├── LICENSE ├── README.md ├── assets ├── Teaser.png └── pipeline.png ├── dep_https.rosinstall ├── dep_ssh.rosinstall ├── map_adapt_ros ├── CMakeLists.txt ├── cfg │ ├── calibrations │ │ └── euroc_camchain.yaml │ ├── cow_and_lady.yaml │ ├── cow_dataset.yaml │ ├── euroc_dataset.yaml │ ├── identity.yaml │ ├── rgbd_dataset.yaml │ └── stereo │ │ ├── kitti_stereo.yaml │ │ ├── kitti_stereo_bm.yaml │ │ └── kitti_stereo_jager.yaml ├── include │ └── map_adapt_ros │ │ ├── adaptive_voxel_server.h │ │ ├── conversions.h │ │ ├── conversions_inl.h │ │ ├── esdf_server.h │ │ ├── intensity_server.h │ │ ├── intensity_vis.h │ │ ├── interactive_slider.h │ │ ├── mesh_pcl.h │ │ ├── mesh_vis.h │ │ ├── pcl_type.h │ │ ├── ptcloud_vis.h │ │ ├── ros_params.h │ │ ├── simulation_server.h │ │ ├── transformer.h │ │ └── tsdf_server.h ├── launch │ └── run_hssd.launch ├── mesh_results │ ├── .keep │ └── jianhao_habitat.ply ├── package.xml └── src │ ├── adaptive_voxel_server.cc │ ├── adaptive_voxel_server_node.cc │ ├── esdf_server.cc │ ├── esdf_server_node.cc │ ├── intensity_server.cc │ ├── intensity_server_node.cc │ ├── interactive_slider.cc │ ├── pc_semantic_geo_pub_node.cpp │ ├── simulation_eval.cc │ ├── simulation_server.cc │ ├── transformer.cc │ ├── tsdf_server.cc │ ├── tsdf_server_node.cc │ ├── visualize_tsdf.cc │ └── voxblox_eval.cc ├── voxblox ├── CMakeLists.txt ├── include │ └── voxblox │ │ ├── alignment │ │ └── icp.h │ │ ├── core │ │ ├── block.h │ │ ├── block_hash.h │ │ ├── block_inl.h │ │ ├── color.h │ │ ├── common.h │ │ ├── esdf_map.h │ │ ├── layer.h │ │ ├── layer_inl.h │ │ ├── occupancy_map.h │ │ ├── tsdf_map.h │ │ └── voxel.h │ │ ├── integrator │ │ ├── esdf_integrator.h │ │ ├── esdf_occ_integrator.h │ │ ├── integrator_utils.h │ │ ├── intensity_integrator.h │ │ ├── merge_integration.h │ │ ├── occupancy_integrator.h │ │ └── tsdf_integrator.h │ │ ├── interpolator │ │ ├── interpolator.h │ │ └── interpolator_inl.h │ │ ├── io │ │ ├── layer_io.h │ │ ├── layer_io_inl.h │ │ ├── mesh_ply.h │ │ ├── ply_writer.h │ │ └── sdf_ply.h │ │ ├── mesh │ │ ├── README.md │ │ ├── marching_cubes.h │ │ ├── mesh.h │ │ ├── mesh_integrator.h │ │ ├── mesh_layer.h │ │ └── mesh_utils.h │ │ ├── simulation │ │ ├── objects.h │ │ ├── simulation_world.h │ │ └── simulation_world_inl.h │ │ ├── test │ │ └── layer_test_utils.h │ │ └── utils │ │ ├── approx_hash_array.h │ │ ├── bucket_queue.h │ │ ├── camera_model.h │ │ ├── color_maps.h │ │ ├── distance_utils.h │ │ ├── evaluation_utils.h │ │ ├── layer_utils.h │ │ ├── meshing_utils.h │ │ ├── neighbor_tools.h │ │ ├── planning_utils.h │ │ ├── planning_utils_inl.h │ │ ├── protobuf_utils.h │ │ ├── timing.h │ │ └── voxel_utils.h ├── package.xml ├── proto │ └── voxblox │ │ ├── Block.proto │ │ └── Layer.proto ├── src │ ├── alignment │ │ └── icp.cc │ ├── core │ │ ├── block.cc │ │ ├── esdf_map.cc │ │ └── tsdf_map.cc │ ├── integrator │ │ ├── esdf_integrator.cc │ │ ├── esdf_occ_integrator.cc │ │ ├── integrator_utils.cc │ │ ├── intensity_integrator.cc │ │ └── tsdf_integrator.cc │ ├── io │ │ ├── mesh_ply.cc │ │ └── sdf_ply.cc │ ├── mesh │ │ └── marching_cubes.cc │ ├── simulation │ │ ├── objects.cc │ │ └── simulation_world.cc │ └── utils │ │ ├── camera_model.cc │ │ ├── evaluation_utils.cc │ │ ├── layer_utils.cc │ │ ├── neighbor_tools.cc │ │ ├── protobuf_utils.cc │ │ ├── timing.cc │ │ └── voxel_utils.cc └── test │ ├── test_approx_hash_array.cc │ ├── test_bucket_queue.cc │ ├── test_clear_spheres.cc │ ├── test_layer.cc │ ├── test_layer_utils.cc │ ├── test_load_esdf.cc │ ├── test_merge_integration.cc │ ├── test_protobuf.cc │ ├── test_sdf_integrators.cc │ ├── test_tsdf_interpolator.cc │ ├── test_tsdf_map.cc │ └── tsdf_to_esdf.cc ├── voxblox_msgs ├── CMakeLists.txt ├── msg │ ├── Block.msg │ ├── Layer.msg │ ├── Mesh.msg │ ├── MeshBlock.msg │ └── VoxelEvaluationDetails.msg ├── package.xml └── srv │ └── FilePath.srv └── voxblox_rviz_plugin ├── CMakeLists.txt ├── icons └── classes │ └── VoxbloxMesh.png ├── include └── voxblox_rviz_plugin │ ├── 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