├── .gitignore ├── LICENSE ├── README.md ├── docs ├── cluttered.png ├── exp_all2.png ├── exp_cy1.png ├── exp_cy2.png ├── exp_cy3.png ├── exp_gate1.png ├── exp_gate2.png ├── img_map1.png ├── img_maze1.png ├── map_annotation.png ├── pc1.png ├── pc1_inf.png ├── pc2.png ├── pc2_inf.png ├── pcd.png ├── pcd_inf.png ├── res_01.png ├── res_02.png ├── res_05.png └── res_10.png ├── map2sim ├── img2pcd.py ├── maze.png └── pcd2gazebo.py ├── param_env ├── CMakeLists.txt ├── clear_pos │ ├── clear_2d.csv │ └── clear_3d.csv ├── data │ ├── img │ │ ├── all │ │ │ ├── balls.png │ │ │ ├── balls2.png │ │ │ ├── empty.png │ │ │ ├── maze.png │ │ │ └── multi_gap.png │ │ └── maze │ │ │ ├── maze1.png │ │ │ ├── maze10.png │ │ │ ├── maze100.png │ │ │ ├── maze11.png │ │ │ ├── maze12.png │ │ │ ├── maze13.png │ │ │ ├── maze14.png │ │ │ ├── maze15.png │ │ │ ├── maze16.png │ │ │ ├── maze17.png │ │ │ ├── maze18.png │ │ │ ├── maze19.png │ │ │ ├── maze2.png │ │ │ ├── maze20.png │ │ │ ├── maze21.png │ │ │ ├── maze22.png │ │ │ ├── maze23.png │ │ │ ├── maze24.png │ │ │ ├── maze25.png │ │ │ ├── maze26.png │ │ │ ├── maze27.png │ │ │ ├── maze28.png │ │ │ ├── maze29.png │ │ │ ├── maze3.png │ │ │ ├── maze30.png │ │ │ ├── maze31.png │ │ │ ├── maze32.png │ │ │ ├── maze33.png │ │ │ ├── maze34.png │ │ │ ├── maze35.png │ │ │ ├── maze36.png │ │ │ ├── maze37.png │ │ │ ├── maze38.png │ │ │ ├── maze39.png │ │ │ ├── maze4.png │ │ │ ├── maze40.png │ │ │ ├── maze41.png │ │ │ ├── maze42.png │ │ │ ├── maze43.png │ │ │ ├── maze44.png │ │ │ ├── maze45.png │ │ │ ├── maze46.png │ │ │ ├── maze47.png │ │ │ ├── maze48.png │ │ │ ├── maze49.png │ │ │ ├── maze5.png │ │ │ ├── maze50.png │ │ │ ├── maze51.png │ │ │ ├── maze52.png │ │ │ ├── maze53.png │ │ │ ├── maze54.png │ │ │ ├── maze55.png │ │ │ ├── maze56.png │ │ │ ├── maze57.png │ │ │ ├── maze58.png │ │ │ ├── maze59.png │ │ │ ├── maze6.png │ │ │ ├── maze60.png │ │ │ ├── maze61.png │ │ │ ├── maze62.png │ │ │ ├── maze63.png │ │ │ ├── maze64.png │ │ │ ├── maze65.png │ │ │ ├── maze66.png │ │ │ ├── maze67.png │ │ │ ├── maze68.png │ │ │ ├── maze69.png │ │ │ ├── maze7.png │ │ │ ├── maze70.png │ │ │ ├── maze71.png │ │ │ ├── maze72.png │ │ │ ├── maze73.png │ │ │ ├── maze74.png │ │ │ ├── maze75.png │ │ │ ├── maze76.png │ │ │ ├── maze77.png │ │ │ ├── maze78.png │ │ │ ├── maze79.png │ │ │ ├── maze8.png │ │ │ ├── maze80.png │ │ │ ├── maze81.png │ │ │ ├── maze82.png │ │ │ ├── maze83.png │ │ │ ├── maze84.png │ │ │ ├── maze85.png │ │ │ ├── maze86.png │ │ │ ├── maze87.png │ │ │ ├── maze88.png │ │ │ ├── maze89.png │ │ │ ├── maze9.png │ │ │ ├── maze90.png │ │ │ ├── maze91.png │ │ │ ├── maze92.png │ │ │ ├── maze93.png │ │ │ ├── maze94.png │ │ │ ├── maze95.png │ │ │ ├── maze96.png │ │ │ ├── maze97.png │ │ │ ├── maze98.png │ │ │ └── maze99.png │ ├── pc1 │ │ ├── levine │ │ │ ├── levine.bag │ │ │ ├── levine.png │ │ │ └── levine.stl │ │ ├── office │ │ │ ├── office.bag │ │ │ ├── office.png │ │ │ └── office.stl │ │ ├── simple │ │ │ ├── simple.bag │ │ │ ├── simple.png │ │ │ └── simple.stl │ │ └── skir │ │ │ ├── skir.bag │ │ │ ├── skir.png │ │ │ └── skir.stl │ ├── pc2 │ │ └── iss_obs.bag │ ├── pcd │ │ └── cloud_0917.pcd │ └── readme.md ├── dataset │ └── pt5080900.pcd ├── include │ ├── geo_utils │ │ ├── geo_utils.hpp │ │ ├── quickhull.hpp │ │ ├── readme.md │ │ └── sdlp.hpp │ └── map_utils │ │ ├── geo_map.hpp │ │ ├── grid_map.hpp │ │ ├── map_basics.hpp │ │ ├── poly_map.hpp │ │ └── struct_map_gen.hpp ├── launch │ ├── default.rviz │ ├── read_grid_map.launch │ ├── rviz.launch │ └── structure_map.launch ├── package.xml └── src │ ├── read_grid_map.cpp │ └── structure_map.cpp └── vicon_env ├── CMakeLists.txt ├── README.md ├── launch ├── vicon.rviz └── vicon_map.launch ├── msg ├── Circle.msg ├── Cylinder.msg ├── Ellipse.msg ├── Point2d.msg ├── Point3d.msg ├── Polygon.msg ├── Polyhedron.msg └── SemanticArray.msg ├── package.xml ├── semantics ├── 2dcase1.csv ├── 3dcase1.csv ├── 3dcase2.csv └── readme.md └── src ├── vicon_map2d.cpp └── vicon_map3d.cpp /.gitignore: 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