├── README.md ├── laser_slam ├── .gitignore ├── LICENSE ├── README.md ├── dependencies.rosinstall ├── laser_slam │ ├── CMakeLists.txt │ ├── Doxyfile.in │ ├── configurations │ │ ├── config_example.yaml │ │ └── icp_default.yaml │ ├── include │ │ └── laser_slam │ │ │ ├── benchmarker.hpp │ │ │ ├── common.hpp │ │ │ ├── incremental_estimator.hpp │ │ │ ├── laser_track.hpp │ │ │ ├── parameters.hpp │ │ │ └── ros_depend │ │ │ ├── Matrix3x3.h │ │ │ ├── MinMax.h │ │ │ ├── QuadWord.h │ │ │ ├── Quaternion.h │ │ │ ├── Scalar.h │ │ │ ├── Transform.h │ │ │ ├── Vector3.h │ │ │ └── macros.h │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── benchmarker.cpp │ │ ├── incremental_estimator.cpp │ │ └── laser_track.cpp │ └── test │ │ ├── test_empty.cpp │ │ └── test_main.cpp ├── laser_slam_ros │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── laser_slam_ros │ │ │ ├── common.hpp │ │ │ └── laser_slam_worker.hpp │ ├── package.xml │ ├── src │ │ └── laser_slam_worker.cpp │ └── srv │ │ └── GetLaserTrackSrv.srv ├── laser_slam_tools │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── map_to_world.launch │ ├── package.xml │ └── src │ │ ├── laser_to_octomap.cpp │ │ └── octomap_to_point_cloud.cpp └── sensor_drivers │ └── velodyne_assembler │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── velodyne_assembler │ │ └── velodyne_assembler_ros.hpp │ ├── launch │ ├── test │ │ └── test.launch │ └── velodyne_assembler.launch │ ├── package.xml │ └── src │ ├── velodyne_assembler_node.cpp │ └── velodyne_assembler_ros.cpp ├── loam_velodyne ├── CMakeLists.txt ├── Doxyfile.in ├── LICENSE ├── README.md ├── capture.bmp ├── include │ └── loam_velodyne │ │ ├── Angle.h │ │ ├── CircularBuffer.h │ │ ├── LaserMapping.h │ │ ├── LaserOdometry.h │ │ ├── MultiScanRegistration.h │ │ ├── ScanRegistration.h │ │ ├── TransformMaintenance.h │ │ ├── Twist.h │ │ ├── Vector3.h │ │ ├── common.h │ │ ├── nanoflann.hpp │ │ └── nanoflann_pcl.h ├── launch │ ├── hector_loam_velodyne.launch │ └── loam_velodyne.launch ├── mainpage.dox ├── package.xml ├── rviz_cfg │ └── loam_velodyne.rviz ├── src │ ├── laser_mapping_node.cpp │ ├── laser_odometry_node.cpp │ ├── lib │ │ ├── CMakeLists.txt │ │ ├── LaserMapping.cpp │ │ ├── LaserOdometry.cpp │ │ ├── MultiScanRegistration.cpp │ │ ├── ScanRegistration.cpp │ │ ├── TransformMaintenance.cpp │ │ └── math_utils.h │ ├── multi_scan_registration_node.cpp │ └── transform_maintenance_node.cpp └── tests │ ├── bag_test │ └── loam.test.in ├── resources ├── LOL_gif.gif └── LOL_video.mp4 ├── segmap ├── .gitignore ├── LICENSE ├── README.md ├── dependencies.rosinstall ├── segmapper │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── segmapper │ │ │ └── segmapper.hpp │ ├── launch │ │ ├── kitti │ │ │ ├── cnn_kitti_loam_segmap.yaml │ │ │ ├── cnn_loam_segmap.launch │ │ │ ├── icp_dynamic_outdoor.yaml │ │ │ ├── input_filters_outdoor.yaml │ │ │ ├── kitti_loam_segmap.launch │ │ │ └── kitti_localization.yaml │ │ └── segmapper.launch │ ├── package.xml │ ├── src │ │ ├── segmapper.cpp │ │ └── segmapper_node.cpp │ └── srv │ │ └── SaveMap.srv ├── segmappy │ ├── bin │ │ ├── analyse_database.py │ │ ├── create_matches_from_run.py │ │ ├── ensure_segmappy_is_installed.py │ │ ├── make_labels.py │ │ ├── plot_loss.py │ │ ├── plot_reconstructions.py │ │ ├── plot_train_progress.py │ │ ├── segmappy_download_datasets │ │ ├── segmappy_download_datasets.sh │ │ ├── segmappy_plot_acc_versus_size │ │ ├── segmappy_plot_roc_from_matches │ │ ├── segmappy_train_cnn │ │ ├── segmappy_train_semantics │ │ ├── verify_matches_extracted_from_run.py │ │ └── visualise.py │ ├── segmappy │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ └── default_training.ini │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── dataset.py │ │ │ ├── generator.py │ │ │ └── preprocessor.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ └── model_groups_tf.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── classifiertools.py │ │ │ ├── hull.py │ │ │ ├── import_export.py │ │ │ ├── roccurve.py │ │ │ └── voxeltools.py │ └── setup.py ├── segmatch │ ├── CMakeLists.txt │ ├── Doxyfile.in │ ├── include │ │ └── segmatch │ │ │ ├── common.hpp │ │ │ ├── database.hpp │ │ │ ├── descriptors │ │ │ ├── cnn.hpp │ │ │ ├── descriptors.hpp │ │ │ ├── eigenvalue_based.hpp │ │ │ └── ensemble_shape_functions.hpp │ │ │ ├── dynamic_voxel_grid.hpp │ │ │ ├── features.hpp │ │ │ ├── id_pair_hash.hpp │ │ │ ├── impl │ │ │ ├── dynamic_voxel_grid.hpp │ │ │ └── local_map.hpp │ │ │ ├── local_map.hpp │ │ │ ├── normal_estimators │ │ │ ├── incremental_normal_estimator.hpp │ │ │ ├── normal_estimator.hpp │ │ │ └── simple_normal_estimator.hpp │ │ │ ├── opencv_random_forest.hpp │ │ │ ├── parameters.hpp │ │ │ ├── point_extended.hpp │ │ │ ├── points_neighbors_providers │ │ │ ├── impl │ │ │ │ ├── kdtree_points_neighbors_provider.hpp │ │ │ │ └── octree_points_neighbors_provider.hpp │ │ │ ├── kdtree_points_neighbors_provider.hpp │ │ │ ├── octree_points_neighbors_provider.hpp │ │ │ └── points_neighbors_provider.hpp │ │ │ ├── recognizers │ │ │ ├── correspondence_recognizer.hpp │ │ │ ├── correspondence_recognizer_factory.hpp │ │ │ ├── geometric_consistency_recognizer.hpp │ │ │ ├── graph_based_geometric_consistency_recognizer.hpp │ │ │ ├── graph_utilities.hpp │ │ │ ├── incremental_geometric_consistency_recognizer.hpp │ │ │ ├── matches_partitioner.hpp │ │ │ └── partitioned_geometric_consistency_recognizer.hpp │ │ │ ├── rviz_utilities.hpp │ │ │ ├── segmatch.hpp │ │ │ ├── segmented_cloud.hpp │ │ │ ├── segmenters │ │ │ ├── euclidean_segmenter.hpp │ │ │ ├── impl │ │ │ │ ├── euclidean_segmenter.hpp │ │ │ │ ├── incremental_segmenter.hpp │ │ │ │ └── smoothness_constraints_segmenter.hpp │ │ │ ├── incremental_segmenter.hpp │ │ │ ├── region_growing_policy.hpp │ │ │ ├── segmenter.hpp │ │ │ ├── segmenter_factory.hpp │ │ │ └── smoothness_constraints_segmenter.hpp │ │ │ └── utilities.hpp │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── database.cpp │ │ ├── descriptors │ │ │ ├── cnn.cpp │ │ │ ├── descriptors.cpp │ │ │ ├── eigenvalue_based.cpp │ │ │ └── ensemble_shape_functions.cpp │ │ ├── dynamic_voxel_grid.cpp │ │ ├── features.cpp │ │ ├── local_map.cpp │ │ ├── normal_estimators │ │ │ ├── incremental_normal_estimator.cpp │ │ │ ├── normal_estimator.cpp │ │ │ └── simple_normal_estimator.cpp │ │ ├── opencv_random_forest.cpp │ │ ├── points_neighbors_providers │ │ │ ├── kdtree_points_neighbors_provider.cpp │ │ │ └── octree_points_neighbors_provider.cpp │ │ ├── recognizers │ │ │ ├── correspondence_recognizer_factory.cpp │ │ │ ├── geometric_consistency_recognizer.cpp │ │ │ ├── graph_based_geometric_consistency_recognizer.cpp │ │ │ ├── incremental_geometric_consistency_recognizer.cpp │ │ │ └── partitioned_geometric_consistency_recognizer.cpp │ │ ├── rviz_utilities.cpp │ │ ├── segmatch.cpp │ │ ├── segmented_cloud.cpp │ │ └── segmenters │ │ │ ├── euclidean_segmenter.cpp │ │ │ ├── incremental_segmenter.cpp │ │ │ ├── segmenter_factory.cpp │ │ │ └── smoothness_constraints_segmenter.cpp │ └── test │ │ ├── recognizer_test_data.hpp │ │ ├── test_dynamic_voxel_grid.cpp │ │ ├── test_geometric_consistency_recognizer.cpp │ │ ├── test_graph_utilities.cpp │ │ ├── test_incremental_geometric_consistency_recognizer.cpp │ │ ├── test_incremental_normal_estimator.cpp │ │ ├── test_incremental_segmenter.cpp │ │ ├── test_main.cpp │ │ ├── test_matches_partitioner.cpp │ │ └── test_partitioned_geometric_consistency_recognizer.cpp ├── segmatch_ros │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── segmatch_ros │ │ │ ├── common.hpp │ │ │ └── segmatch_worker.hpp │ ├── package.xml │ └── src │ │ └── segmatch_worker.cpp ├── tf_graph_executor │ ├── CMakeLists.txt │ ├── include │ │ └── tf_graph_executor │ │ │ └── tf_graph_executor.hpp │ ├── package.xml │ └── src │ │ ├── cpp11abi_translator.cpp │ │ └── tf_graph_executor.cpp └── tools │ ├── add_header_time_offset.py │ ├── cut.py │ ├── remap_bag.py │ └── remove_tf_from_bag.py ├── tensorflow_catkin ├── 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