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1. textRender textRender Public

   modern opengl display chinese; use freetype2

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2. rtpH264Player rtpH264Player Public

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3. loam_back_and_forth loam_back_and_forth Public

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   Laser Odometry and Mapping (back and forth spin version)

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4. sdtEncoder sdtEncoder Public

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5. cloud cloud Public

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6. laser_tool laser_tool Public

   Used for laser hokuyo. Receive laserscan dates from hokuyo and quaternions form another device, then send out the pointcloud2 datas.