* \brief Estimate the normals of the input Point Cloud by PCL speeding up with OpenMP * \param[in] in_cloud is the input Point Cloud Pointer * \pa

Initialize user input

Initialze user input.

Initialize user input.

Divide the strip into several submaps according to multiple rules (judge if a new submap would be created) Rules: consecutive frame number, accumulate

Find frame (index) that away from the first_frame with the required distance Args: dist (float list): distance of each pos

Main function.

Main function.

Main function.

Compute rotation error Args: pose_error (4x4 array): relative pose error Returns: rot_error (float): rotation

SOR (Statisics Outliers Remover);

Compute distance for each pose w.r.t frame-0 Args: poses (dict): {idx: 4x4 array} Returns: dist (float list):

Compute translation error Args: pose_error (4x4 array): relative pose error Returns: trans_error (float): tran

Convert cartesian coordinate system to site-center system. Input paraments: - x0, y0, z0: coordinate of centra site, - x, y, z: coordinat

\brief Empty constructor. */

Get the 6DOF pose from OXTS data Here, we use proj4 library to do the UTM (Universe Tranverse Mecator) Projection proj4 library: https://github.com/OS

\brief Constructor. * Sets \ref nr_points, \ref icov_, \ref mean_ and \ref evals_ to 0 and \ref cov_ and \ref evecs_ to the identity matrix

\brief Constructor. * Sets \ref leaf_size_ to 0 and \ref searchable_ to false. */

Convert [X,Y,Z] Coordinate to [Longitude,Latitude,Elevation] Coordinate by UTM inverse projection under WGS84 System with given UTM zone number.