This repository contains various pipelines for slam, registration, error comparison algorithms for maya tunnel scanning. For more information about the project, refer to the project wiki.

• old_experiments: The original set of experiments to register point clouds and obtain error metrics. Later experiments have mostly used CloudCompare for registration and error metric.
• orbslam_reconstruction: Contains code and scripts to reconstruct ORB-SLAM2 point clouds from a trajectory file and a set of ROS bag files.
• slam_scripts: The scripts and ROS launch files used to run our experiments.
• trajectory_icp: Code and scripts to reconstruct a trajectory from ROS bag files and a LiDAR point cloud.