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A library for transformation with uncertainty. It provides functions such as ego-motion prediction/correction and Gaussian/pointcloud transformation with or without uncertainty.

This project contains a ROS node that can take a pointcloud and project it into an image. The output is a pointcloud with RGB information, or a pointcloud with UV pixel coordinates

This project is to perform motion correction on the raw lidar data. This is because the lidar scan takes 100ms to be completed, and during this time the vehicle may have moved. We apply a correction based on the odometry information from the vehicle

Continuous integration (CI) project for https://github.com/acfr/snark/ . Code remains at Github; this project builds and tests that code under Ubuntu 16.04.1 LTS.

ros with attstgcnn predictor

Program that can generate event messages and store to a bag file. The events are defined in this package. The basic program provided generates event messages when the vehicle starts/stops. These events are then available to be selected by the gui

Tuatara package: Bounding box detection for multiple image sources based on tkdnn.

A filter used to remove lidar points belong to antennae and vehicle roof.

Extract images from h264 files. Save a new rosbag with images in it.