├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── settings.json └── tasks.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── CMakeParseArguments.cmake ├── Modules │ ├── FindEigen3.cmake │ ├── FindFLANN.cmake │ └── FindG2O.cmake └── cvlab_macros.cmake ├── include ├── skimap │ ├── KDSkipList.hpp │ ├── SkiMap.hpp │ ├── SkipList.hpp │ ├── SkipListDense.hpp │ ├── SkipListGrid.hpp │ ├── SkipListMap.hpp │ ├── SkipListMapV2.hpp │ ├── utils │ │ ├── ArgParse.hpp │ │ ├── CameraUtils.hpp │ │ └── TimingsUtils.hpp │ └── voxels │ │ ├── GenericTile2D.hpp │ │ ├── GenericVoxel3D.hpp │ │ ├── GenericVoxelKD.hpp │ │ ├── Voxel6DPose.hpp │ │ ├── VoxelDataContainer.hpp │ │ ├── VoxelDataMatrix.hpp │ │ ├── VoxelDataMultiLabel.hpp │ │ ├── VoxelDataOccupancy.hpp │ │ └── VoxelDataRGBW.hpp ├── skimap_ros │ └── SkiMapServiceClient.hpp ├── slamdunk │ ├── camera_tracker.h │ ├── data.h │ ├── edge_se3_xyzpair.h │ ├── feature_matcher.h │ ├── gpu_features.h │ ├── graph_backend.h │ ├── graph_utils.h │ ├── impl │ │ └── ratio_matcher.hpp │ ├── pretty_printer.h │ ├── quadtree.h │ ├── slam_dunk.h │ ├── slamdunk_defines.h │ └── transformation_estimation.h └── slamdunk_extension │ ├── FIROrder2.h │ ├── SlamDunkScene.h │ └── Utility.h ├── launch ├── skimap │ ├── skimap_live.launch │ └── skimap_map_service.launch ├── skimap_live_experiment.launch └── slamdunk_tracker.launch ├── package.xml ├── rviz ├── skimap_live.rviz └── slamdunk_tracker.rviz ├── src ├── nodes │ ├── experiments │ │ ├── debug.cpp │ │ ├── grid2d.cpp │ │ ├── kd_test.cpp │ │ ├── octree_test.cpp │ │ └── skimap_grid_test_python │ │ │ ├── bench.py │ │ │ ├── bench_kd.py │ │ │ ├── bench_octree.py │ │ │ ├── bench_people.py │ │ │ ├── grid.csv │ │ │ ├── matlab │ │ │ ├── bench_dimensions │ │ │ │ ├── kdskip_dim2.csv │ │ │ │ ├── kdskip_r10.csv │ │ │ │ ├── kdskip_r32.csv │ │ │ │ └── kdtree.csv │ │ │ ├── bench_octree_points │ │ │ │ ├── kdskip.csv │ │ │ │ ├── kdtree.csv │ │ │ │ ├── octree.csv │ │ │ │ └── skimap.csv │ │ │ ├── bench_points_2d │ │ │ │ ├── kdskip_r1.csv │ │ │ │ ├── kdskip_r10.csv │ │ │ │ ├── kdskip_r20.csv │ │ │ │ ├── kdskip_r5.csv │ │ │ │ └── kdtree.csv │ │ │ ├── bench_points_3d │ │ │ │ ├── kdskip_r1.csv │ │ │ │ ├── kdskip_r10.csv │ │ │ │ ├── kdskip_r5.csv │ │ │ │ └── kdtree.csv │ │ │ ├── bench_points_5d │ │ │ │ ├── kdskip_r10.csv │ │ │ │ ├── kdskip_r25.csv │ │ │ │ ├── kdskip_r32.csv │ │ │ │ └── kdtree.csv │ │ │ ├── bench_test.m │ │ │ ├── importfile.m │ │ │ ├── skigrid_omp.csv │ │ │ └── skigrid_single.csv │ │ │ ├── plots │ │ │ ├── plot_testing.py │ │ │ └── plotutils.py │ │ │ └── skigrid.csv │ ├── skimap_live.cpp │ ├── skimap_map_service.cpp │ ├── skimap_pose_filtering.cpp │ ├── slamdunk_tracker.cpp │ ├── test.cpp │ └── tutorials │ │ └── integration_of_random_points.cpp ├── skimap_ros │ └── skimap_ros_void_library.cpp ├── slamdunk │ ├── data.cpp │ ├── edge_se3_xyzpair.cpp │ ├── feature_matcher.cpp │ ├── feature_tracker.cpp │ ├── gpu_features.cpp │ ├── graph_backend.cpp │ ├── graph_utils.cpp │ 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