├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── datasets │ ├── kitti_05.yaml │ ├── kitti_15.yaml │ ├── semantickitti.yaml │ └── sim_unstructured_annotated.yaml └── methods │ └── semantic_bki.yaml ├── data └── sim_unstructured_annotated │ ├── sim_unstructured_annotated_1.pcd │ ├── sim_unstructured_annotated_10.pcd │ ├── sim_unstructured_annotated_11.pcd │ ├── sim_unstructured_annotated_12.pcd │ ├── sim_unstructured_annotated_2.pcd │ ├── sim_unstructured_annotated_3.pcd │ ├── sim_unstructured_annotated_4.pcd │ ├── sim_unstructured_annotated_5.pcd │ ├── sim_unstructured_annotated_6.pcd │ ├── sim_unstructured_annotated_7.pcd │ ├── sim_unstructured_annotated_8.pcd │ └── sim_unstructured_annotated_9.pcd ├── github ├── kitti_05.png ├── kitti_15.png ├── semantic_kitti_seq04.png ├── semantic_kitti_seq05.png ├── toy_example_semantic_bki.png ├── toy_example_semantic_bki_variance.png ├── toy_example_semantic_csm.png └── toy_example_semantic_csm_variance.png ├── include └── semantic_bki │ ├── common │ ├── markerarray_pub.h │ ├── point3f.h │ └── rtree.h │ ├── dataset_devkit │ ├── kitti_util.h │ └── semantickitti_util.h │ └── mapping │ ├── bki.h │ ├── bkiblock.h │ ├── bkioctomap.h │ ├── bkioctree.h │ └── bkioctree_node.h ├── kitti_evaluation.ipynb ├── launch ├── kitti_node.launch ├── semantickitti_node.launch └── toy_example_node.launch ├── package.xml ├── rviz ├── kitti_node.rviz ├── semantickitti_node.rviz └── toy_example_node.rviz ├── semantickitti_evaluation.ipynb └── src ├── common └── point3f.cpp ├── kitti_node.cpp ├── mapping ├── bkiblock.cpp ├── bkioctomap.cpp ├── bkioctree.cpp └── bkioctree_node.cpp ├── semantickitti_node.cpp └── toy_example_node.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ganlumomo/BKISemanticMapping/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: 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