├── Demo ├── grid_map_example.png ├── map_building_1.png ├── map_building_2.png ├── map_matching_1.png ├── path_planning_1.png └── path_planning_2.png ├── README.md ├── README_CN.md ├── launch ├── map_match_quadtree_kitti.launch ├── non-uniform_quadtree_map.launch └── non-uniform_quadtree_map_with_dead-end_semantics.launch └── src ├── CMakeLists.txt ├── close_area_semantic_map ├── CMakeLists.txt ├── dead_angle_semantics_map.rviz ├── include │ ├── close_area.h │ ├── close_area_2d.h │ ├── close_area_2d_carlatown.h │ ├── common.h │ ├── map_change.h │ ├── map_change_2d.h │ ├── map_change_2d_2.h │ ├── map_fill.h │ ├── my_math.h │ └── visualize.h ├── map │ ├── map1.pgm │ ├── map1.rviz │ └── map1.yaml ├── package.xml └── src │ └── corner_map2d.cpp ├── map2d3d ├── CMakeLists.txt ├── include │ ├── 2dmap_basic_operation.h │ ├── 2dmap_basic_operation_formatch_localmap.h │ ├── 3dmap_basic_operation.h │ ├── bayes_update.h │ ├── cloud_basic_operation.h │ ├── cloud_basic_operation_3d.h │ ├── common_include.h │ ├── common_include_3d.h │ ├── getpitch.h │ ├── kitti_2011_09_26_drive_0079_synced数据处理对应.tar.xz │ ├── known_area_extraction.h │ ├── known_area_extraction_byslam.h │ ├── known_area_extraction_byslam_corner.h │ ├── lonlat2utm.h │ ├── map2d_optimization.h │ ├── map_init_function.h │ ├── map_init_function_formatch.h │ ├── odomHandler.h │ ├── odomHandler_formatch.h │ ├── odom_polate.h │ ├── polatePose.h │ ├── ptm2ogm │ │ ├── common.h │ │ └── tic_toc.h │ ├── ray_cast.h │ ├── ray_cast_byslam.h │ ├── ray_cast_byslam_corner.h │ ├── ray_cast_formatch.h │ ├── ray_cast_formatch_localmap.h │ ├── ray_cast_zjbn.h │ └── 备份.tar.xz ├── map_for_map_matching │ ├── README.md │ ├── map0.dat │ ├── map0.pgm │ ├── map0.yaml │ ├── map0_data.dat │ ├── map1.dat │ ├── map1.pgm │ ├── map1.yaml │ ├── map10.dat │ ├── map10.pgm │ ├── map10.yaml │ ├── map10_data.dat │ ├── map11.dat │ ├── map11.pgm │ ├── map11.yaml │ ├── map11_data.dat │ ├── map12.dat │ ├── map12.pgm │ ├── map12.yaml │ ├── map12_data.dat │ ├── map13.dat │ ├── map13.pgm │ ├── map13.yaml │ ├── map13_data.dat │ ├── map14.dat │ ├── map14.pgm │ ├── map14.yaml │ ├── map14_data.dat │ ├── map15.dat │ ├── map15.pgm │ ├── map15.yaml │ ├── map15_data.dat │ ├── map16.dat │ ├── map16.pgm │ ├── map16.yaml │ ├── map16_data.dat │ ├── map17.dat │ ├── map17.pgm │ ├── map17.yaml │ ├── map17_data.dat │ ├── map18.dat │ ├── map18.pgm │ ├── map18.yaml │ ├── map18_data.dat │ ├── map19.dat │ ├── map19.pgm │ ├── map19.yaml │ ├── map19_data.dat │ ├── map1_data.dat │ ├── map2.dat │ ├── map2.pgm │ ├── map2.yaml │ ├── map20.dat │ ├── map20.pgm │ ├── map20.yaml │ ├── map20_data.dat │ ├── map21.dat │ ├── map21.pgm │ ├── map21.yaml │ ├── map21_data.dat │ ├── map22.dat │ ├── map22.pgm │ ├── map22.yaml │ ├── map22_data.dat │ ├── map23.dat │ ├── map23.pgm │ ├── map23.yaml │ ├── map23_data.dat │ ├── map24.dat │ ├── map24.pgm │ ├── map24.yaml │ ├── map24_data.dat │ ├── map25.dat │ ├── map25.pgm │ ├── map25.yaml │ ├── map25_data.dat │ ├── map26.dat │ ├── map26.pgm │ ├── map26.yaml │ ├── map26_data.dat │ ├── map27.dat │ ├── map27.pgm │ ├── map27.yaml │ ├── map27_data.dat │ ├── map28.dat │ ├── map28.pgm │ ├── map28.yaml │ ├── map28_data.dat │ ├── map29.dat │ ├── map29.pgm │ ├── map29.yaml │ ├── map29_data.dat │ ├── map2_data.dat │ ├── map3.dat │ ├── map3.pgm │ ├── map3.yaml │ ├── map30.dat │ ├── map30.pgm │ ├── map30.yaml │ ├── map30_data.dat │ ├── map31.dat │ ├── map31.pgm │ ├── map31.yaml │ ├── map31_data.dat │ ├── map32.dat │ ├── map32.pgm │ ├── map32.yaml │ ├── map32_data.dat │ ├── map33.dat │ ├── map33.pgm │ ├── map33.yaml │ ├── map33_data.dat │ ├── map34.dat │ ├── map34.pgm │ ├── map34.yaml │ ├── map34_data.dat │ ├── map35.dat │ ├── map35.pgm │ ├── map35.yaml │ ├── map35_data.dat │ ├── map36.dat │ ├── map36.pgm │ ├── map36.yaml │ ├── map36_data.dat │ ├── map37.dat │ ├── map37.pgm │ ├── map37.yaml │ ├── map37_data.dat │ ├── map38.dat │ ├── map38.pgm │ ├── map38.yaml │ ├── map38_data.dat │ ├── map39.dat │ ├── map39.pgm │ ├── map39.yaml │ ├── map39_data.dat │ ├── map3_data.dat │ ├── map4.dat │ ├── map4.pgm │ ├── map4.yaml │ ├── map40.dat │ ├── map40.pgm │ ├── map40.yaml │ ├── map40_data.dat │ ├── map41.dat │ ├── map41.pgm │ ├── map41.yaml │ ├── map41_data.dat │ ├── map4_data.dat │ ├── map5.dat │ ├── map5.pgm │ ├── map5.yaml │ ├── map5_data.dat │ ├── map6.dat │ ├── map6.pgm │ ├── map6.yaml │ ├── map6_data.dat │ ├── map7.dat │ ├── map7.pgm │ ├── map7.yaml │ ├── map7_data.dat │ ├── map8.dat │ ├── map8.pgm │ ├── map8.yaml │ ├── map8_data.dat │ ├── map9.dat │ ├── map9.pgm │ ├── map9.yaml │ └── map9_data.dat ├── package.xml ├── rviz_cfg │ ├── map_match_quadtree.rviz │ ├── map_match_quadtree_kitti.rviz │ └── meng.rviz └── src │ └── map_match_quadtree_kitti.cpp └── quadtreemap ├── CMakeLists.txt ├── include ├── ptm2ogm │ ├── common.h │ └── tic_toc.h └── quadtree │ ├── Quadtree(0718).h │ ├── Quadtree.h │ ├── QuadtreePoint.h │ ├── Stopwatch.h │ └── Vector2.h ├── package.xml ├── rviz_cfg ├── 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