├── .gitignore ├── LICENSE.txt ├── README.md ├── cisstICP ├── BoundingBox.cpp ├── BoundingBox.h ├── BoundingBox2D.cpp ├── BoundingBox2D.h ├── CMakeLists.txt ├── DirPDTree2DBase.cpp ├── DirPDTree2DBase.h ├── DirPDTree2DNode.cpp ├── DirPDTree2DNode.h ├── DirPDTree2D_Edges.cpp ├── DirPDTree2D_Edges.h ├── DirPDTree2D_Points.cpp ├── DirPDTree2D_Points.h ├── DirPDTreeBase.cpp ├── DirPDTreeBase.h ├── DirPDTreeNode.cpp ├── DirPDTreeNode.h ├── DirPDTree_Mesh.cpp ├── DirPDTree_Mesh.h ├── DirPDTree_PointCloud.cpp ├── DirPDTree_PointCloud.h ├── Ellipsoid_OBB_Intersection_Solver.cpp ├── Ellipsoid_OBB_Intersection_Solver.h ├── ExtraAlgorithms │ ├── algICP_IMLP_ClosestPoint.cpp │ ├── algICP_IMLP_ClosestPoint.h │ ├── algICP_IMLP_ClosestPoint_Mesh.cpp │ ├── algICP_IMLP_ClosestPoint_Mesh.h │ ├── algICP_IMLP_ClosestPoint_PointCloud.cpp │ ├── algICP_IMLP_ClosestPoint_PointCloud.h │ ├── algICP_IMLP_MahalDist.cpp │ ├── algICP_IMLP_MahalDist.h │ ├── algICP_IMLP_MahalDist_Mesh.cpp │ ├── algICP_IMLP_MahalDist_Mesh.h │ ├── algICP_IMLP_MahalDist_PointCloud.cpp │ ├── algICP_IMLP_MahalDist_PointCloud.h │ ├── algICP_RobustICP.cpp │ ├── algICP_RobustICP.h │ ├── algICP_RobustICP_Mesh.h │ └── algICP_RobustICP_PointCloud.h ├── PDTreeBase.cpp ├── PDTreeBase.h ├── PDTreeNode.cpp ├── PDTreeNode.h ├── PDTree_Mesh.cpp ├── PDTree_Mesh.h ├── PDTree_PointCloud.cpp ├── PDTree_PointCloud.h ├── PointProjectionRoutines.cpp ├── PointProjectionRoutines.h ├── RegisterP2P.cpp ├── RegisterP2P.h ├── TriangleClosestPointSolver.cpp ├── TriangleClosestPointSolver.h ├── alg2D_DirICP.cpp ├── alg2D_DirICP.h ├── alg2D_DirICP_StdICP.cpp ├── alg2D_DirICP_StdICP.h ├── alg2D_DirICP_StdICP_Edges.cpp ├── alg2D_DirICP_StdICP_Edges.h ├── alg2D_DirPDTree.cpp ├── alg2D_DirPDTree.h ├── alg2D_DirPDTree_CP.cpp ├── alg2D_DirPDTree_CP.h ├── alg2D_DirPDTree_CP_Edges.cpp ├── alg2D_DirPDTree_CP_Edges.h ├── alg2D_DirPDTree_vonMises.cpp ├── alg2D_DirPDTree_vonMises.h ├── alg2D_DirPDTree_vonMises_Edges.cpp ├── alg2D_DirPDTree_vonMises_Edges.h ├── algDirICP.cpp ├── algDirICP.h ├── algDirICP_DIMLOP.cpp ├── algDirICP_DIMLOP.h ├── algDirICP_DIMLOP_dlibWrapper.cpp ├── algDirICP_DIMLOP_dlibWrapper.h ├── algDirICP_GDIMLOP.cpp ├── algDirICP_GDIMLOP.h ├── algDirICP_GDIMLOP_dlibWrapper.cpp ├── algDirICP_GDIMLOP_dlibWrapper.h ├── algDirICP_GIMLOP.cpp ├── algDirICP_GIMLOP.h ├── algDirICP_GIMLOP_Mesh.cpp ├── algDirICP_GIMLOP_Mesh.h ├── algDirICP_IMLOP.cpp ├── algDirICP_IMLOP.h ├── algDirICP_IMLOP_Mesh.cpp ├── algDirICP_IMLOP_Mesh.h ├── algDirICP_PIMLOP.cpp ├── algDirICP_PIMLOP.h ├── algDirICP_PIMLOP_Mesh.cpp ├── algDirICP_PIMLOP_Mesh.h ├── algDirICP_PIMLOP_dlibWrapper.cpp ├── algDirICP_PIMLOP_dlibWrapper.h ├── algDirICP_StdICP.cpp ├── algDirICP_StdICP.h ├── algDirICP_StdICP_Mesh.cpp ├── algDirICP_StdICP_Mesh.h ├── algDirICP_StdICP_PointCloud.cpp ├── algDirICP_StdICP_PointCloud.h ├── algDirICP_VIMLOP.cpp ├── algDirICP_VIMLOP.h ├── algDirICP_VIMLOP_dlibWrapper.cpp ├── algDirICP_VIMLOP_dlibWrapper.h ├── algDirPDTree.cpp ├── algDirPDTree.h ├── algDirPDTree_BoundedAngle.cpp ├── algDirPDTree_BoundedAngle.h ├── algDirPDTree_BoundedAngle_Mesh.cpp ├── algDirPDTree_BoundedAngle_Mesh.h ├── algDirPDTree_BoundedAngle_PointCloud.cpp ├── algDirPDTree_BoundedAngle_PointCloud.h ├── algDirPDTree_vonMisesPrj.cpp ├── algDirPDTree_vonMisesPrj.h ├── algDirPDTree_vonMisesPrj_Mesh.cpp ├── algDirPDTree_vonMisesPrj_Mesh.h ├── algICP.cpp ├── algICP.h ├── algICP_DIMLP.cpp ├── algICP_DIMLP.h ├── algICP_DIMLP_dlibWrapper.cpp ├── algICP_DIMLP_dlibWrapper.h ├── algICP_IMLP.cpp ├── algICP_IMLP.h ├── algICP_IMLP_Mesh.cpp ├── algICP_IMLP_Mesh.h ├── algICP_IMLP_PointCloud.cpp ├── algICP_IMLP_PointCloud.h ├── algICP_StdICP.cpp ├── algICP_StdICP.h ├── algICP_StdICP_Mesh.h ├── algICP_StdICP_PointCloud.h ├── algPDTree.cpp ├── algPDTree.h ├── algPDTree_CP.cpp ├── algPDTree_CP.h ├── algPDTree_CP_Mesh.cpp ├── algPDTree_CP_Mesh.h ├── algPDTree_CP_PointCloud.cpp ├── algPDTree_CP_PointCloud.h ├── algPDTree_MLP.cpp ├── algPDTree_MLP.h ├── algPDTree_MLP_Mesh.cpp ├── algPDTree_MLP_Mesh.h ├── algPDTree_MLP_PointCloud.cpp ├── algPDTree_MLP_PointCloud.h ├── camera.cpp ├── camera.h ├── cisstEdge2D.h ├── cisstEdgeList2D.cpp ├── cisstEdgeList2D.h ├── cisstException.h ├── cisstICP.cpp ├── cisstICP.h ├── cisstMesh.cpp ├── cisstMesh.h ├── cisstPointCloud.cpp ├── cisstPointCloud.h ├── cisstPointCloud2D.cpp ├── cisstPointCloud2D.h ├── ply_io.cpp ├── ply_io.h ├── utilities.cpp ├── utilities.h ├── utilities2D.cpp ├── utilities2D.h ├── wrapper_dlib.cpp ├── wrapper_dlib.h ├── wrapper_gsl.cpp └── wrapper_gsl.h ├── cisstICP_App ├── CMakeLists.txt ├── CmdLineParser.cpp ├── CmdLineParser.h ├── CmdLineParser.inl ├── main.cpp ├── testICP.h ├── testICPNormals.h ├── tests │ ├── compare_outputs.m │ ├── compare_outputs_script.m │ ├── test_ClosestPointSolver.h │ └── test_PLYLoadSave.h ├── utility.cpp └── utility.h ├── dependencies ├── Matlab Dependencies │ ├── PLY_IO │ │ ├── C │ │ │ ├── ply_io.c │ │ │ ├── ply_io.h │ │ │ ├── ply_io.pdf │ │ │ └── ply_io.sh │ │ ├── Examples │ │ │ ├── ply_io_test.m │ │ │ ├── ply_io_test01.m │ │ │ ├── ply_io_test02.m │ │ │ ├── ply_io_test_output_txt.4poti2d.partial │ │ │ ├── pyramid.ply │ │ │ ├── pyramide_png.3224nfl.partial │ │ │ ├── sphere.ply │ │ │ └── sphere_png.emx82x1.partial │ │ ├── i4mat_transpose_print_some.m │ │ ├── ply_io.pdf │ │ ├── ply_read.m │ │ ├── ply_to_tri_mesh.m │ │ ├── ply_write.m │ │ ├── r8mat_transpose_print_some.m │ │ ├── s_len_trim.m │ │ ├── timestamp.m │ │ └── tri_mesh_to_ply.m │ └── mtimesx.zip ├── WildMagic5p13.zip ├── dlib-18.6.7z └── rply-1.1.4 │ ├── LICENSE │ ├── etc │ ├── convert.c │ ├── dump.c │ ├── input.ply │ └── sconvert.c │ ├── manual │ ├── manual.html │ ├── reference.css │ └── rply.png │ ├── rply.c │ ├── rply.h │ └── rplyfile.h ├── matlabICP ├── .gitignore ├── CMakeLists.txt ├── TestApps │ ├── .gitignore │ ├── App_Test_IMLOP.m │ └── App_Test_StdICP.m ├── m │ ├── IterateICP.m │ ├── algDirICP_GIMLOP.m │ ├── algDirICP_IMLOP.m │ ├── algDirICP_PIMLOP.m │ ├── algDirICP_StdICP.m │ ├── algICP.m │ ├── algICP_StdICP.m │ ├── algICP_TrimmedICP.m │ ├── algOptimizer_Matlab_SE3Rodrigues.m │ ├── mexInterface_Alg2D_DirPDTree_CP_Edges.m │ ├── mexInterface_Alg2D_DirPDTree_vonMises_Edges.m │ ├── mexInterface_AlgDirICP_GIMLOP_Mesh.m │ ├── mexInterface_AlgDirICP_IMLOP_Mesh.m │ ├── mexInterface_AlgDirICP_PIMLOP_Mesh.m │ ├── mexInterface_AlgDirICP_StdICP_Mesh.m │ ├── mexInterface_AlgICP_StdICP_Mesh.m │ ├── mexInterface_AlgPDTree_CP_Mesh.m │ ├── mexInterface_AlgPDTree_MLP_Mesh.m │ ├── objIterData.m │ ├── objOptICP.m │ └── utilities │ │ ├── App_MeshComputeFeatures.m │ │ ├── AxisAngle2rot.m │ │ ├── ComputeTRE.m │ │ ├── ComputeTREWithScale.m │ │ ├── MeshGetTriangleCenters.m │ │ ├── PlotMesh.m │ │ ├── Register_P2P.m │ │ ├── RenormalizeRotation.m │ │ ├── applyFrm3.m │ │ ├── dR_Rodrigues.m │ │ ├── euler2rot.m │ │ ├── getFrm3.m │ │ ├── getPos.m │ │ ├── getRot.m │ │ ├── invFrm3.m │ │ ├── ply_read2.m │ │ ├── ply_write2.m │ │ ├── printfCapture.m │ │ ├── quat2rot.m │ │ ├── rodrigues2rot.m │ │ ├── rot2AxisAngle.m │ │ ├── rot2quat.m │ │ ├── rot2rodrigues.m │ │ ├── rotx.m │ │ ├── roty.m │ │ ├── rotz.m │ │ ├── utlDebugMsg.m │ │ └── utlRuntimeProfilerMsg.m ├── matlabClassHandle.h ├── matlabExtras.h ├── matlabParser.h ├── mexInterface_Alg2D_DirPDTree_CP_Edges.cpp ├── mexInterface_Alg2D_DirPDTree_CP_Edges.def ├── mexInterface_Alg2D_DirPDTree_CP_Edges.h ├── mexInterface_Alg2D_DirPDTree_vonMises_Edges.cpp ├── mexInterface_Alg2D_DirPDTree_vonMises_Edges.def ├── mexInterface_Alg2D_DirPDTree_vonMises_Edges.h ├── mexInterface_AlgDirICP_GIMLOP_Mesh.cpp ├── mexInterface_AlgDirICP_GIMLOP_Mesh.def ├── mexInterface_AlgDirICP_GIMLOP_Mesh.h ├── mexInterface_AlgDirICP_IMLOP_Mesh.cpp ├── mexInterface_AlgDirICP_IMLOP_Mesh.def ├── mexInterface_AlgDirICP_IMLOP_Mesh.h ├── mexInterface_AlgDirICP_PIMLOP_Mesh.cpp ├── mexInterface_AlgDirICP_PIMLOP_Mesh.def ├── mexInterface_AlgDirICP_PIMLOP_Mesh.h ├── mexInterface_AlgDirICP_StdICP_Mesh.cpp ├── mexInterface_AlgDirICP_StdICP_Mesh.def ├── mexInterface_AlgDirICP_StdICP_Mesh.h ├── mexInterface_AlgICP_StdICP_Mesh.cpp ├── mexInterface_AlgICP_StdICP_Mesh.def ├── mexInterface_AlgICP_StdICP_Mesh.h ├── mexInterface_AlgPDTree_CP_Mesh.cpp ├── mexInterface_AlgPDTree_CP_Mesh.def ├── mexInterface_AlgPDTree_CP_Mesh.h ├── mexInterface_AlgPDTree_MLP_Mesh.cpp ├── mexInterface_AlgPDTree_MLP_Mesh.def └── mexInterface_AlgPDTree_MLP_Mesh.h └── test_data ├── GaussianValues.txt ├── LastRun_DIMLOP └── testing │ ├── Pts.ply │ ├── SaveCov.pts │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveL.pts │ ├── SaveNoisySamples │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSamples │ ├── SaveTrackRegPath.csv │ ├── estimatedMesh.ply │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ ├── initPts.ply │ └── saveModeWeights.txt ├── LastRun_DIMLP └── testing │ ├── Pts.ply │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveNoisySamples.pts │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSampleCov.txt │ ├── SaveSamples.pts │ ├── SaveTrackRegPath.csv │ ├── estimatedMesh.ply │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ ├── initPts.ply │ └── saveModeWeights.txt ├── LastRun_GDIMLOP └── testing │ ├── EccPts.ply │ ├── Pts.ply │ ├── SaveCov.pts │ ├── SaveEccL.pts │ ├── SaveEccNoisySamples │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveL.pts │ ├── SaveNoisySamples │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSamples │ ├── SaveTrackRegPath.csv │ ├── estimatedMesh.ply │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ ├── initPts.ply │ └── saveModeWeights.txt ├── LastRun_GIMLOP └── testing │ ├── EccPts.ply │ ├── Pts.ply │ ├── SaveCov.pts │ ├── SaveEccL.pts │ ├── SaveEccNoisySamples │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveL.pts │ ├── SaveNoisySamples │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSamples │ ├── SaveTrackRegPath.csv │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ └── initPts.ply ├── LastRun_IMLOP └── testing │ ├── Pts.ply │ ├── SaveCov.pts │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveL.pts │ ├── SaveNoisySamples │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSamples │ ├── SaveTrackRegPath.csv │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ └── initPts.ply ├── LastRun_IMLP └── testing │ ├── Pts.ply │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveNoisySamples.pts │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSampleCov.txt │ ├── SaveSamples.pts │ ├── SaveTrackRegPath.csv │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ └── initPts.ply ├── LastRun_PIMLOP └── testing │ ├── Pts.ply │ ├── SaveCov.pts │ ├── SaveIterations.csv │ ├── SaveIterations.txt │ ├── SaveL.pts │ ├── SaveNoisySamples │ ├── SaveOffsetXfm.txt │ ├── SaveRegXfm.txt │ ├── SaveSamples │ ├── SaveTrackRegPath.csv │ ├── finalMesh.ply │ ├── finalPts.ply │ ├── finalRegMesh.ply │ └── initPts.ply 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