├── .clang-format ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── install ├── https.rosinstall └── ssh.rosinstall ├── khronos ├── CMakeLists.txt ├── cmake │ ├── KhronosInstall.cmake │ └── khronosConfig.cmake.in ├── include │ └── khronos │ │ ├── active_window │ │ ├── active_window.h │ │ ├── data │ │ │ ├── frame_data.h │ │ │ ├── frame_data_buffer.h │ │ │ ├── measurement_clusters.h │ │ │ ├── reconstruction_types.h │ │ │ └── track.h │ │ ├── integration │ │ │ ├── object_integrator.h │ │ │ └── tracking_integrator.h │ │ ├── motion_detection │ │ │ ├── free_space_motion_detector.h │ │ │ └── motion_detector.h │ │ ├── object_detection │ │ │ ├── connected_semantics.h │ │ │ ├── instance_forwarding.h │ │ │ └── object_detector.h │ │ ├── object_extraction │ │ │ ├── mesh_object_extractor.h │ │ │ ├── object_extractor.h │ │ │ └── object_worker_pool.h │ │ └── tracking │ │ │ ├── external_tracker.h │ │ │ ├── max_iou_tracker.h │ │ │ └── tracker.h │ │ ├── backend │ │ ├── backend.h │ │ ├── change_detection │ │ │ ├── background │ │ │ │ ├── background_change_detector.h │ │ │ │ └── ray_background_change_detector.h │ │ │ ├── objects │ │ │ │ ├── object_change_detector.h │ │ │ │ └── ray_object_change_detector.h │ │ │ ├── ray_change_detector.h │ │ │ ├── ray_verificator.h │ │ │ └── sequential_change_detector.h │ │ ├── change_state.h │ │ ├── reconciliation │ │ │ ├── mesh │ │ │ │ ├── change_merger.h │ │ │ │ ├── mesh_merger.h │ │ │ │ └── overwrite_mesh.h │ │ │ └── reconciler.h │ │ └── update_khronos_objects_functor.h │ │ ├── common │ │ ├── common_types.h │ │ └── pixel.h │ │ ├── spatio_temporal_map │ │ ├── incremental_mesh.h │ │ └── spatio_temporal_map.h │ │ └── utils │ │ ├── geometry_utils.h │ │ ├── khronos_attribute_utils.h │ │ └── output_file_utils.h ├── package.xml └── src │ ├── active_window │ ├── active_window.cpp │ ├── data │ │ ├── frame_data_buffer.cpp │ │ └── track.cpp │ ├── integration │ │ ├── object_integrator.cpp │ │ └── tracking_integrator.cpp │ ├── motion_detection │ │ └── free_space_motion_detector.cpp │ ├── object_detection │ │ ├── connected_semantics.cpp │ │ └── instance_forwarding.cpp │ ├── object_extraction │ │ ├── mesh_object_extractor.cpp │ │ └── object_worker_pool.cpp │ └── tracking │ │ ├── external_tracker.cpp │ │ └── max_iou_tracker.cpp │ ├── backend │ ├── backend.cpp │ ├── change_detection │ │ ├── background │ │ │ └── ray_background_change_detector.cpp │ │ ├── objects │ │ │ └── ray_object_change_detector.cpp │ │ ├── ray_change_detector.cpp │ │ ├── ray_verificator.cpp │ │ └── sequential_change_detector.cpp │ ├── change_state.cpp │ ├── reconciliation │ │ ├── mesh │ │ │ ├── change_merger.cpp │ │ │ ├── mesh_merger.cpp │ │ │ └── overwrite_mesh.cpp │ │ └── reconciler.cpp │ ├── update_functions.cpp │ └── update_khronos_objects_functor.cpp │ ├── spatio_temporal_map │ ├── incremental_mesh.cpp │ └── spatio_temporal_map.cpp │ └── utils │ ├── geometry_utils.cpp │ ├── khronos_attribute_utils.cpp │ └── output_file_utils.cpp ├── khronos_eval ├── CMakeLists.txt ├── README.md ├── app │ ├── .deprecated │ │ ├── consolidate_gt.cpp │ │ ├── create_dynamic_object_gt.cpp │ │ ├── create_dynamic_object_gt_real_data.cpp │ │ ├── create_gt.cpp │ │ ├── evaluate_mesh.cpp │ │ ├── evaluate_meshes.cpp │ │ ├── exp_change_detection.cpp │ │ ├── exp_evaluate_mesh.cpp │ │ ├── exp_reconcile.cpp │ │ └── hydra_converter.cpp │ ├── cd_visualizer_node.cpp │ ├── eval_visualizer_node.cpp │ └── exp_pipeline.cpp ├── config │ ├── change_detection.yaml │ ├── evaluate_mesh.yaml │ ├── evaluate_reconciliation.yaml │ ├── ground_truth │ │ ├── apartment.yaml │ │ ├── apartment_dynamic_object.yaml │ │ ├── consolidate_gt.yaml │ │ ├── mezzanine.yaml │ │ ├── office.yaml │ │ └── tesse_cd_office_dynamic_objects.yaml │ ├── pipeline │ │ ├── apartment.yaml │ │ └── office.yaml │ └── visualization │ │ ├── cd_visualizer.rviz │ │ ├── cd_visualizer.yaml │ │ └── eval_visualizer.rviz ├── include │ └── khronos_eval │ │ ├── cd_visualizer.h │ │ ├── dynamic_object_evaluator.h │ │ ├── eval_visualizer.h │ │ ├── ground_truth │ │ ├── gt_consolidator.h │ │ ├── real_dynamic_object_ground_truth_builder.h │ │ ├── tesse_dynamic_object_ground_truth_builder.h │ │ └── tesse_ground_truth_builder.h │ │ ├── mesh_evaluator.h │ │ ├── object_evaluator.h │ │ ├── pipeline_evaluator.h │ │ └── utils │ │ └── io_utils.h ├── launch │ ├── cd_visualizer.launch │ ├── cd_visualizer.launch.yaml │ ├── eval_visualizer.launch │ └── eval_visualizer.launch.yaml ├── package.xml ├── plotting │ ├── .deprecated │ │ ├── 4d_plots.py │ │ ├── compare_methods.py │ │ ├── plot_4d.py │ │ ├── plot_objects.py │ │ ├── plot_reconciliation.py │ │ └── plot_reconciliation_details.py │ ├── tables.py │ ├── timing.py │ └── utils.py ├── scripts │ ├── .deprecated │ │ ├── binarize_dsgs.py │ │ ├── consolidate_gt.sh │ │ ├── create_dynamic_object_gt.sh │ │ ├── create_dynamic_object_gt_real_data.sh │ │ ├── create_gt.sh │ │ ├── old │ │ │ ├── evaluate_change_detection.sh │ │ │ ├── evaluate_mesh.sh │ │ │ └── evaluate_reconciliation.sh │ │ ├── parse_hydra.sh │ │ └── real_data_dynamic_setup.py │ └── evaluate_pipeline.sh └── src │ ├── cd_visualizer.cpp │ ├── dynamic_object_evaluator.cpp │ ├── eval_visualizer.cpp │ ├── ground_truth │ ├── gt_consolidator.cpp │ ├── real_dynamic_object_ground_truth_builder.cpp │ ├── tesse_dynamic_object_ground_truth_builder.cpp │ └── tesse_ground_truth_builder.cpp │ ├── mesh_evaluator.cpp │ ├── object_evaluator.cpp │ ├── pipeline_evaluator.cpp │ └── utils │ └── io_utils.cpp ├── khronos_msgs ├── CMakeLists.txt ├── msg │ ├── Changes.msg │ ├── ObjectChange.msg │ └── SpatioTemporalVisualizerState.msg ├── package.xml └── srv │ ├── SpatioTemporalVisualizerSetState.srv │ ├── SpatioTemporalVisualizerSetTimeMode.srv │ └── SpatioTemporalVisualizerSetup.srv └── khronos_ros ├── CMakeLists.txt ├── app ├── khronos_node.cpp └── spatio_temporal_visualizer_node.cpp ├── config ├── datasets │ ├── jackal.yaml │ ├── jackal_openset.yaml │ ├── uHumans2.yaml │ └── uHumans2_openset.yaml ├── mapper │ ├── ground_truth.yaml │ ├── jackal.yaml │ ├── jackal_openset.yaml │ ├── uHumans2.yaml │ └── uHumans2_openset.yaml ├── openset │ └── sam_clip.yaml ├── qos_overrides.yaml ├── rviz │ ├── 4d_visualizer.rviz │ ├── jackal.rviz │ └── uHumans2.rviz ├── vio │ └── jackal │ │ ├── BackendParams.yaml │ │ ├── DisplayParams.yaml │ │ ├── ExternalOdometryParams.yaml │ │ ├── FrontendParams.yaml │ │ ├── ImuParams.yaml │ │ ├── LcdParams.yaml │ │ ├── LeftCameraParams.yaml │ │ ├── PipelineParams.yaml │ │ └── flags │ │ ├── Mesher.flags │ │ ├── Pipeline.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ └── Visualizer3D.flags └── visualization │ ├── 4d_visualizer.yaml │ ├── visualizer_config.yaml │ └── visualizer_plugins.yaml ├── include └── khronos_ros │ ├── experiments │ ├── experiment_directory.h │ ├── experiment_logger.h │ └── experiment_manager.h │ ├── khronos_pipeline.h │ ├── utils │ ├── ros_conversions.h │ └── ros_namespaces.h │ └── visualization │ ├── 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