├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── README.md ├── config ├── datasets │ ├── carla.yaml │ ├── kitti_05.yaml │ ├── kitti_15.yaml │ ├── multi_tb3_home.yaml │ ├── rellis.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 ├── launchfile.jpg ├── skitti_01_gif.gif ├── skitti_01_intro.jpg ├── skitti_04_gif.gif └── skitti_04_intro.jpg ├── include └── semantic_bki │ ├── common │ ├── experiment_util.h │ ├── flow3f.h │ ├── flow_point_types.h │ ├── flow_point_types.h~ │ ├── markerarray_pub.h │ ├── point3f.h │ ├── rtree.h │ └── unit_test_framework.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 ├── carla_node.launch ├── kitti_node.launch ├── multi_tb3_home.launch ├── rellis_node.launch ├── semantickitti_node.launch └── toy_example_node.launch ├── new_evaluation.py ├── package.xml ├── rviz ├── 100_scans_dynamic_node.rviz ├── dynamic_node.rviz ├── dynamic_node_video.rviz ├── kitti_node.rviz ├── over_table.rviz ├── semantickitti_node.rviz ├── toy_example_node.rviz └── under_table.rviz ├── semantickitti_evaluation.ipynb ├── semantickitti_evaluation.py └── src ├── common ├── flow_point_types.cpp ├── flow_point_types.cpp~ ├── point3f.cpp └── t_flow3f.cpp ├── dynamic_node.cpp ├── kitti_node.cpp ├── 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