├── .vscode └── settings.json ├── LICENSE ├── README.md ├── cpp ├── COLCON_IGNORE └── semgraph_slam │ ├── 3rdparty │ ├── ceres │ │ └── ceres.cmake │ ├── eigen │ │ ├── LICENSE │ │ └── eigen.cmake │ ├── find_dependencies.cmake │ ├── sophus │ │ ├── LICENSE │ │ └── sophus.cmake │ ├── tbb │ │ ├── LICENSE │ │ └── tbb.cmake │ └── tsl_robin │ │ ├── LICENSE │ │ └── tsl_robin.cmake │ ├── CMakeLists.txt │ ├── LICENSE │ ├── cmake │ └── CompilerOptions.cmake │ ├── core │ ├── CMakeLists.txt │ ├── CommonUtils.cpp │ ├── CommonUtils.hpp │ ├── Coreutils.h │ ├── KDTreeVectorOfVectorsAdaptor.h │ └── nanoflann.hpp │ ├── frontend │ ├── CMakeLists.txt │ ├── Deskew.cpp │ ├── Deskew.hpp │ ├── GraphMap.cpp │ ├── GraphMap.hpp │ ├── Preprocessing.cpp │ ├── Preprocessing.hpp │ ├── Registration.cpp │ ├── Registration.hpp │ ├── SemGraph.cpp │ ├── SemGraph.hpp │ ├── SemanticCluster.cpp │ ├── SemanticCluster.hpp │ ├── Threshold.cpp │ ├── Threshold.hpp │ ├── VoxelHashMap.cpp │ └── VoxelHashMap.hpp │ ├── loopclosure │ ├── CMakeLists.txt │ ├── FastIcp.cpp │ ├── FastIcp.hpp │ ├── Hungarian.cpp │ ├── Hungarian.hpp │ ├── LoopClosure.cpp │ ├── LoopClosure.hpp │ ├── PlaneIcp.cpp │ └── PlaneIcp.hpp │ └── pipeline │ ├── CMakeLists.txt │ ├── SemGraphMapping.cpp │ ├── SemGraphMapping.hpp │ ├── SemGraphSLAM.cpp │ └── SemGraphSLAM.hpp ├── eval ├── __pycache__ │ └── eval_traj_utils.cpython-37.pyc ├── eval_traj_utils.py └── traj_eval.py ├── pic ├── framework.jpeg ├── logo.jpg └── video_cover.jpeg └── ros ├── CMakeLists.txt ├── launch ├── semgraph_slam.launch.py ├── semgraph_slam_apollo.launch ├── semgraph_slam_kitti.launch ├── semgraph_slam_mulran.launch └── semgraph_slam_relocalization.launch ├── package.xml ├── ros1 ├── InsUtils.hpp ├── semSLAM.cpp └── semSLAM.hpp ├── ros2 ├── InsUtils.hpp ├── semSLAM.cpp └── semSLAM.hpp └── rviz ├── mapping.rviz ├── relocalization.rviz ├── relocalization_frame.rviz └── sg_slam_ros2.rviz /.vscode/settings.json: 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