├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── assets ├── map_1.gif ├── particle_vis.png ├── rqt_graph.png ├── semantic_dsp.png ├── street.png ├── system.png ├── youtube.png ├── youtube2.png ├── zed2.gif └── zed2_mode_rosgraph.svg ├── cfg ├── object_info.csv ├── object_info_kitti360.csv ├── object_info_zed2.csv ├── options.yaml ├── options_kitti360.yaml ├── options_virtual_kitti2.yaml └── options_zed2.yaml ├── docs ├── 3dbbox_mode.md ├── custom_files.md ├── parameter_table.md ├── static_mode.md ├── superpoint_mode.md └── trouble_shooting.md ├── include ├── backward-cpp │ ├── .clang-format │ ├── .gitignore │ ├── .travis.yml │ ├── BackwardConfig.cmake │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.md │ ├── backward.cpp │ ├── backward.hpp │ ├── builds.sh │ ├── conanfile.py │ ├── doc │ │ ├── nice.png │ │ ├── pretty.png │ │ └── rude.png │ ├── 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 ├── mc_ring │ ├── buffer.h │ ├── libmorton │ │ ├── .gitattributes │ │ ├── .github │ │ │ └── workflows │ │ │ │ └── cmake.yml │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── LICENSE │ │ ├── README.md │ │ ├── include │ │ │ └── libmorton │ │ │ │ ├── morton.h │ │ │ │ ├── morton2D.h │ │ │ │ ├── morton2D_LUTs.h │ │ │ │ ├── morton3D.h │ │ │ │ ├── morton3D_LUTs.h │ │ │ │ ├── morton_AVX512BITALG.h │ │ │ │ ├── morton_BMI.h │ │ │ │ └── morton_common.h │ │ └── test │ │ │ ├── CMakeLists.txt │ │ │ ├── libmorton_test.cpp │ │ │ ├── libmorton_test.h │ │ │ ├── makefile │ │ │ ├── morton_LUT_generators.h │ │ │ ├── msvc2019 │ │ │ ├── libmorton_test.sln │ │ │ ├── libmorton_test.vcxproj │ │ │ └── libmorton_test.vcxproj.filters │ │ │ ├── msvc2022 │ │ │ ├── libmorton_test.sln │ │ │ ├── libmorton_test.vcxproj │ │ │ └── libmorton_test.vcxproj.filters │ │ │ ├── test2D_correctness.h │ │ │ ├── test2D_performance.h │ │ │ ├── test3D_correctness.h │ │ │ ├── test3D_performance.h │ │ │ ├── timer.h │ │ │ ├── todo.txt │ │ │ └── util.h │ ├── mt_basic.h │ ├── mt_operations.h │ └── operations.h ├── object_layer.h ├── semantic_dsp_map.h ├── settings │ ├── external_settings.h │ └── settings.h └── utils │ ├── basic_algorithms.h │ ├── data_base.h │ ├── object_info_handler.h │ ├── pointcloud_tools.h │ └── tracking_result_handler.h ├── launch ├── coda.launch ├── kitti360.launch ├── virtual_kitti2.launch └── zed2.launch ├── package.xml ├── rviz ├── recolor_coda.rviz ├── virtual_kitti2.rviz └── zed2.rviz ├── script ├── mmdet │ ├── image_instance_seg.py │ └── images_folder_instance_seg.py ├── mmseg │ ├── image_demo_images_in_folder_my.py │ ├── image_demo_ros.py │ ├── image_with_id.py │ ├── mask_kpts_msgs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-311.pyc │ │ └── msg │ │ │ ├── _ImageWithID.py │ │ │ 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