• GetMedian() : median_filter.h
• ImuCallback() : add_imu_odometry_covariance.cpp , imu_data_confidence.cpp , ground_attitude2world.cpp
• main() : add_imu_odometry_covariance.cpp , car_attitude2ground.cpp , imu_data_confidence.cpp , ground_attitude2world.cpp
• Median_Filter() : median_filter.h
• OdometryCallback() : add_imu_odometry_covariance.cpp
• SensorCallback() : car_attitude2ground.cpp