├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── datasets │ ├── cassie.yaml │ ├── kitti_05.yaml │ ├── kitti_15.yaml │ ├── sim_structured.yaml │ ├── sim_structured_long_term.yaml │ ├── sim_unstructured.yaml │ ├── sim_unstructured_annotated.yaml │ ├── tartanair_abandonedfactory_easyp000.yaml │ ├── tartanair_abandonedfactory_easyp001.yaml │ └── tartanair_neighborhood_easyp005.yaml └── methods │ ├── bgkoctomap.yaml │ ├── gpoctomap.yaml │ └── octomap.yaml ├── data ├── sim_structured │ ├── map.bt │ ├── sim_structured.bag │ ├── sim_structured_1.pcd │ ├── sim_structured_10.pcd │ ├── sim_structured_11.pcd │ ├── sim_structured_12.pcd │ ├── sim_structured_2.pcd │ ├── sim_structured_3.pcd │ ├── sim_structured_4.pcd │ ├── sim_structured_5.pcd │ ├── sim_structured_6.pcd │ ├── sim_structured_7.pcd │ ├── sim_structured_8.pcd │ ├── sim_structured_9.pcd │ └── sim_structured_octomap.csv ├── sim_structured_long_term │ ├── sim_structured_long_term_1.pcd │ ├── sim_structured_long_term_10.pcd │ ├── sim_structured_long_term_11.pcd │ ├── sim_structured_long_term_12.pcd │ ├── sim_structured_long_term_13.pcd │ ├── sim_structured_long_term_14.pcd │ ├── sim_structured_long_term_15.pcd │ ├── sim_structured_long_term_16.pcd │ ├── sim_structured_long_term_17.pcd │ ├── sim_structured_long_term_18.pcd │ ├── sim_structured_long_term_19.pcd │ ├── sim_structured_long_term_2.pcd │ ├── sim_structured_long_term_20.pcd │ ├── sim_structured_long_term_21.pcd │ ├── sim_structured_long_term_22.pcd │ ├── sim_structured_long_term_23.pcd │ ├── sim_structured_long_term_24.pcd │ ├── sim_structured_long_term_25.pcd │ ├── sim_structured_long_term_26.pcd │ ├── sim_structured_long_term_27.pcd │ ├── sim_structured_long_term_28.pcd │ ├── sim_structured_long_term_29.pcd │ ├── sim_structured_long_term_3.pcd │ ├── sim_structured_long_term_30.pcd │ ├── sim_structured_long_term_31.pcd │ ├── sim_structured_long_term_32.pcd │ ├── sim_structured_long_term_33.pcd │ ├── sim_structured_long_term_34.pcd │ ├── sim_structured_long_term_35.pcd │ ├── sim_structured_long_term_36.pcd │ ├── sim_structured_long_term_37.pcd │ ├── sim_structured_long_term_38.pcd │ ├── sim_structured_long_term_39.pcd │ ├── sim_structured_long_term_4.pcd │ ├── sim_structured_long_term_40.pcd │ ├── sim_structured_long_term_41.pcd │ ├── sim_structured_long_term_42.pcd │ ├── sim_structured_long_term_43.pcd │ ├── sim_structured_long_term_44.pcd │ ├── sim_structured_long_term_45.pcd │ ├── sim_structured_long_term_46.pcd │ ├── sim_structured_long_term_47.pcd │ ├── sim_structured_long_term_48.pcd │ ├── sim_structured_long_term_49.pcd │ ├── sim_structured_long_term_5.pcd │ ├── sim_structured_long_term_50.pcd │ ├── sim_structured_long_term_51.pcd │ ├── sim_structured_long_term_52.pcd │ ├── sim_structured_long_term_53.pcd │ ├── sim_structured_long_term_54.pcd │ ├── sim_structured_long_term_55.pcd │ ├── sim_structured_long_term_56.pcd │ ├── sim_structured_long_term_57.pcd │ ├── sim_structured_long_term_58.pcd │ ├── sim_structured_long_term_59.pcd │ ├── sim_structured_long_term_6.pcd │ ├── sim_structured_long_term_60.pcd │ ├── sim_structured_long_term_7.pcd │ ├── sim_structured_long_term_8.pcd │ └── sim_structured_long_term_9.pcd ├── sim_unstructured │ ├── map.bt │ ├── sim_unstructured.bag │ ├── sim_unstructured_1.pcd │ ├── sim_unstructured_10.pcd │ ├── sim_unstructured_11.pcd │ ├── sim_unstructured_12.pcd │ ├── sim_unstructured_2.pcd │ ├── sim_unstructured_3.pcd │ ├── sim_unstructured_4.pcd │ ├── sim_unstructured_5.pcd │ ├── sim_unstructured_6.pcd │ ├── sim_unstructured_7.pcd │ ├── sim_unstructured_8.pcd │ ├── sim_unstructured_9.pcd │ └── sim_unstructured_h.bag └── 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 ├── image.png ├── include ├── bgkoctomap │ ├── bgkblock.h │ ├── bgkinference.h │ ├── bgkoctomap.h │ ├── bgkoctree.h │ ├── bgkoctree_node.h │ └── bgkoctree_node_semantics.h ├── common │ ├── markerarray_pub.h │ ├── point3f.h │ └── rtree.h └── dataset_devkit │ ├── cassie_util.h │ ├── kitti_util.h │ ├── semantickitti_util.h │ └── tartanair_util.h ├── launch ├── cassie_node.launch ├── kitti_node.launch ├── la3dm_static.launch ├── semantics_static.launch └── tartanair_node.launch ├── package.xml ├── rviz ├── cassie.rviz ├── kitti_05.rviz ├── kitti_15.rviz ├── sim_structured.rviz ├── sim_structured_long_term.rviz ├── sim_unstructured.rviz ├── tartanair.rviz ├── tartanair_neighborhood.rviz └── toy_example.rviz ├── scripts ├── demo_nvidia_segmentation.py ├── kitti_evaluation.py ├── kitti_semantic_visualization.py ├── kitti_traversability_gt.py ├── kitti_traversability_visualization.py ├── main_libelas.cpp ├── predict_dilation.py ├── preprocess_tfsegmentation.py ├── semantic_gt_convert.py ├── tartanair_depth_image.py ├── tartanair_evaluation.py ├── tartanair_evaluation_semantics.py └── tartanair_traversability_gt.py └── src ├── bgkoctomap ├── bgkblock.cpp ├── bgkoctomap.cpp ├── bgkoctomap_occupancy.cpp ├── bgkoctomap_semantics.cpp ├── bgkoctomap_semantics_node.cpp ├── bgkoctomap_static_node.cpp ├── bgkoctomap_traversability.cpp ├── bgkoctree.cpp ├── bgkoctree_node.cpp ├── bgkoctree_node_semantics.cpp ├── cassie_node.cpp ├── kitti_node.cpp └── tartanair_node.cpp ├── common └── point3f.cpp └── dataset_devkit └── semantickitti_util.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ganlumomo/MultiLayerMapping/HEAD/.gitignore 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