├── .clang-format ├── .clang-tidy ├── .gitignore ├── 3rdparty └── 3es-core │ └── 3esservermacros.h ├── CMakeLists.txt ├── LICENSE ├── OpenCL.md ├── clearance-performance-notes.md ├── clu ├── 3rdparty │ └── CL │ │ └── opencl.hpp ├── CMakeLists.txt ├── clu.cpp ├── clu.h ├── cluBuffer.h ├── cluConfig.in.h ├── cluConstraint.cpp ├── cluConstraint.h ├── cluKernel.cpp ├── cluKernel.h ├── cluProgram.cpp └── cluProgram.h ├── cmake ├── ClangTidy.cmake ├── FindLASZIP.cmake ├── FindLIBLAS.cmake ├── FindOctomap.cmake ├── FindTBB.cmake ├── Findglm.cmake ├── LeakTrack.cmake ├── OhmCuda.cmake ├── OhmGTest.cmake ├── TextFileResource.cmake ├── TextFileResource.py ├── compilerSetup.cmake ├── doxyfile.in ├── doxygen.cmake ├── ohm-config.cmake ├── ohm-packages.cmake ├── tidy │ ├── clang-tidy-names.yaml │ └── wrap-clang-tidy.py └── utils.cmake ├── docs ├── docglossary.md ├── docmain.h ├── docusage.md ├── docutils.md ├── docvoxellayers.md └── gpu │ ├── docgpualgorithm.md │ └── docgpudetail.md ├── gputil ├── CMakeLists.txt ├── cl │ ├── gpuApiExceptionCode.cpp │ ├── gpuBuffer.cpp │ ├── gpuBufferDetail.h │ ├── gpuDevice.cpp │ ├── gpuDeviceDetail.h │ ├── gpuEvent.cpp │ ├── gpuEventDetail.h │ ├── gpuKernel.cpp │ ├── gpuKernel2.h │ ├── gpuKernelDetail.h │ ├── gpuPinnedBuffer.cpp │ ├── gpuPlatform2.h │ ├── gpuProgram.cpp │ ├── gpuProgramDetail.h │ ├── gpuQueue.cpp │ └── gpuQueueDetail.h ├── cuda │ ├── cutil_atomic.h │ ├── cutil_decl.h │ ├── cutil_importcl.h │ ├── cutil_math.h │ ├── gpuApiExceptionCode.cpp │ ├── gpuBuffer.cpp │ ├── gpuBufferDetail.h │ ├── gpuDevice.cpp │ ├── gpuDeviceDetail.h │ ├── gpuDirtyRegion │ ├── gpuEvent.cpp │ ├── gpuEventDetail.h │ ├── gpuKernel.cpp │ ├── gpuKernel2.h │ ├── gpuKernelDetail.h │ ├── gpuMemRegion.cpp │ ├── gpuMemRegion.h │ ├── gpuPinnedBuffer.cpp │ ├── gpuPlatform2.h │ ├── gpuProgram.cpp │ ├── gpuProgramDetail.h │ ├── gpuQueue.cpp │ ├── gpuQueueDetail.h │ └── ref.h ├── gpuApiException.cpp ├── gpuApiException.h ├── gpuBuffer.h ├── gpuConfig.in.h ├── gpuDevice.h ├── gpuDeviceInfo.h ├── gpuEvent.h ├── gpuEventList.cpp ├── gpuEventList.h ├── gpuException.cpp ├── gpuException.h ├── gpuKernel.h ├── gpuPinMode.h ├── gpuPinnedBuffer.h ├── gpuPlatform.h ├── gpuProgram.h ├── gpuQueue.h ├── gpuThrow.cpp ├── gpuThrow.h ├── gpuVersion.h └── gpu_ext.h ├── logutil ├── CMakeLists.txt ├── LogUtil.cpp ├── LogUtil.h ├── LogUtilConfig.in.h ├── Logger.cpp ├── Logger.h └── LoggerDetail.h ├── ohm.natvis ├── ohm ├── Aabb.h ├── CMakeLists.txt ├── CalculateSegmentKeys.cpp ├── CalculateSegmentKeys.h ├── ClearingPattern.cpp ├── ClearingPattern.h ├── CompareMaps.cpp ├── CompareMaps.h ├── CopyUtil.cpp ├── CopyUtil.h ├── CovarianceVoxel.cpp ├── CovarianceVoxel.h ├── CovarianceVoxelCompute.h ├── DataType.cpp ├── DataType.h ├── DebugDraw.cpp ├── DebugDraw.h ├── DebugIDs.h ├── DefaultLayer.cpp ├── DefaultLayer.h ├── Density.cpp ├── Density.h ├── Key.cpp ├── Key.h ├── KeyHash.cpp ├── KeyHash.h ├── KeyList.cpp ├── KeyList.h ├── KeyRange.cpp ├── KeyRange.h ├── KeyStream.h ├── LineKeysQuery.cpp ├── LineKeysQuery.h ├── LineQuery.cpp ├── LineQuery.h ├── LineWalk.h ├── LineWalkCompute.h ├── MapChunk.cpp ├── MapChunk.h ├── MapChunkFlag.h ├── MapCoord.h ├── MapFlag.cpp ├── MapFlag.h ├── MapInfo.cpp ├── MapInfo.h ├── MapLayer.cpp ├── MapLayer.h ├── MapLayout.cpp ├── MapLayout.h ├── MapLayoutMatch.h ├── MapProbability.h ├── MapRegion.cpp ├── MapRegion.h ├── MapRegionCache.cpp ├── MapRegionCache.h ├── MapSerialise.cpp ├── MapSerialise.h ├── Mapper.cpp ├── Mapper.h ├── MappingProcess.cpp ├── MappingProcess.h ├── Mutex.cpp ├── Mutex.h ├── NdtMap.cpp ├── NdtMap.h ├── NdtMode.cpp ├── NdtMode.h ├── NearestNeighbours.cpp ├── NearestNeighbours.h ├── OccupancyMap.cpp ├── OccupancyMap.h ├── OccupancyType.cpp ├── OccupancyType.h ├── OccupancyUtil.cpp ├── OccupancyUtil.h ├── OhmConfig.in.h ├── Query.cpp ├── Query.h ├── QueryFlag.h ├── RayFilter.cpp ├── RayFilter.h ├── RayFlag.h ├── RayMapper.cpp ├── RayMapper.h ├── RayMapperNdt.cpp ├── RayMapperNdt.h ├── RayMapperOccupancy.cpp ├── RayMapperOccupancy.h ├── RayMapperSecondarySample.cpp ├── RayMapperSecondarySample.h ├── RayMapperTrace.cpp ├── RayMapperTrace.h ├── RayMapperTsdf.cpp ├── RayMapperTsdf.h ├── RayPattern.cpp ├── RayPattern.h ├── RayPatternConical.cpp ├── RayPatternConical.h ├── RaysQuery.cpp ├── RaysQuery.h ├── Stream.cpp ├── Stream.h ├── Trace.cpp ├── Trace.h ├── Voxel.cpp ├── Voxel.h ├── VoxelBlock.cpp ├── VoxelBlock.h ├── VoxelBlockCompressionQueue.cpp ├── VoxelBlockCompressionQueue.h ├── VoxelBuffer.cpp ├── VoxelBuffer.h ├── VoxelData.h ├── VoxelIncident.h ├── VoxelIncidentCompute.h ├── VoxelLayout.cpp ├── VoxelLayout.h ├── VoxelMean.h ├── VoxelMeanCompute.h ├── VoxelOccupancy.h ├── VoxelOccupancyCompute.h ├── VoxelSecondarySample.h ├── VoxelTouchTime.h ├── VoxelTouchTimeCompute.h ├── VoxelTsdf.cpp ├── VoxelTsdf.h ├── VoxelTsdfCompute.h ├── private │ ├── ClearingPatternDetail.h │ ├── LineKeysQueryDetail.h │ ├── LineQueryDetail.h │ ├── MapLayerDetail.h │ ├── MapLayoutDetail.h │ ├── MapperDetail.h │ ├── NdtMapDetail.h │ ├── NearestNeighboursDetail.h │ ├── OccupancyMapDetail.cpp │ ├── OccupancyMapDetail.h │ ├── OccupancyQueryAlg.h │ ├── QueryDetail.h │ ├── RayPatternDetail.h │ ├── RaysQueryDetail.h │ ├── SerialiseUtil.h │ ├── VoxelAlgorithms.cpp │ ├── VoxelAlgorithms.h │ ├── VoxelBlockCompressionQueueDetail.h │ └── VoxelLayoutDetail.h └── serialise │ ├── MapSerialiseV0.1.cpp │ ├── MapSerialiseV0.1.h │ ├── MapSerialiseV0.2.cpp │ ├── MapSerialiseV0.2.h │ ├── MapSerialiseV0.4.cpp │ ├── MapSerialiseV0.4.h │ ├── MapSerialiseV0.5.cpp │ ├── MapSerialiseV0.5.h │ ├── MapSerialiseV0.cpp │ └── MapSerialiseV0.h ├── ohmapp ├── CMakeLists.txt ├── DataSource.cpp ├── DataSource.h ├── MapHarness.cpp ├── MapHarness.h ├── OhmAppConfig.in.h ├── OhmAppCpu.cpp ├── OhmAppCpu.h ├── OhmAppGpu.cpp ├── OhmAppGpu.h ├── OhmAppGpuConfig.in.h ├── SlamIOSource.cpp ├── SlamIOSource.h └── ohmappmain.inl ├── ohmgpu ├── CMakeLists.txt ├── ClearanceProcess.cpp ├── ClearanceProcess.h ├── GpuCache.cpp ├── GpuCache.h ├── GpuCachePostSyncHandler.h ├── GpuCacheStats.h ├── GpuKey.h ├── GpuLayerCache.cpp ├── GpuLayerCache.h ├── GpuLayerCacheParams.cpp ├── GpuLayerCacheParams.h ├── GpuMap.cpp ├── GpuMap.h ├── GpuNdtMap.cpp ├── GpuNdtMap.h ├── GpuTransformSamples.cpp ├── GpuTransformSamples.h ├── GpuTsdfMap.cpp ├── GpuTsdfMap.h ├── LineKeysQueryGpu.cpp ├── LineKeysQueryGpu.h ├── LineQueryGpu.cpp ├── LineQueryGpu.h ├── OhmGpu.cpp ├── OhmGpu.h ├── OhmGpuConfig.in.h ├── RayItem.h ├── RaysQueryGpu.cpp ├── RaysQueryGpu.h ├── gpu │ ├── AdjustNdt.cl │ ├── AdjustOccupancy.cl │ ├── CovarianceHitNdt.cl │ ├── CovarianceHitNdt.cu │ ├── CovarianceHitNdt_h.cl │ ├── LineKeys.cl │ ├── LineKeys.cu │ ├── LineWalk.cl │ ├── LineWalkMarkers.cl │ ├── RaysQuery.cl │ ├── RaysQuery.cu │ ├── RaysQueryResult.h │ ├── RegionUpdate.cl │ ├── RegionUpdate.cu │ ├── RegionUpdateNdt.cu │ ├── Regions.cl │ ├── RoiRangeFill.cl │ ├── RoiRangeFill.cu │ ├── TransformSamples.cl │ ├── TransformSamples.cu │ ├── Traversal.cl │ ├── TsdfUpdate.cl │ ├── TsdfUpdate.cu │ ├── VoxelIncident.cl │ └── VoxelMean.cl └── private │ ├── ClearanceProcessDetail.cpp │ ├── ClearanceProcessDetail.h │ ├── GpuMapDetail.cpp │ ├── GpuMapDetail.h │ ├── GpuNdtMapDetail.h │ ├── GpuProgramRef.cpp │ ├── GpuProgramRef.h │ ├── GpuTransformSamplesDetail.h │ ├── GpuTsdfMapDetail.h │ ├── LineKeysQueryDetailGpu.h │ ├── LineQueryDetailGpu.h │ ├── RaysQueryDetailGpu.cpp │ ├── RaysQueryDetailGpu.h │ ├── RoiRangeFill.cpp │ └── RoiRangeFill.h ├── ohmheightmap ├── 3rdparty │ └── delaunator.hpp ├── CMakeLists.txt ├── Heightmap.cpp ├── Heightmap.h ├── HeightmapMesh.cpp ├── HeightmapMesh.h ├── HeightmapMode.cpp ├── HeightmapMode.h ├── HeightmapSerialise.cpp ├── HeightmapSerialise.h ├── HeightmapUtil.cpp ├── HeightmapUtil.h ├── HeightmapVoxel.cpp ├── HeightmapVoxel.h ├── HeightmapVoxelType.h ├── OhmHeightmapConfig.in.h ├── PlaneFillLayeredWalker.cpp ├── PlaneFillLayeredWalker.h ├── PlaneFillWalker.cpp ├── PlaneFillWalker.h ├── PlaneWalkVisitMode.h ├── PlaneWalker.cpp ├── PlaneWalker.h ├── TriangleEdge.h ├── TriangleNeighbours.h ├── UpAxis.h └── private │ ├── HeightmapDetail.cpp │ ├── HeightmapDetail.h │ ├── HeightmapOperations.cpp │ └── HeightmapOperations.h ├── ohmheightmapimage ├── CMakeLists.txt ├── HeightmapImage.cpp ├── HeightmapImage.h └── OhmHeightmapImageConfig.in.h ├── ohmtools ├── CMakeLists.txt ├── OhmCloud.cpp ├── OhmCloud.h ├── OhmGen.cpp ├── OhmGen.h └── OhmToolsConfig.in.h ├── ohmutil ├── 3rdparty │ ├── cxxopts │ │ └── cxxopts.hpp │ └── ska │ │ ├── bytell_hash_map.hpp │ │ ├── flat_hash_map.hpp │ │ ├── ska_sort.hpp │ │ └── unordered_map.hpp ├── CMakeLists.txt ├── Colour.cpp ├── Colour.h ├── GlmStream.h ├── OhmUtilConfig.in.h ├── Options.h ├── PlyMesh.cpp ├── PlyMesh.h ├── PlyPointStream.cpp ├── PlyPointStream.h ├── Profile.cpp ├── Profile.h ├── ProfileMarker.cpp ├── ProfileMarker.h ├── ProgressMonitor.cpp ├── ProgressMonitor.h ├── SafeIO.cpp ├── SafeIO.h ├── ScopedTimeDisplay.cpp ├── ScopedTimeDisplay.h ├── VectorHash.h └── p2p.h ├── package.xml ├── readme.md ├── scripts ├── ohm-parse-timing.py ├── ohm-timing-run.py └── setup.cfg ├── slamio ├── CMakeLists.txt ├── DataChannel.h ├── PointCloudReader.cpp ├── PointCloudReader.h ├── PointCloudReaderPdal.cpp ├── PointCloudReaderPdal.h ├── PointCloudReaderPly.cpp ├── PointCloudReaderPly.h ├── PointCloudReaderTraj.cpp ├── PointCloudReaderTraj.h ├── PointCloudReaderXyz.cpp ├── PointCloudReaderXyz.h ├── Points.cpp ├── Points.h ├── SlamCloudLoader.cpp ├── SlamCloudLoader.h ├── SlamIO.cpp ├── SlamIO.h ├── SlamIOConfig.in.h ├── pdal │ ├── PointStream.cpp │ └── PointStream.h └── rply │ ├── LICENSE │ ├── rply.c │ ├── rply.h │ └── rplyfile.h ├── tests ├── CMakeLists.txt ├── data │ ├── CMakeLists.txt │ ├── readme.md │ ├── test-map.0.1.0.ohm │ ├── test-map.0.2.0.ohm │ ├── test-map.0.3.0.ohm │ ├── test-map.0.4.0.ohm │ └── test-map.0.ohm ├── gputiltest │ ├── CMakeLists.txt │ ├── GpuBufferTest.cpp │ ├── GpuDeviceTest.cpp │ ├── KernelTest.cpp │ ├── TestMain.cpp │ ├── cuda │ │ └── matrix_kernel.cu │ └── matrix.cl ├── ohmtest │ ├── CMakeLists.txt │ ├── CompressionTests.cpp │ ├── CopyTests.cpp │ ├── IncidentsTests.cpp │ ├── KeyTests.cpp │ ├── LayoutTests.cpp │ ├── LineQueryTests.cpp │ ├── LineWalkTests.cpp │ ├── MapTests.cpp │ ├── MathsTests.cpp │ ├── NdtTests.cpp │ ├── OhmConfig.in.h │ ├── OhmTestConfig.in.h │ ├── RayPatternTests.cpp │ ├── RayValidation.cpp │ ├── RayValidation.h │ ├── RaysQueryTests.cpp │ ├── SecondarySampleTests.cpp │ ├── SerialisationTests.cpp │ ├── TestMain.cpp │ ├── TouchTimeTests.cpp │ ├── TraversalTests.cpp │ ├── TsdfTests.cpp │ └── VoxelMeanTests.cpp ├── ohmtestcommon │ ├── CMakeLists.txt │ ├── CovarianceTestUtil.cpp │ ├── CovarianceTestUtil.h │ ├── OhmTestUtil.cpp │ ├── OhmTestUtil.h │ ├── RayPatternTestUtil.h │ ├── TraversalTest.cpp │ ├── TraversalTest.h │ ├── WalkSegmentKeysLegacy.cpp │ └── WalkSegmentKeysLegacy.h ├── ohmtestgpu │ ├── CMakeLists.txt │ ├── GpuCopyTests.cpp │ ├── GpuIncidentsTests.cpp │ ├── GpuLineKeysTests.cpp │ ├── GpuLineQueryTests.cpp │ ├── GpuMapTest.cpp │ ├── GpuMapperTests.cpp │ ├── GpuNdtTests.cpp │ ├── GpuRangesTests.cpp │ ├── GpuRayPatternTests.cpp │ ├── GpuRaysQueryTests.cpp │ ├── GpuSerialisationTests.cpp │ ├── GpuTestMain.cpp │ ├── GpuTests.cpp │ ├── GpuTouchTimeTests.cpp │ ├── GpuTraversalTests.cpp │ ├── GpuTsdfTests.cpp │ └── GpuVoxelMeanTests.cpp ├── ohmtestheightmap │ ├── CMakeLists.txt │ └── HeightmapTests.cpp └── slamiotest │ ├── CMakeLists.txt │ ├── Loader.cpp │ └── SlamCloudLoader.cpp ├── todo.md ├── utils ├── CMakeLists.txt ├── ohm2ply │ ├── CMakeLists.txt │ └── ohm2ply.cpp ├── ohmcmp │ ├── CMakeLists.txt │ └── ohmcmp.cpp ├── ohmfilter │ ├── CMakeLists.txt │ └── ohmfilter.cpp ├── ohmheightmap │ ├── CMakeLists.txt │ └── ohmheightmap.cpp ├── ohmhm2img │ ├── CMakeLists.txt │ └── ohmhm2img.cpp ├── ohminfo │ ├── CMakeLists.txt │ └── ohminfo.cpp ├── ohmpop │ ├── CMakeLists.txt │ ├── OhmPopConfig.in.h │ ├── 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