_trajectory.m
- compute_frame_track_statistics.m
- compute_jacobians_data.m
- compute_pose_data.m
- compute_pose_errors.m
- compute_relative_poses.m
- compute_track_retention.m
- compute_trajectory_length.m
- compute_twist_data.m
- compute_vector_errors.m
- create_save_directory.m
- default_plot_opts.m
- extract_angular_velocities.m
- extract_frame_ids.m
- extract_linear_velocities.m
- extract_pose_with_covariance_stamped.m
- extract_poses.m
- extract_position.m
- extract_positions.m
- extract_positions_from_rigid3d.m
- extract_quaternion.m
- extract_quaternions.m
- extract_statistics.m
- extract_timestamps.m
- extract_twists.m
- from_PointCloud2.m
- interp_transform.m
- interp_vector.m
- interpolate_trajectory.m
- jacobian_data_from_rosbags.m
- main.m
- main_surface_spiral_2.m
- main_ue4.m
- matrix_to_pose.m
- odom_data_from_rosbags.m
- plot_and_save.m
- plot_and_save_jacobians.m
- plot_jacobian.m
- plot_normalised_covariance_scatter.m
- plot_pointcloud_statistics.m
- plot_pose.m
- plot_pose_with_cov.m
- plot_statistics.m
- plot_summary_statistics.m
- plot_trajectory.m
- plot_twist.m
- pose_to_matrix.m
- pose_to_rigid3d.m
- poses_to_rigid3d.m
- raw_data_from_rosbags.m
- recompute_trajectory.m
- save_and_close_figure.m
- skew.m
- split_poses.m
- stereo_statistics_from_rosbags.m
- stereo_statistics_main.m
- stereo_statistics_plot_and_save.m
- compute_distances.hpp
- pclpointcloud2_utilities.hpp
- pclpointcloud_transform.hpp
- pclpointcloud_utilities.hpp
- registration_utilities.hpp
- compute_distances.hpp
- pclpointcloud2_utilities.hpp
- pclpointcloud_transform.hpp
- pclpointcloud_utilities.hpp
- point_types.hpp
- pointcloud_analyser.hpp
- pointcloud_file_converter.hpp
- pointcloud_range_filter.hpp
- registration_utilities.hpp
- pointcloud_analyser.launch
- pointcloud_compute_distances.launch
- pointcloud_range_filter.launch
- compute_distances_main.cpp
- pclpointcloud2_utilities.cpp
- point_types.cpp
- pointcloud_analyser.cpp
- pointcloud_analyser_main.cpp
- pointcloud_file_converter.cpp
- pointcloud_file_converter_main.cpp
- pointcloud_file_converter_open3d.cpp
- file_to_message.srv
- message_to_file.srv
- test_instances.hpp
- test_instances.cpp
- main.cpp
- pclpointcloud2_utilities.cpp
- pclpointcloud_transform.cpp
- pclpointcloud_utilities.cpp
- CMakeLists.txt
- package.xml
- README.md
- debug_default.yaml
- filter_default.yaml
- format_default.yaml
- mission_default.yaml
- normal_estimation_default.yaml
- robot_default.yaml
- tuning_default.yaml
- serpent_architecture_diagram.png
- serpent_factor_graph.png
- serpent_software.png
- graph_manager-inl.hpp
- graph_manager.hpp
- optimisation.hpp
- point_types.hpp
- pointcloud_add_unit_vectors.hpp
- pointcloud_filter.hpp
- pointcloud_formatter.hpp
- pointcloud_normal_estimation-inl.hpp
- pointcloud_normal_estimation.hpp
- registration-inl.hpp
- registration.hpp
- registration_covariance-inl.hpp
- registration_covariance.hpp
- registration_methods-inl.hpp
- registration_methods.hpp
- transform_pointcloud-inl.hpp
- transform_pointcloud.hpp
- match_filters.hpp
- sensor_point_types.hpp
- stereo_cost_functions.hpp
- stereo_equations-inl.hpp
- stereo_equations.hpp
- stereo_factor_finder.hpp
- stereo_feature_tracker.hpp
- stereo_keypoint_matcher.hpp
- window_functions.hpp
- frontend.hpp
- mapping-inl.hpp
- mapping.hpp
- ros_conversion.hpp
- utilities-inl.hpp
- utilities.hpp
- analyse_track_distances.launch
- load_parameters.launch
- record.launch
- rosbag.launch
- serpent.launch
- serpent_backend.launch
- serpent_frontend.launch
- serpent_stereo_pipeline.launch
- serpent_visualisation.launch
- ImuArray.msg
- ImuBiases.msg
- PoseGraph.msg
- StereoFeature.msg
- StereoFeatures.msg
- StereoTrackerStatistics.msg
- serpent.perspective
- serpent_stereo_pipeline.perspective
- serpent.rviz
- serpent_vid.rviz
- stereo.rviz
- metrics_node.py
- graph_manager.cpp
- optimisation.cpp
- point_types.cpp
- pointcloud_add_unit_vectors.cpp
- pointcloud_filter.cpp
- pointcloud_formatter.cpp
- registration_covariance.cpp
- registration_methods.cpp
- match_filters.cpp
- sensor_point_types.cpp
- stereo_cost_functions.cpp
- stereo_factor_finder.cpp
- stereo_feature_tracker.cpp
- stereo_keypoint_matcher.cpp
- window_functions.cpp
- frontend.cpp
- backend_node.cpp
- frontend_node.cpp
- node.cpp
- stereo_pipeline_node.cpp
- ros_conversion.cpp
- utilities.cpp
- imu_up_10msg.bag
- read_data.hpp
- test_data.hpp
- test_utils.hpp
- read_data.cpp
- test_data.cpp
- test_utils.cpp
- graph_manager.cpp
- registration_covariance.cpp
- serpent.cpp
- test_main.cpp
- CMakeLists.txt
- package.xml
- setup.py
- surface_ellipse_1.yaml
- surface_ellipse_2.yaml
- surface_spiral_1.yaml
- surface_spiral_2.yaml
- surface_spiral_2_noiseless.yaml
- surface_stationary_1.yaml
- surface_traverse_1.yaml
- debug.yaml
- eels_head.yaml
- filter.yaml
- format.yaml
- normal_estimation.yaml
- tuning.yaml
- body_frames.launch
- integrate_imu.launch
- serpent.launch
- serpent_stereo_pipeline.launch
- CMakeLists.txt
- package.xml
- README.md
- ds-none-camchain.yaml
- eucm-none-camchain.yaml
- omni-radtan-camchain.yaml
- split_kit0.yaml
- split_kit1.yaml
- snowboard_liosam.yaml
- snowboard_liosam_indoor.yaml
- fiducial_pose_mammoth.yaml
- lo_filtering_snowboard.yaml
- lo_frames_snowboard.yaml
- lo_localization_snowboard.yaml
- lo_odometry_snowboard.yaml
- lo_settings_snowboard.yaml
- ice_rink.yaml
- mammoth_outdoor.yaml
- tunnel.yaml
- debug.yaml
- filter.yaml
- format.yaml
- normal_estimation.yaml
- snowboard.yaml
- tuning.yaml
- body_frames.launch
- imu_transform.launch
- integrate_imu.launch
- liosam.launch
- locus.launch
- range_filter.launch
- rviz.launch
- serpent.launch
- serpent_ice_rink_flat_loop.launch
- serpent_ice_rink_flat_loop_stereo_pipeline.launch
- serpent_ice_rink_objects_loop.launch
- serpent_ice_rink_stationary.launch
- serpent_mammoth_lidar.launch
- serpent_mammoth_stereo.launch
- serpent_mammoth_stereo_pipeline.launch
- serpent_tunnel.launch
- split_image.launch
- split_images.launch
- stereo_depth.launch
- undistort_stereo.launch
- cameras.perspective
- locus.rviz
- snowboard.rviz
- repair_ouster_timestamps.py
- CMakeLists.txt
- package.xml
- README.md
- Covariance.msg
- CovarianceFloat32.msg
- CovarianceFloat32Stamped.msg
- CovarianceStamped.msg
- SummaryStatistics.msg
- SummaryStatisticsArray.msg
- SummaryStatisticsStamped.msg
- CMakeLists.txt
- package.xml
- icy_surface.yaml
- debug.yaml
- filter.yaml
- format.yaml
- normal_estimation.yaml
- tuning.yaml
- ue4_platform.yaml
- left_camera_info.yaml
- right_camera_info.yaml
- body_frames.launch
- publish_camera_info.launch
- rviz.launch
- serpent.launch
- serpent_stereo_pipeline.launch
- ue4_platform.rviz
- CMakeLists.txt
- package.xml
- README.md
- .clang-format
- .gitignore
- LICENSE
- README.md
// repository documentation
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