#include <fast_gicp/gicp/fast_gicp.hpp>
#include <fast_gicp/gicp/fast_vgicp.hpp>
#include <fast_gicp/gicp/impl/lsq_registration_impl.hpp>
#include <fast_gicp/gicp/impl/fast_gicp_impl.hpp>
#include <fast_gicp/gicp/impl/fast_vgicp_impl.hpp>
#include "Lidar/Csc3dCartographyProcessor.h"
#include "Util/json.h"
#include <pcl/filters/voxel_grid.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/registration/elch.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/io/ply_io.h>
#include <spdlog/fmt/fmt.h>
#include <fstream>
#include <sstream>
#include <filesystem>
#include <iostream>
#include <algorithm>
#include <atomic>
#include <deque>
#include <mutex>
#include <set>
#include <unordered_map>
#include <cmath>
#include <regex>
#include <vector>
#include <boost/chrono/duration.hpp>
#include <thread>

Classes
struct	conscience_core::lidar::VoxelHash

struct	conscience_core::lidar::OdoDelta

struct	conscience_core::lidar::Pose2D

Namespaces
	conscience_core

	conscience_core::lidar

Functions
static bool	conscience_core::lidar::isStaticOdometryDelta (const FrameMetadata &meta, float maxTranslationCm, float maxYawDeg)

template<typename T >
static T	conscience_core::lidar::clampValue (T v, T lo, T hi)

static Eigen::Matrix4f	conscience_core::lidar::makeYawOffsetTransform (float yawRad)

Eigen::Matrix4f	conscience_core::lidar::makeRobotFromLidarTransform (const LidarExtrinsicsSidecar &e)

Eigen::Matrix4f	conscience_core::lidar::makeRobotDeltaTransform (const OdometryDeltaSidecar &odo)

Eigen::Matrix4f	conscience_core::lidar::makeLidarDeltaFromMetadata (const FrameMetadata &meta)

static bool	conscience_core::lidar::readFile (const fs::path &path, std::string &out)

static double	conscience_core::lidar::extractDouble (const std::string &text, const std::string &key, double fallback=0.0)

static int	conscience_core::lidar::extractInt (const std::string &text, const std::string &key, int fallback=0)

static std::vector< OdoDelta >	conscience_core::lidar::loadOdometryJsons (const fs::path &folder)

static std::vector< Pose2D >	conscience_core::lidar::integrateOdometry (const std::vector< OdoDelta > &deltas, bool invertYaw, bool invertDelta)

static float	conscience_core::lidar::extractYawY (const Eigen::Matrix3f &R)

static Eigen::Matrix4f	conscience_core::lidar::projectToPlanarMotion (const Eigen::Matrix4f &T)

Conscience Core

Classes

Namespaces

Functions