├── .clang-format ├── .devcontainer ├── clion │ ├── Dockerfile │ ├── devcontainer.json │ └── ros_env.list └── vscode │ ├── Dockerfile │ └── devcontainer.json ├── .dockerignore ├── .github ├── .codecov.yml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── SECURITY.md ├── problem-matchers │ ├── clang-tidy.json │ ├── gcc-sanitizers.json │ ├── gcc.json │ ├── pre-commit.json │ └── valgrind.json ├── pull_request_template.md └── workflows │ ├── cpp.yml │ ├── docs.yml │ ├── lint.yml │ ├── python.yml │ └── ros1.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CITATION.cff ├── CMakeLists.txt ├── CPPLINT.cfg ├── LICENSE ├── README.md ├── docs ├── 404.rst ├── Doxyfile_cpp ├── Doxyfile_ros1 ├── Makefile ├── _redirects ├── _static │ └── custom.css ├── conf.py ├── favicon.ico ├── google1182636d9b15b461.html ├── index.rst ├── latex_index.rst ├── logo.png ├── pages │ ├── contributing.rst │ ├── demos.rst │ ├── faq.rst │ ├── installation │ │ ├── cpp.rst │ │ ├── index.rst │ │ ├── python.rst │ │ └── ros1.rst │ ├── intro.rst │ ├── latex_intro.rst │ ├── parameters │ │ ├── general.rst │ │ ├── index.rst │ │ ├── inputs.rst │ │ ├── map.rst │ │ ├── map_operations.rst │ │ └── measurement_integrators.rst │ └── tutorials │ │ ├── cpp.rst │ │ ├── index.rst │ │ ├── python.rst │ │ └── ros1.rst ├── python_api │ └── index.rst └── robots.txt ├── examples ├── README.md ├── cpp │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CPPLINT.cfg │ ├── common.h │ ├── io │ │ ├── CMakeLists.txt │ │ ├── load_map_from_file.cc │ │ ├── load_map_from_stream.cc │ │ ├── save_map_to_file.cc │ │ └── save_map_to_stream.cc │ ├── planning │ │ ├── CMakeLists.txt │ │ └── occupancy_to_esdf.cc │ └── queries │ │ ├── CMakeLists.txt │ │ ├── accelerated_queries.cc │ │ ├── classification.cc │ │ ├── fixed_resolution.cc │ │ ├── multi_resolution.cc │ │ ├── nearest_neighbor_interpolation.cc │ │ └── trilinear_interpolation.cc ├── python │ ├── CHANGELOG.rst │ ├── io │ │ ├── load_map_from_file.py │ │ ├── load_params_from_file.py │ │ └── save_map_to_file.py │ ├── mapping │ │ └── full_pipeline.py │ ├── panoptic_mapping.py │ └── queries │ │ ├── _dummy_objects.py │ │ ├── accelerated_queries.py │ │ ├── classification.py │ │ ├── fixed_resolution.py │ │ ├── multi_resolution.py │ │ ├── nearest_neighbor_interpolation.py │ │ └── trilinear_interpolation.py └── ros1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CPPLINT.cfg │ ├── io │ ├── CMakeLists.txt │ ├── receive_map_over_ros.cc │ └── send_map_over_ros.cc │ └── package.xml ├── interfaces └── ros1 │ ├── wavemap │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ │ └── append_to_catkin_tests.cmake │ └── package.xml │ ├── wavemap_all │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── wavemap_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ │ ├── HashedBlock.msg │ │ ├── HashedBlocks.msg │ │ ├── HashedWaveletOctree.msg │ │ ├── HashedWaveletOctreeBlock.msg │ │ ├── Index3D.msg │ │ ├── Map.msg │ │ ├── OctreeNode.msg │ │ ├── WaveletOctree.msg │ │ └── WaveletOctreeNode.msg │ ├── package.xml │ └── srv │ │ └── FilePath.srv │ ├── wavemap_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── app │ │ ├── ros_server.cc │ │ └── rosbag_processor.cc │ ├── config │ │ ├── other_packages │ │ │ └── fast_lio │ │ │ │ ├── livox_mid360.yaml │ │ │ │ └── ouster_os0.yaml │ │ ├── rviz │ │ │ ├── default.rviz │ │ │ └── live_demo.rviz │ │ ├── sensor_configs │ │ │ └── MID360_config.json │ │ ├── wavemap_livox_mid360.yaml │ │ ├── wavemap_livox_mid360_azure_kinect.yaml │ │ ├── wavemap_livox_mid360_pico_flexx.yaml │ │ ├── wavemap_livox_mid360_pico_monstar.yaml │ │ ├── wavemap_ouster_os0.yaml │ │ ├── wavemap_ouster_os0_pico_monstar.yaml │ │ ├── wavemap_ouster_os1.yaml │ │ └── wavemap_panoptic_mapping_rgbd.yaml │ ├── include │ │ ├── CPPLINT.cfg │ │ └── wavemap_ros │ │ │ ├── impl │ │ │ └── rosbag_processor_inl.h │ │ │ ├── inputs │ │ │ ├── depth_image_topic_input.h │ │ │ ├── impl │ │ │ │ └── pointcloud_topic_input_impl.h │ │ │ ├── pointcloud_topic_input.h │ │ │ ├── ros_input_base.h │ │ │ └── ros_input_factory.h │ │ │ ├── map_operations │ │ │ ├── crop_map_operation.h │ │ │ ├── impl │ │ │ │ └── publish_map_operation_inl.h │ │ │ ├── map_ros_operation_factory.h │ │ │ ├── map_ros_operation_types.h │ │ │ ├── publish_map_operation.h │ │ │ └── publish_pointcloud_operation.h │ │ │ ├── ros_server.h │ │ │ └── utils │ │ │ ├── pointcloud_undistorter.h │ │ │ ├── ros_logging_level.h │ │ │ ├── rosbag_processor.h │ │ │ └── tf_transformer.h │ ├── launch │ │ ├── datasets │ │ │ ├── dataset_base.launch │ │ │ ├── newer_college │ │ │ │ ├── newer_college_os0_base.launch │ │ │ │ ├── newer_college_os0_cloister.launch │ │ │ │ ├── newer_college_os0_math.launch │ │ │ │ ├── newer_college_os0_mine.launch │ │ │ │ └── newer_college_os0_park.launch │ │ │ └── panoptic_mapping │ │ │ │ └── panoptic_mapping_rgbd_flat.launch │ │ ├── online │ │ │ ├── livox_mid360.launch │ │ │ ├── livox_mid360_azure_kinect.launch │ │ │ ├── livox_mid360_pico_flexx.launch │ │ │ ├── livox_mid360_pico_monstar.launch │ │ │ └── ouster_os0_pico_monstar.launch │ │ ├── rosbag_processor.launch │ │ └── wavemap_server.launch │ ├── package.xml │ ├── scripts │ │ ├── csv_to_tf.py │ │ ├── extract_tfs_from_bags.py │ │ ├── odom_msg_to_tf.py │ │ └── panoptic_mapping_flat_data_player.py │ └── src │ │ ├── inputs │ │ ├── depth_image_topic_input.cc │ │ ├── pointcloud_topic_input.cc │ │ ├── ros_input_base.cc │ │ └── ros_input_factory.cc │ │ ├── map_operations │ │ ├── crop_map_operation.cc │ │ ├── map_ros_operation_factory.cc │ │ ├── publish_map_operation.cc │ │ └── publish_pointcloud_operation.cc │ │ ├── ros_server.cc │ │ └── utils │ │ ├── pointcloud_undistorter.cc │ │ ├── ros_logging_level.cc │ │ ├── rosbag_processor.cc │ │ └── tf_transformer.cc │ ├── wavemap_ros_conversions │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ ├── CPPLINT.cfg │ │ └── wavemap_ros_conversions │ │ │ ├── config_conversions.h │ │ │ ├── geometry_msg_conversions.h │ │ │ ├── map_msg_conversions.h │ │ │ └── time_conversions.h │ ├── package.xml │ ├── src │ │ ├── config_conversions.cc │ │ ├── map_msg_conversions.cc │ │ └── time_conversions.cc │ └── test │ │ └── src │ │ └── test_map_msg_conversions.cc │ └── wavemap_rviz_plugin │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── icons │ └── classes │ │ └── WavemapMap.png │ ├── include │ ├── CPPLINT.cfg │ └── wavemap_rviz_plugin │ │ ├── common.h │ │ ├── utils │ │ ├── alert_dialog.h │ │ ├── button_property.h │ │ ├── color_conversions.h │ │ └── listeners.h │ │ ├── visuals │ │ ├── cell_layer.h │ │ ├── cell_selector.h │ │ ├── slice_visual.h │ │ └── voxel_visual.h │ │ └── wavemap_map_display.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── utils │ ├── color_conversions.cc │ └── listeners.cc │ ├── visuals │ ├── cell_layer.cc │ ├── cell_selector.cc │ ├── slice_visual.cc │ └── voxel_visual.cc │ └── wavemap_map_display.cc ├── library ├── cpp │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── benchmark │ │ ├── CMakeLists.txt │ │ ├── benchmark_haar_transforms.cc │ │ └── benchmark_sparse_vector.cc │ ├── cmake │ │ ├── boost_preprocessor │ │ │ ├── LICENSE │ │ │ └── boost_preprocessor.cmake │ │ ├── eigen │ │ │ ├── LICENSE │ │ │ └── eigen.cmake │ │ ├── find-wavemap-deps.cmake │ │ ├── glog │ │ │ ├── LICENSE │ │ │ └── glog.cmake │ │ ├── wavemap-config.cmake.in │ │ └── wavemap-extras.cmake │ ├── include │ │ ├── CPPLINT.cfg │ │ └── wavemap │ │ │ ├── 3rd_party │ │ │ └── minkindr │ │ │ │ ├── LICENSE.txt │ │ │ │ ├── angle-axis.h │ │ │ │ ├── common.h │ │ │ │ ├── impl │ │ │ │ ├── angle-axis-inl.h │ │ │ │ ├── quat-transformation-inl.h │ │ │ │ └── rotation-quaternion-inl.h │ │ │ │ ├── position.h │ │ │ │ ├── quat-transformation.h │ │ │ │ └── rotation-quaternion.h │ │ │ ├── core │ │ │ ├── common.h │ │ │ ├── config │ │ │ │ ├── config_base.h │ │ │ │ ├── impl │ │ │ │ │ ├── config_base_inl.h │ │ │ │ │ ├── type_selector_inl.h │ │ │ │ │ └── value_with_unit_inl.h │ │ │ │ ├── param.h │ │ │ │ ├── param_checks.h │ │ │ │ ├── string_list.h │ │ │ │ ├── type_selector.h │ │ │ │ └── value_with_unit.h │ │ │ ├── data_structure │ │ │ │ ├── aabb.h │ │ │ │ ├── bucket_queue.h │ │ │ │ ├── chunked_ndtree │ │ │ │ │ ├── chunked_ndtree.h │ │ │ │ │ ├── chunked_ndtree_chunk.h │ │ │ │ │ ├── chunked_ndtree_node_address.h │ │ │ │ │ └── impl │ │ │ │ │ │ ├── chunked_ndtree_chunk_inl.h │ │ │ │ │ │ ├── chunked_ndtree_inl.h │ │ │ │ │ │ └── chunked_ndtree_node_address_inl.h │ │ │ │ ├── dense_block_hash.h │ │ │ │ ├── dense_grid.h │ │ │ │ ├── image.h │ │ │ │ ├── impl │ │ │ │ │ ├── bucket_queue_inl.h │ │ │ │ │ ├── dense_block_hash_inl.h │ │ │ │ │ ├── ndtree_block_hash_inl.h │ │ │ │ │ └── spatial_hash_inl.h │ │ │ │ ├── ndtree │ │ │ │ │ ├── impl │ │ │ │ │ │ ├── ndtree_inl.h │ │ │ │ │ │ └── ndtree_node_inl.h │ │ │ │ │ ├── ndtree.h │ │ │ │ │ └── ndtree_node.h │ │ │ │ ├── ndtree_block_hash.h │ │ │ │ ├── pointcloud.h │ │ │ │ ├── posed_object.h │ │ │ │ ├── sparse_vector.h │ │ │ │ └── spatial_hash.h │ │ │ ├── indexing │ │ │ │ ├── impl │ │ │ │ │ └── ndtree_index_inl.h │ │ │ │ ├── index_conversions.h │ │ │ │ ├── index_hashes.h │ │ │ │ └── ndtree_index.h │ │ │ ├── integrator │ │ │ │ ├── impl │ │ │ │ │ └── integrator_base_inl.h │ │ │ │ ├── integrator_base.h │ │ │ │ ├── integrator_factory.h │ │ │ │ ├── measurement_model │ │ │ │ │ ├── approximate_gaussian_distribution.h │ │ │ │ │ ├── constant_ray.h │ │ │ │ │ ├── continuous_beam.h │ │ │ │ │ ├── continuous_ray.h │ │ │ │ │ ├── impl │ │ │ │ │ │ ├── continuous_beam_inl.h │ │ │ │ │ │ └── continuous_ray_inl.h │ │ │ │ │ ├── measurement_model_base.h │ │ │ │ │ └── measurement_model_factory.h │ │ │ │ ├── projection_model │ │ │ │ │ ├── circular_projector.h │ │ │ │ │ ├── impl │ │ │ │ │ │ ├── ouster_projector_inl.h │ │ │ │ │ │ ├── pinhole_camera_projector_inl.h │ │ │ │ │ │ ├── projector_base_inl.h │ │ │ │ │ │ └── spherical_projector_inl.h │ │ │ │ │ ├── ouster_projector.h │ │ │ │ │ ├── pinhole_camera_projector.h │ │ │ │ │ ├── projector_base.h │ │ │ │ │ ├── projector_factory.h │ │ │ │ │ └── spherical_projector.h │ │ │ │ ├── projective │ │ │ │ │ ├── coarse_to_fine │ │ │ │ │ │ ├── coarse_to_fine_integrator.h │ │ │ │ │ │ ├── hashed_chunked_wavelet_integrator.h │ │ │ │ │ │ ├── hashed_wavelet_integrator.h │ │ │ │ │ │ ├── hierarchical_range_bounds.h │ │ │ │ │ │ ├── impl │ │ │ │ │ │ │ ├── hashed_chunked_wavelet_integrator_inl.h │ │ │ │ │ │ │ ├── hashed_wavelet_integrator_inl.h │ │ │ │ │ │ │ ├── hierarchical_range_bounds_inl.h │ │ │ │ │ │ │ ├── range_image_intersector_inl.h │ │ │ │ │ │ │ └── wavelet_integrator_inl.h │ │ │ │ │ │ ├── range_image_intersector.h │ │ │ │ │ │ └── wavelet_integrator.h │ │ │ │ │ ├── fixed_resolution │ │ │ │ │ │ └── fixed_resolution_integrator.h │ │ │ │ │ ├── impl │ │ │ │ │ │ └── projective_integrator_inl.h │ │ │ │ │ ├── projective_integrator.h │ │ │ │ │ └── update_type.h │ │ │ │ └── ray_tracing │ │ │ │ │ └── ray_tracing_integrator.h │ │ │ ├── map │ │ │ │ ├── cell_types │ │ │ │ │ ├── haar_coefficients.h │ │ │ │ │ ├── haar_transform.h │ │ │ │ │ └── impl │ │ │ │ │ │ └── haar_transform_inl.h │ │ │ │ ├── hashed_blocks.h │ │ │ │ ├── hashed_chunked_wavelet_octree.h │ │ │ │ ├── hashed_chunked_wavelet_octree_block.h │ │ │ │ ├── hashed_wavelet_octree.h │ │ │ │ ├── hashed_wavelet_octree_block.h │ │ │ │ ├── impl │ │ │ │ │ ├── hashed_blocks_inl.h │ │ │ │ │ ├── hashed_chunked_wavelet_octree_block_inl.h │ │ │ │ │ ├── hashed_chunked_wavelet_octree_inl.h │ │ │ │ │ ├── hashed_wavelet_octree_block_inl.h │ │ │ │ │ ├── hashed_wavelet_octree_inl.h │ │ │ │ │ ├── volumetric_octree_inl.h │ │ │ │ │ └── wavelet_octree_inl.h │ │ │ │ ├── map_base.h │ │ │ │ ├── map_factory.h │ │ │ │ ├── volumetric_octree.h │ │ │ │ └── wavelet_octree.h │ │ │ └── utils │ │ │ │ ├── bits │ │ │ │ ├── bit_operations.h │ │ │ │ └── morton_encoding.h │ │ │ │ ├── data │ │ │ │ ├── comparisons.h │ │ │ │ ├── constants.h │ │ │ │ ├── eigen_checks.h │ │ │ │ └── fill.h │ │ │ │ ├── iterate │ │ │ │ ├── grid_iterator.h │ │ │ │ ├── impl │ │ │ │ │ ├── ray_iterator_inl.h │ │ │ │ │ └── subtree_iterator_inl.h │ │ │ │ ├── pointcloud_iterator.h │ │ │ │ ├── ray_iterator.h │ │ │ │ └── subtree_iterator.h │ │ │ │ ├── logging_level.h │ │ │ │ ├── math │ │ │ │ ├── angle_normalization.h │ │ │ │ ├── approximate_trigonometry.h │ │ │ │ ├── int_math.h │ │ │ │ └── tree_math.h │ │ │ │ ├── meta │ │ │ │ ├── nameof.h │ │ │ │ └── type_utils.h │ │ │ │ ├── neighbors │ │ │ │ ├── adjacency.h │ │ │ │ ├── grid_adjacency.h │ │ │ │ ├── grid_neighborhood.h │ │ │ │ ├── impl │ │ │ │ │ ├── adjacency_inl.h │ │ │ │ │ ├── grid_adjacency_inl.h │ │ │ │ │ ├── grid_neighborhood_inl.h │ │ │ │ │ └── ndtree_adjacency_inl.h │ │ │ │ └── ndtree_adjacency.h │ │ │ │ ├── print │ │ │ │ ├── container.h │ │ │ │ └── eigen.h │ │ │ │ ├── profile │ │ │ │ ├── profiler_interface.h │ │ │ │ └── resource_monitor.h │ │ │ │ ├── query │ │ │ │ ├── classified_map.h │ │ │ │ ├── impl │ │ │ │ │ ├── classified_map_inl.h │ │ │ │ │ ├── map_interpolator_inl.h │ │ │ │ │ ├── occupancy_classifier_inl.h │ │ │ │ │ ├── occupancy_inl.h │ │ │ │ │ ├── point_sampler_inl.h │ │ │ │ │ └── query_accelerator_inl.h │ │ │ │ ├── map_interpolator.h │ │ │ │ ├── occupancy.h │ │ │ │ ├── occupancy_classifier.h │ │ │ │ ├── point_sampler.h │ │ │ │ ├── probability_conversions.h │ │ │ │ └── query_accelerator.h │ │ │ │ ├── random_number_generator.h │ │ │ │ ├── sdf │ │ │ │ ├── full_euclidean_sdf_generator.h │ │ │ │ └── quasi_euclidean_sdf_generator.h │ │ │ │ ├── thread_pool.h │ │ │ │ ├── time │ │ │ │ ├── stopwatch.h │ │ │ │ └── time.h │ │ │ │ └── undistortion │ │ │ │ ├── pointcloud_undistortion.h │ │ │ │ ├── stamped_pointcloud.h │ │ │ │ ├── stamped_pose_buffer.h │ │ │ │ └── timestamps.h │ │ │ ├── io │ │ │ ├── file_conversions.h │ │ │ ├── impl │ │ │ │ └── streamable_types_impl.h │ │ │ ├── stream_conversions.h │ │ │ └── streamable_types.h │ │ │ └── pipeline │ │ │ ├── impl │ │ │ └── pipeline_inl.h │ │ │ ├── map_operations │ │ │ ├── map_operation_base.h │ │ │ ├── map_operation_factory.h │ │ │ ├── prune_map_operation.h │ │ │ └── threshold_map_operation.h │ │ │ └── pipeline.h │ ├── src │ │ ├── core │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ ├── string_list.cc │ │ │ │ └── value_with_unit.cc │ │ │ ├── integrator │ │ │ │ ├── integrator_base.cc │ │ │ │ ├── integrator_factory.cc │ │ │ │ ├── measurement_model │ │ │ │ │ ├── constant_ray.cc │ │ │ │ │ ├── continuous_beam.cc │ │ │ │ │ ├── continuous_ray.cc │ │ │ │ │ └── measurement_model_factory.cc │ │ │ │ ├── projection_model │ │ │ │ │ ├── circular_projector.cc │ │ │ │ │ ├── ouster_projector.cc │ │ │ │ │ ├── pinhole_camera_projector.cc │ │ │ │ │ ├── projector_factory.cc │ │ │ │ │ └── spherical_projector.cc │ │ │ │ ├── projective │ │ │ │ │ ├── coarse_to_fine │ │ │ │ │ │ ├── coarse_to_fine_integrator.cc │ │ │ │ │ │ ├── hashed_chunked_wavelet_integrator.cc │ │ │ │ │ │ ├── hashed_wavelet_integrator.cc │ │ │ │ │ │ └── wavelet_integrator.cc │ │ │ │ │ ├── fixed_resolution │ │ │ │ │ │ └── fixed_resolution_integrator.cc │ │ │ │ │ └── projective_integrator.cc │ │ │ │ └── ray_tracing │ │ │ │ │ └── ray_tracing_integrator.cc │ │ │ ├── map │ │ │ │ ├── hashed_blocks.cc │ │ │ │ ├── hashed_chunked_wavelet_octree.cc │ │ │ │ ├── hashed_chunked_wavelet_octree_block.cc │ │ │ │ ├── hashed_wavelet_octree.cc │ │ │ │ ├── hashed_wavelet_octree_block.cc │ │ │ │ ├── map_base.cc │ │ │ │ ├── map_factory.cc │ │ │ │ ├── volumetric_octree.cc │ │ │ │ └── wavelet_octree.cc │ │ │ └── utils │ │ │ │ ├── logging_level.cc │ │ │ │ ├── profile │ │ │ │ └── resource_monitor.cc │ │ │ │ ├── query │ │ │ │ ├── classified_map.cc │ │ │ │ ├── point_sampler.cc │ │ │ │ └── query_accelerator.cc │ │ │ │ ├── sdf │ │ │ │ ├── full_euclidean_sdf_generator.cc │ │ │ │ └── quasi_euclidean_sdf_generator.cc │ │ │ │ ├── thread_pool.cc │ │ │ │ ├── time │ │ │ │ └── stopwatch.cc │ │ │ │ └── undistortion │ │ │ │ ├── pointcloud_undistortion.cc │ │ │ │ └── stamped_pointcloud.cc │ │ ├── io │ │ │ ├── CMakeLists.txt │ │ │ ├── file_conversions.cc │ │ │ └── stream_conversions.cc │ │ └── pipeline │ │ │ ├── CMakeLists.txt │ │ │ ├── map_operations │ │ │ ├── map_operation_factory.cc │ │ │ ├── prune_map_operation.cc │ │ │ └── threshold_map_operation.cc │ │ │ └── pipeline.cc │ └── test │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── CPPLINT.cfg │ │ └── wavemap │ │ │ └── test │ │ │ ├── config_generator.h │ │ │ ├── eigen_utils.h │ │ │ ├── fixture_base.h │ │ │ └── geometry_generator.h │ │ └── src │ │ ├── core │ │ ├── CMakeLists.txt │ │ ├── data_structure │ │ │ ├── test_aabb.cc │ │ │ ├── test_image.cc │ │ │ ├── test_ndtree.cc │ │ │ ├── test_pointcloud.cc │ │ │ └── test_sparse_vector.cc │ │ ├── indexing │ │ │ ├── test_index_conversions.cc │ │ │ └── test_ndtree_index.cc │ │ ├── integrator │ │ │ ├── projection_model │ │ │ │ ├── test_circular_projector.cc │ │ │ │ ├── test_image_projectors.cc │ │ │ │ └── test_spherical_projector.cc │ │ │ ├── test_hierarchical_range_image.cc │ │ │ ├── test_measurement_models.cc │ │ │ ├── test_pointcloud_integrators.cc │ │ │ └── test_range_image_intersector.cc │ │ ├── map │ │ │ ├── test_haar_cell.cc │ │ │ ├── test_hashed_blocks.cc │ │ │ ├── test_map.cc │ │ │ └── test_volumetric_octree.cc │ │ └── utils │ │ │ ├── bits │ │ │ └── test_bit_operations.cc │ │ │ ├── data │ │ │ ├── test_comparisons.cc │ │ │ └── test_fill.cc │ │ │ ├── iterate │ │ │ ├── test_grid_iterator.cc │ │ │ ├── test_ray_iterator.cc │ │ │ └── test_subtree_iterator.cc │ │ │ ├── math │ │ │ ├── test_approximate_trigonometry.cc │ │ │ ├── test_int_math.cc │ │ │ └── test_tree_math.cc │ │ │ ├── neighbors │ │ │ ├── test_adjacency.cc │ │ │ ├── test_grid_adjacency.cc │ │ │ ├── test_grid_neighborhood.cc │ │ │ └── test_ndtree_adjacency.cc │ │ │ ├── profile │ │ │ └── test_resource_monitor.cc │ │ │ ├── query │ │ │ ├── test_classified_map.cc │ │ │ ├── test_map_interpolator.cpp │ │ │ ├── test_occupancy_classifier.cc │ │ │ ├── test_probability_conversions.cc │ │ │ └── test_query_accelerator.cc │ │ │ ├── sdf │ │ │ └── test_sdf_generators.cc │ │ │ ├── test_thread_pool.cc │ │ │ └── time │ │ │ └── test_stopwatch.cc │ │ └── io │ │ ├── CMakeLists.txt │ │ └── test_file_conversions.cc └── python │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── include │ ├── CPPLINT.cfg │ └── pywavemap │ │ ├── convert.h │ │ ├── indices.h │ │ ├── logging.h │ │ ├── maps.h │ │ ├── measurements.h │ │ ├── param.h │ │ └── pipeline.h │ ├── pyproject.toml │ ├── src │ ├── convert.cc │ ├── indices.cc │ ├── logging.cc │ ├── maps.cc │ ├── measurements.cc │ ├── param.cc │ ├── pipeline.cc │ ├── pywavemap.cc │ └── pywavemap │ │ └── __init__.py │ └── test │ ├── conftest.py │ ├── data │ └── .gitignore │ └── test_pywavemap.py └── tooling ├── cppcheck └── gazebo.cfg ├── docker ├── cpp │ ├── alpine.Dockerfile │ └── debian.Dockerfile ├── python │ ├── alpine.Dockerfile │ └── debian.Dockerfile └── ros1 │ ├── full.Dockerfile │ ├── incremental.Dockerfile │ └── live_demo.Dockerfile ├── git_hook_configs ├── .cmake-format.yaml ├── .hadolint.yaml └── .pylintrc ├── packages └── catkin_setup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── schemas ├── wavemap │ ├── general.json │ ├── inputs │ │ ├── depth_image_input.json │ │ ├── input_base.json │ │ └── pointcloud_input.json │ ├── map │ │ ├── hashed_blocks.json │ │ ├── hashed_chunked_wavelet_octree.json │ │ ├── hashed_wavelet_octree.json │ │ ├── map_base.json │ │ ├── octree.json │ │ └── wavelet_octree.json │ ├── map_operations │ │ ├── crop_map_operation.json │ │ ├── map_operation_base.json │ │ ├── prune_map_operation.json │ │ ├── publish_map_operation.json │ │ ├── publish_pointcloud_operation.json │ │ └── threshold_map_operation.json │ ├── measurement_integrators │ │ ├── integration_method.json │ │ ├── measurement_integrator_base.json │ │ ├── measurement_model.json │ │ └── projection_model.json │ ├── value_with_unit │ │ ├── convertible_to_meters.json │ │ ├── convertible_to_pixels.json │ │ ├── convertible_to_radians.json │ │ └── convertible_to_seconds.json │ └── wavemap_config.json └── xml │ 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