├── .catkin_tools ├── CATKIN_IGNORE ├── README └── profiles │ └── default │ ├── build.yaml │ └── config.yaml ├── .circleci └── config.yml ├── .dockerignore ├── .gitignore ├── Dockerfile ├── README.md ├── docker-compose.yml ├── ros_entrypoint.sh └── src ├── CMakeLists.txt ├── backward_ros ├── .gitignore ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── builds.sh ├── cmake │ ├── BackwardConfig.cmake │ └── BackwardConfigCatkin.cmake ├── conanfile.py ├── doc │ ├── nice.png │ ├── pretty.png │ └── rude.png ├── include │ └── backward_ros │ │ └── backward.hpp ├── package.xml ├── src │ └── backward.cpp ├── test │ ├── _test_main.cpp │ ├── rectrace.cpp │ ├── select_signals.cpp │ ├── stacktrace.cpp │ ├── suicide.cpp │ ├── test.cpp │ └── test.hpp └── test_package │ ├── CMakeLists.txt │ ├── conanfile.py │ └── main.cpp ├── occupancy_mapping_benchmarks ├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake │ ├── FindOpenVDB.cmake │ └── FindTBB.cmake ├── launch │ └── octomap_server.launch ├── package.xml ├── scripts │ └── make_plots.py └── src │ └── benchmark.cc ├── octomap ├── .gitignore ├── .travis.yml ├── CATKIN_IGNORE ├── CMakeLists.txt ├── README.md ├── dynamicEDT3D │ ├── CHANGELOG.txt │ ├── CMakeLists.txt │ ├── CMakeModules │ │ ├── CMakeUninstall.cmake.in │ │ ├── CPackSettings.cmake │ │ ├── CompilerSettings.cmake │ │ └── InstallPkgConfigFile.cmake │ ├── LICENSE.txt │ ├── README.txt │ ├── doxygen.h │ ├── dynamicEDT3D.dox │ ├── dynamicEDT3DConfig.cmake.in │ ├── include │ │ └── dynamicEDT3D │ │ │ ├── bucketedqueue.h │ │ │ ├── bucketedqueue.hxx │ │ │ ├── dynamicEDT3D.h │ │ │ ├── dynamicEDTOctomap.h │ │ │ ├── dynamicEDTOctomap.hxx │ │ │ └── point.h │ ├── package.xml │ └── src │ │ ├── CMakeLists.txt │ │ ├── dynamicEDT3D.cpp │ │ └── examples │ │ ├── CMakeLists.txt │ │ ├── exampleEDT3D.cpp │ │ ├── exampleEDTOctomap.cpp │ │ └── exampleEDTOctomapStamped.cpp ├── octomap │ ├── AUTHORS.txt │ ├── CHANGELOG.txt │ ├── CMakeLists.txt │ ├── CMakeModules │ │ ├── CMakeUninstall.cmake.in │ │ ├── CPackSettings.cmake │ │ ├── CompilerSettings.cmake │ │ └── InstallPkgConfigFile.cmake │ ├── LICENSE.txt │ ├── README.md │ ├── doxygen.h │ ├── extern │ │ └── README_BINVOX │ ├── include │ │ └── octomap │ │ │ ├── AbstractOcTree.h │ │ │ ├── AbstractOccupancyOcTree.h │ │ │ ├── ColorOcTree.h │ │ │ ├── CountingOcTree.h │ │ │ ├── MCTables.h │ │ │ ├── MapCollection.h │ │ │ ├── MapCollection.hxx │ │ │ ├── MapNode.h │ │ │ ├── MapNode.hxx │ │ │ ├── OcTree.h │ │ │ ├── OcTreeBase.h │ │ │ ├── OcTreeBaseImpl.h │ │ │ ├── OcTreeBaseImpl.hxx │ │ │ ├── OcTreeDataNode.h │ │ │ ├── OcTreeDataNode.hxx │ │ │ ├── OcTreeIterator.hxx │ │ │ ├── OcTreeKey.h │ │ │ ├── OcTreeNode.h │ │ │ ├── OcTreeStamped.h │ │ │ ├── OccupancyOcTreeBase.h │ │ │ ├── OccupancyOcTreeBase.hxx │ │ │ ├── Pointcloud.h │ │ │ ├── ScanGraph.h │ │ │ ├── math │ │ │ ├── Pose6D.h │ │ │ ├── Quaternion.h │ │ │ ├── Utils.h │ │ │ └── Vector3.h │ │ │ ├── octomap.h │ │ │ ├── octomap_deprecated.h │ │ │ ├── octomap_timing.h │ │ │ ├── octomap_types.h │ │ │ └── octomap_utils.h │ ├── octomap-config.cmake.in │ ├── octomap.dox.in │ ├── package.xml │ ├── share │ │ ├── data │ │ │ ├── mapcoll.txt │ │ │ └── scan.dat.bz2 │ │ ├── example-project.tgz │ │ └── images │ │ │ └── uml_overview.png │ ├── src │ │ ├── AbstractOcTree.cpp │ │ ├── AbstractOccupancyOcTree.cpp │ │ ├── CMakeLists.txt │ │ ├── ColorOcTree.cpp │ │ ├── CountingOcTree.cpp │ │ ├── OcTree.cpp │ │ ├── OcTreeNode.cpp │ │ ├── OcTreeStamped.cpp │ │ ├── Pointcloud.cpp │ │ ├── ScanGraph.cpp │ │ ├── binvox2bt.cpp │ │ ├── bt2vrml.cpp │ │ ├── compare_octrees.cpp │ │ ├── convert_octree.cpp │ │ ├── edit_octree.cpp │ │ ├── eval_octree_accuracy.cpp │ │ ├── graph2tree.cpp │ │ ├── intersection_example.cpp │ │ ├── log2graph.cpp │ │ ├── math │ │ │ ├── CMakeLists.txt │ │ │ ├── Pose6D.cpp │ │ │ ├── Quaternion.cpp │ │ │ └── Vector3.cpp │ │ ├── normals_example.cpp │ │ ├── octree2pointcloud.cpp │ │ ├── offset_graph.cpp │ │ ├── simple_example.cpp │ │ └── testing │ │ │ ├── CMakeLists.txt │ │ │ ├── color_tree_histogram.cpp │ │ │ ├── test_changedkeys.cpp │ │ │ ├── test_color_tree.cpp │ │ │ ├── test_io.cpp │ │ │ ├── test_iterators.cpp │ │ │ ├── test_mapcollection.cpp │ │ │ ├── test_pruning.cpp │ │ │ ├── test_raycasting.cpp │ │ │ ├── test_scans.cpp │ │ │ ├── testing.h │ │ │ └── unit_tests.cpp │ └── valgrind_memcheck.supp ├── octovis │ ├── CMakeLists.txt │ ├── CMakeLists_src.txt │ ├── CMakeModules │ │ ├── CMakeUninstall.cmake.in │ │ ├── CompilerSettings.cmake │ │ └── FindQGLViewer.cmake │ ├── LICENSE.txt │ ├── README.md │ ├── include │ │ └── octovis │ │ │ ├── CameraFollowMode.h │ │ │ ├── ColorOcTreeDrawer.h │ │ │ ├── OcTreeDrawer.h │ │ │ ├── OcTreeRecord.h │ │ │ ├── PointcloudDrawer.h │ │ │ ├── SceneObject.h │ │ │ ├── SelectionBox.h │ │ │ ├── TrajectoryDrawer.h │ │ │ ├── ViewerGui.h │ │ │ ├── ViewerGui.ui │ │ │ ├── ViewerSettings.h │ │ │ ├── ViewerSettings.ui │ │ │ ├── ViewerSettingsPanel.h │ │ │ ├── ViewerSettingsPanel.ui │ │ │ ├── ViewerSettingsPanelCamera.h │ │ │ ├── ViewerSettingsPanelCamera.ui │ │ │ └── ViewerWidget.h │ ├── octovis-config.cmake.in │ ├── package.xml │ └── src │ │ ├── CameraFollowMode.cpp │ │ ├── ColorOcTreeDrawer.cpp │ │ ├── OcTreeDrawer.cpp │ │ ├── PointcloudDrawer.cpp │ │ ├── SceneObject.cpp │ │ ├── SelectionBox.cpp │ │ ├── TrajectoryDrawer.cpp │ │ ├── ViewerGui.cpp │ │ ├── ViewerSettings.cpp │ │ ├── ViewerSettingsPanel.cpp │ │ ├── ViewerSettingsPanelCamera.cpp │ │ ├── ViewerWidget.cpp │ │ ├── extern │ │ └── QGLViewer │ │ │ ├── .gitignore │ │ │ ├── CHANGELOG │ │ │ ├── GPL_EXCEPTION │ │ │ ├── INSTALL │ │ │ ├── ImageInterface.ui │ │ │ ├── LICENCE │ │ │ ├── QGLViewer.pro │ │ │ ├── README │ │ │ ├── VRender │ │ │ ├── AxisAlignedBox.h │ │ │ ├── BSPSortMethod.cpp │ │ │ ├── BackFaceCullingOptimizer.cpp │ │ │ ├── EPSExporter.cpp │ │ │ ├── Exporter.cpp │ │ │ ├── Exporter.h │ │ │ ├── FIGExporter.cpp │ │ │ ├── NVector3.cpp │ │ │ ├── NVector3.h │ │ │ ├── Optimizer.h │ │ │ ├── ParserGL.cpp │ │ │ ├── ParserGL.h │ │ │ ├── Primitive.cpp │ │ │ ├── Primitive.h │ │ │ ├── PrimitivePositioning.cpp │ │ │ ├── PrimitivePositioning.h │ │ │ ├── SortMethod.h │ │ │ ├── TopologicalSortMethod.cpp │ │ │ ├── Types.h │ │ │ ├── VRender.cpp │ │ │ ├── VRender.h │ │ │ ├── Vector2.cpp │ │ │ ├── Vector2.h │ │ │ ├── Vector3.cpp │ │ │ ├── Vector3.h │ │ │ ├── VisibilityOptimizer.cpp │ │ │ ├── gpc.cpp │ │ │ └── gpc.h │ │ │ ├── VRenderInterface.ui │ │ │ ├── camera.cpp │ │ │ ├── camera.h │ │ │ ├── config.h │ │ │ ├── constraint.cpp │ │ │ ├── constraint.h │ │ │ ├── domUtils.h │ │ │ ├── frame.cpp │ │ │ ├── frame.h │ │ │ ├── keyFrameInterpolator.cpp │ │ │ ├── keyFrameInterpolator.h │ │ │ ├── manipulatedCameraFrame.cpp │ │ │ ├── manipulatedCameraFrame.h │ │ │ ├── manipulatedFrame.cpp │ │ │ ├── manipulatedFrame.h │ │ │ ├── mouseGrabber.cpp │ │ │ ├── mouseGrabber.h │ │ │ ├── qglviewer-icon.xpm │ │ │ ├── qglviewer.cpp │ │ │ ├── qglviewer.h │ │ │ ├── qglviewer.icns │ │ │ ├── qglviewer_fr.qm │ │ │ ├── qglviewer_fr.ts │ │ │ ├── quaternion.cpp │ │ │ ├── quaternion.h │ │ │ ├── saveSnapshot.cpp │ │ │ ├── vec.cpp │ │ │ └── vec.h │ │ ├── icons.qrc │ │ ├── icons │ │ ├── LICENSE.txt │ │ ├── application-exit.png │ │ ├── configure.png │ │ ├── document-open-folder.png │ │ ├── document-open.png │ │ ├── document-save-as.png │ │ ├── document-save.png │ │ ├── edit-clear-list.png │ │ ├── edit-undo.png │ │ ├── go-bottom.png │ │ ├── go-top.png │ │ ├── help-contents.png │ │ ├── lgpl-3.0.txt │ │ ├── list-add.png │ │ ├── list-remove.png │ │ ├── media-playback-start.png │ │ ├── media-seek-backward.png │ │ ├── media-seek-forward.png │ │ ├── media-skip-backward.png │ │ ├── media-skip-forward.png │ │ ├── system-restart.png │ │ ├── view-preview.png │ │ └── view-refresh.png │ │ └── main.cpp └── scripts │ ├── increase_version.py │ └── travis_build_jobs.sh ├── octomap_catkin ├── CMakeLists.txt ├── lib_wrap.cc └── package.xml ├── octomap_mapping ├── .gitignore ├── .travis.yml ├── README.md ├── octomap_mapping │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml └── octomap_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ └── OctomapServer.cfg │ ├── include │ └── octomap_server │ │ ├── OctomapServer.h │ │ ├── OctomapServerMultilayer.h │ │ └── TrackingOctomapServer.h │ ├── launch │ ├── octomap_mapping.launch │ ├── octomap_mapping_nodelet.launch │ ├── octomap_tracking_client.launch │ └── octomap_tracking_server.launch │ ├── mainpage.dox │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── params │ └── default.yaml │ ├── scripts │ └── octomap_eraser_cli.py │ └── src │ ├── OctomapServer.cpp │ ├── OctomapServerMultilayer.cpp │ ├── TrackingOctomapServer.cpp │ ├── octomap_saver.cpp │ ├── octomap_server_multilayer.cpp │ ├── octomap_server_node.cpp │ ├── octomap_server_nodelet.cpp │ ├── octomap_server_static.cpp │ └── octomap_tracking_server_node.cpp ├── rosfmt ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── include │ └── rosfmt │ │ ├── macros_generated.h │ │ └── rosfmt.h ├── package.xml ├── scripts │ └── generate_macros.py └── test │ └── test.cpp └── skimap_ros ├── .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 │ 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