├── README.md ├── libpointmatcher ├── CHANGELOG.rst ├── CMakeLists.txt ├── CatkinBuild.cmake ├── Doxyfile.in ├── PureCMakeBuild.cmake ├── README.md ├── UseDoxygen.cmake ├── cmake_uninstall.cmake.in ├── contrib │ ├── CMakeLists.txt │ └── gtest │ │ ├── CHANGES │ │ ├── CONTRIBUTORS │ │ ├── LICENSE │ │ ├── README.md │ │ ├── gtest-all.cc │ │ ├── gtest.h │ │ └── gtest_main.cc ├── debian_legacy │ ├── changelog │ ├── compat │ ├── control │ ├── copyright │ ├── libpointmatcher-bin.dirs │ ├── libpointmatcher-bin.install │ ├── libpointmatcher-dev.dirs │ ├── libpointmatcher-dev.install │ ├── libpointmatcher-doc.dirs │ ├── libpointmatcher-doc.install │ ├── libpointmatcher1.dirs │ ├── libpointmatcher1.install │ ├── rules │ └── source │ │ └── format ├── doc │ ├── ApplicationsAndPub.md │ ├── ApplyingDatafilters.md │ ├── BasicRegistration.md │ ├── Compilation.md │ ├── CompilationMac.md │ ├── CompilationWindows.md │ ├── Configuration.md │ ├── DataPointsFilterDev.md │ ├── Datafilters.md │ ├── DefaultICPConfig.md │ ├── ICPIntro.md │ ├── ImportExport.md │ ├── Introduction.md │ ├── LinkingProjects.md │ ├── Pointclouds.md │ ├── ReleaseNotes.md │ ├── TransformationDev.md │ ├── Transformations.md │ ├── UnitTestDev.md │ ├── UsingInRos.md │ ├── icpWithoutYaml.md │ ├── images │ │ ├── .DS_Store │ │ ├── 2dTransMatrix.gif │ │ ├── 2dtestgrid.png │ │ ├── 2dvxgrid.png │ │ ├── 3d50mTrans.gif │ │ ├── 3dTransMatrix.gif │ │ ├── DefaultConvertChain.png │ │ ├── appt_0_maxdens.png │ │ ├── appt_0_rand.png │ │ ├── appt_dir.png │ │ ├── appt_norm.png │ │ ├── appt_obs_dir.png │ │ ├── appt_rand.png │ │ ├── appt_samp_norm_dense.png │ │ ├── appt_samp_norm_sparse.png │ │ ├── appt_top.png │ │ ├── appt_voxel.png │ │ ├── banner_dark.jpeg │ │ ├── banner_light.jpeg │ │ ├── box_filt.png │ │ ├── box_filt_inside.png │ │ ├── box_filt_outside.png │ │ ├── car_example.png │ │ ├── car_translated.png │ │ ├── cmake_screenshot.png │ │ ├── default_icp_chain.png │ │ ├── default_icp_chain.svg │ │ ├── descriptorsMatrix.png │ │ ├── distance_limit.png │ │ ├── featuresMatrix.png │ │ ├── floor_plan.png │ │ ├── hg_noise.png │ │ ├── icp_tutorial_links.gif │ │ ├── icp_tutorial_reading.gif │ │ ├── max_dens_after.png │ │ ├── max_dens_before.png │ │ ├── max_dis.png │ │ ├── max_num.png │ │ ├── max_quant.png │ │ ├── modular_cloud_matcher_icp_chain.png │ │ ├── norm.png │ │ ├── orient_norm.png │ │ ├── paraview_2_clouds.png │ │ ├── paraview_main.png │ │ ├── paraview_point_properties.png │ │ ├── samp_norm.png │ │ ├── win_cmake_libnabo.png │ │ ├── win_cmake_libpointmatcher.png │ │ └── youtubeCovers │ │ │ ├── M5Y99o7um88.jpg │ │ │ ├── McxpJGOZTPs.jpg │ │ │ ├── UCCAUf64tD0.jpg │ │ │ ├── cMgLyLpnsoU.jpg │ │ │ ├── g8l-Xq4qYeE.jpg │ │ │ ├── lP5Mj-TGaiw.jpg │ │ │ ├── rIZud3F5IJw.jpg │ │ │ ├── ygIvzWVfPYk.jpg │ │ │ └── youtube-play-button.xcf │ └── index.md ├── evaluations │ ├── CMakeLists.txt │ ├── eval_solution.cpp │ ├── jupyter │ │ └── PlotSingleResults.ipynb │ └── official_solutions │ │ ├── Besl92_pt2point.yaml │ │ └── Chen91_pt2plane.yaml ├── examples │ ├── CMakeLists.txt │ ├── align_sequence.cpp │ ├── build_map.cpp │ ├── compute_overlap.cpp │ ├── data │ │ ├── 2D_oneBox.csv │ │ ├── 2D_twoBoxes.csv │ │ ├── carCloudList.csv │ │ ├── car_cloud400.csv │ │ ├── car_cloud400_scaled.csv │ │ ├── car_cloud401.csv │ │ ├── cloud.00000.vtk │ │ ├── cloud.00001.vtk │ │ ├── cloud.00002.vtk │ │ ├── cloudList.csv │ │ ├── default-convert.yaml │ │ ├── default-identity.yaml │ │ ├── default.yaml │ │ ├── icp_data │ │ │ ├── SamplingSurfaceNormalDataPointsFilter1.ref_trans │ │ │ ├── SamplingSurfaceNormalDataPointsFilter1.yaml │ │ │ ├── SamplingSurfaceNormalDataPointsFilter2.ref_trans │ │ │ ├── SamplingSurfaceNormalDataPointsFilter2.yaml │ │ │ ├── SamplingSurfaceNormalDataPointsFilter3.ref_trans │ │ │ ├── SamplingSurfaceNormalDataPointsFilter3.yaml │ │ │ ├── defaultBoundingBoxDataPointsFilter.ref_trans │ │ │ ├── defaultBoundingBoxDataPointsFilter.yaml │ │ │ ├── defaultDistanceLimitDataPointsFilter.ref_trans │ │ │ ├── defaultDistanceLimitDataPointsFilter.yaml │ │ │ ├── defaultFixStepSamplingDataPointsFilter.ref_trans │ │ │ ├── defaultFixStepSamplingDataPointsFilter.yaml │ │ │ ├── defaultIdentityDataPointsFilter.ref_trans │ │ │ ├── defaultIdentityDataPointsFilter.yaml │ │ │ ├── defaultMaxDensityDataPointsFilter.ref_trans │ │ │ ├── defaultMaxDensityDataPointsFilter.yaml │ │ │ ├── defaultMaxDistDataPointsFilter.ref_trans │ │ │ ├── defaultMaxDistDataPointsFilter.yaml │ │ │ ├── defaultMaxPointCountDataPointsFilter.ref_trans │ │ │ ├── defaultMaxPointCountDataPointsFilter.yaml │ │ │ ├── defaultMaxQuantileOnAxisDataPointsFilter.ref_trans │ │ │ ├── defaultMaxQuantileOnAxisDataPointsFilter.yaml │ │ │ ├── defaultObservationDirectionDataPointsFilter.ref_trans │ │ │ ├── defaultObservationDirectionDataPointsFilter.yaml │ │ │ ├── defaultOrientNormalsDataPointsFilter.ref_trans │ │ │ ├── defaultOrientNormalsDataPointsFilter.yaml │ │ │ ├── defaultPointToPlaneMinDistDataPointsFilter.ref_trans │ │ │ ├── defaultPointToPlaneMinDistDataPointsFilter.yaml │ │ │ ├── defaultPointToPlaneWithCovErrorMinimizer.ref_trans │ │ │ ├── defaultPointToPointMinDistDataPointsFilter.ref_trans │ │ │ ├── defaultPointToPointMinDistDataPointsFilter.yaml │ │ │ ├── defaultPointToPointWithCovErrorMinimizer.ref_trans │ │ │ ├── defaultRemoveNaNDataPointsFilter.ref_trans │ │ │ ├── defaultRemoveNaNDataPointsFilter.yaml │ │ │ ├── defaultRobustOutlierFilter.ref_trans │ │ │ ├── defaultRobustOutlierFilter.yaml │ │ │ ├── defaultShadowDataPointsFilter.ref_trans │ │ │ ├── defaultShadowDataPointsFilter.yaml │ │ │ ├── defaultSimilarityPointToPointMinDistDataPointsFilter.ref_trans │ │ │ ├── defaultSimilarityPointToPointMinDistDataPointsFilter.yaml │ │ │ ├── defaultSimpleSensorNoiseDataPointsFilter.ref_trans │ │ │ ├── defaultSimpleSensorNoiseDataPointsFilter.yaml │ │ │ ├── force4DOFForPointToPlaneMinimizer.ref_trans │ │ │ └── force4DOFForPointToPlaneMinimizer.yaml │ │ ├── icp_point_to_plane.yaml │ │ ├── icp_scale.yaml │ │ └── unit_tests │ │ │ ├── badIcpConfig_InvalidModuleType.yaml │ │ │ └── badIcpConfig_InvalidParameter.yaml │ ├── demo_Qt │ │ ├── demo.pro │ │ └── main.cpp │ ├── demo_cmake │ │ ├── CMakeLists.txt │ │ ├── convert.cpp │ │ └── default-convert.yaml │ ├── filterProfiler.cpp │ ├── icp.cpp │ ├── icp_advance_api.cpp │ ├── icp_customized.cpp │ ├── icp_simple.cpp │ ├── icp_tutorial │ │ ├── cloud_0.vtk │ │ ├── cloud_1.vtk │ │ ├── icp_tutorial_cfg.yaml │ │ └── icp_tutorial_empty.yaml │ └── list_modules.cpp ├── libpointmatcherConfig.cmake.in ├── libpointmatcherConfigVersion.cmake.in ├── mkdocs.yml ├── package.xml ├── pointmatcher.pc.in ├── pointmatcher │ ├── Bibliography.cpp │ ├── Bibliography.h │ ├── DataPoints.cpp │ ├── DataPointsFilter.cpp │ ├── DataPointsFilters │ │ ├── BoundingBox.cpp │ │ ├── BoundingBox.h │ │ ├── CovarianceSampling.cpp │ │ ├── CovarianceSampling.h │ │ ├── CutAtDescriptorThreshold.cpp │ │ ├── CutAtDescriptorThreshold.h │ │ ├── DistanceLimit.cpp │ │ ├── DistanceLimit.h │ │ ├── Elipsoids.cpp │ │ ├── Elipsoids.h │ │ ├── FixStepSampling.cpp │ │ ├── FixStepSampling.h │ │ ├── Gestalt.cpp │ │ ├── Gestalt.h │ │ ├── HiddenPointRemoval.cpp │ │ ├── HiddenPointRemoval.h │ │ ├── Identity.cpp │ │ ├── Identity.h │ │ ├── IncidenceAngle.cpp │ │ ├── IncidenceAngle.h │ │ ├── MaxDensity.cpp │ │ ├── MaxDensity.h │ │ ├── MaxDist.cpp │ │ ├── MaxDist.h │ │ ├── MaxPointCount.cpp │ │ ├── MaxPointCount.h │ │ ├── MaxQuantileOnAxis.cpp │ │ ├── MaxQuantileOnAxis.h │ │ ├── MinDist.cpp │ │ ├── MinDist.h │ │ ├── NormalSpace.cpp │ │ ├── NormalSpace.h │ │ ├── ObservationDirection.cpp │ │ ├── ObservationDirection.h │ │ ├── OctreeGrid.cpp │ │ ├── OctreeGrid.h │ │ ├── OrganizedCloudSurfaceNormal.cpp │ │ ├── OrganizedCloudSurfaceNormal.h │ │ ├── OrientNormals.cpp │ │ ├── OrientNormals.h │ │ ├── RandomSampling.cpp │ │ ├── RandomSampling.h │ │ ├── RemoveNaN.cpp │ │ ├── RemoveNaN.h │ │ ├── RemoveSensorBias.cpp │ │ ├── RemoveSensorBias.h │ │ ├── SamplingSurfaceNormal.cpp │ │ ├── SamplingSurfaceNormal.h │ │ ├── Shadow.cpp │ │ ├── Shadow.h │ │ ├── SimpleSensorNoise.cpp │ │ ├── SimpleSensorNoise.h │ │ ├── SurfaceNormal.cpp │ │ ├── SurfaceNormal.h │ │ ├── VoxelGrid.cpp │ │ ├── VoxelGrid.h │ │ └── utils │ │ │ ├── octree │ │ │ ├── Octree.h │ │ │ ├── Octree.tpp │ │ │ ├── OctreeLookupTable.h │ │ │ ├── OctreeSamplers.h │ │ │ └── OctreeSamplers.tpp │ │ │ └── utils.h │ ├── DataPointsFiltersImpl.h │ ├── DeprecationWarnings.h │ ├── Documentation.dox │ ├── ErrorMinimizer.cpp │ ├── ErrorMinimizers │ │ ├── Identity.cpp │ │ ├── Identity.h │ │ ├── PointToPlane.cpp │ │ ├── PointToPlane.h │ │ ├── PointToPlaneWithCov.cpp │ │ ├── PointToPlaneWithCov.h │ │ ├── PointToPoint.cpp │ │ ├── PointToPoint.h │ │ ├── PointToPointSimilarity.cpp │ │ ├── PointToPointSimilarity.h │ │ ├── PointToPointWithCov.cpp │ │ └── PointToPointWithCov.h │ ├── ErrorMinimizersImpl.h │ ├── Exceptions.cpp │ ├── Functions.h │ ├── Histogram.cpp │ ├── Histogram.h │ ├── ICP.cpp │ ├── IO.cpp │ ├── IO.h │ ├── IOFunctions.cpp │ ├── IOFunctions.h │ ├── Inspector.cpp │ ├── InspectorsImpl.cpp │ ├── InspectorsImpl.h │ ├── Logger.cpp │ ├── LoggerImpl.cpp │ ├── LoggerImpl.h │ ├── Matcher.cpp │ ├── MatchersImpl.cpp │ ├── MatchersImpl.h │ ├── Matches.cpp │ ├── OutlierFilter.cpp │ ├── OutlierFiltersImpl.cpp │ ├── OutlierFiltersImpl.h │ ├── Parametrizable.cpp │ ├── Parametrizable.h │ ├── PointCloudGenerator.cpp │ ├── PointMatcher.h │ ├── PointMatcherPrivate.h │ ├── Registrar.cpp │ ├── Registrar.h │ ├── Registry.cpp │ ├── SurfaceNormalEstimatorPCA.cpp │ ├── Timer.cpp │ ├── Timer.h │ ├── Transformation.cpp │ ├── TransformationChecker.cpp │ ├── TransformationCheckersImpl.cpp │ ├── TransformationCheckersImpl.h │ ├── TransformationsImpl.cpp │ ├── TransformationsImpl.h │ └── testing │ │ ├── RegistrationTestCase.cpp │ │ ├── RegistrationTestCase.h │ │ ├── RegistrationTestResult.cpp │ │ ├── RegistrationTestResult.h │ │ ├── TransformationError.cpp │ │ ├── TransformationError.h │ │ ├── typedefs.h │ │ ├── utils_filesystem.cpp │ │ ├── utils_filesystem.h │ │ ├── utils_geometry.cpp │ │ ├── utils_geometry.h │ │ ├── utils_gtest.cpp │ │ ├── utils_gtest.h │ │ ├── utils_registration.cpp │ │ ├── utils_registration.h │ │ ├── utils_transformations.cpp │ │ └── utils_transformations.h └── utest │ ├── CMakeLists.txt │ ├── listVersionsUbuntu.sh │ ├── ui │ ├── DataFilters.cpp │ ├── DataPoints.cpp │ ├── ErrorMinimizers.cpp │ ├── IO.cpp │ ├── Inspectors.cpp │ ├── Loggers.cpp │ ├── Matcher.cpp │ ├── Outliers.cpp │ ├── PointCloudGenerator.cpp │ ├── Transformations.cpp │ ├── icp │ │ ├── Conditioning.cpp │ │ └── GeneralTests.cpp │ └── octree │ │ └── Octree.cpp │ ├── utest.cpp │ └── utest.h ├── open3d_slam_rsl ├── .clang-format ├── .clang-tidy ├── .gitignore ├── LICENSE ├── documentation │ ├── Makefile │ ├── images │ │ ├── kitti00.png │ │ ├── kitti02.png │ │ ├── kitti17.png │ │ ├── o3d_slam.png │ │ └── o3d_slam_overview.png │ ├── make.bat │ ├── pip_requirements_rtd.txt │ └── source │ │ ├── conf.py │ │ ├── docker.rst │ │ ├── examples.rst │ │ ├── extra │ │ └── documentation │ │ │ └── images │ │ │ ├── o3d_slam.png │ │ │ └── o3d_slam_overview.png │ │ ├── index.rst │ │ ├── installation.rst │ │ ├── localization.rst │ │ ├── open3d_catkin.rst │ │ ├── parameters.rst │ │ ├── system_overview.rst │ │ └── usage.rst ├── open3d_catkin │ ├── CMakeLists.txt │ ├── README.md │ ├── install_deps.sh │ └── package.xml ├── open3d_slam │ ├── open3d_slam │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── open3d_slam │ │ │ │ ├── AdjacencyMatrix.hpp │ │ │ │ ├── CircularBuffer.hpp │ │ │ │ ├── CloudRegistration.hpp │ │ │ │ ├── Constraint.hpp │ │ │ │ ├── Mapper.hpp │ │ │ │ ├── MotionCompensation.hpp │ │ │ │ ├── Odometry.hpp │ │ │ │ ├── OptimizationProblem.hpp │ │ │ │ ├── Parameters.hpp │ │ │ │ ├── PlaceRecognition.hpp │ │ │ │ ├── ScanToMapRegistration.hpp │ │ │ │ ├── SlamWrapper.hpp │ │ │ │ ├── Submap.hpp │ │ │ │ ├── SubmapCollection.hpp │ │ │ │ ├── ThreadSafeBuffer.hpp │ │ │ │ ├── Transform.hpp │ │ │ │ ├── TransformInterpolationBuffer.hpp │ │ │ │ ├── Voxel.hpp │ │ │ │ ├── VoxelHashMap.hpp │ │ │ │ ├── assert.hpp │ │ │ │ ├── constraint_builders.hpp │ │ │ │ ├── croppers.hpp │ │ │ │ ├── helpers.hpp │ │ │ │ ├── magic.hpp │ │ │ │ ├── math.hpp │ │ │ │ ├── output.hpp │ │ │ │ ├── time.hpp │ │ │ │ └── typedefs.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── AdjacencyMatrix.cpp │ │ │ ├── CloudRegistration.cpp │ │ │ ├── Mapper.cpp │ │ │ ├── MotionCompensation.cpp │ │ │ ├── Odometry.cpp │ │ │ ├── OptimizationProblem.cpp │ │ │ ├── PlaceRecognition.cpp │ │ │ ├── ScanToMapRegistration.cpp │ │ │ ├── SlamWrapper.cpp │ │ │ ├── Submap.cpp │ │ │ ├── SubmapCollection.cpp │ │ │ ├── Transform.cpp │ │ │ ├── TransformInterpolationBuffer.cpp │ │ │ ├── Voxel.cpp │ │ │ ├── VoxelHashMap.cpp │ │ │ ├── constraint_builders.cpp │ │ │ ├── croppers.cpp │ │ │ ├── helpers.cpp │ │ │ ├── math.cpp │ │ │ ├── output.cpp │ │ │ └── time.cpp │ └── open3d_slam_io │ │ ├── legacy │ │ └── open3d_slam_yaml_io │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ └── open3d_slam_yaml_io │ │ │ │ └── parameter_loaders.hpp │ │ │ ├── package.xml │ │ │ └── src │ │ │ └── parameter_loaders.cpp │ │ ├── lua_parameter_dictionary │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── example.lua │ │ │ ├── example_override.lua │ │ │ ├── nested_file.lua │ │ │ └── nested_file2.lua │ │ ├── include │ │ │ └── lua_parameter_dictionary │ │ │ │ ├── configuration_file_resolver.h │ │ │ │ ├── lua.h │ │ │ │ ├── lua_parameter_dictionary.h │ │ │ │ └── port.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── configuration_file_resolver.cc │ │ │ ├── example.cpp │ │ │ └── lua_parameter_dictionary.cc │ │ └── test │ │ │ ├── configuration_files_test.cc │ │ │ ├── lua_parameter_dictionary_test.cc │ │ │ ├── lua_parameter_dictionary_test_helpers.h │ │ │ └── test_lua.cpp │ │ └── open3d_slam_lua_io │ │ ├── CMakeLists.txt │ │ ├── example_param │ │ ├── configuration.lua │ │ └── default │ │ │ ├── default_parameters.lua │ │ │ └── parameter_structure_definitions.lua │ │ ├── include │ │ └── open3d_slam_lua_io │ │ │ ├── LuaLoader.hpp │ │ │ ├── helpers.hpp │ │ │ └── parameter_loaders.hpp │ │ ├── package.xml │ │ └── src │ │ ├── LuaLoader.cpp │ │ ├── minimal_example.cpp │ │ └── parameter_loaders.cpp ├── open3d_utils │ └── open3d_conversions │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTORS.md │ │ ├── Doxyfile │ │ ├── README.md │ │ ├── include │ │ └── open3d_conversions │ │ │ ├── open3d_conversions.h │ │ │ └── usings.hpp │ │ ├── package.xml │ │ ├── src │ │ └── open3d_conversions.cpp │ │ └── test │ │ └── test_open3d_conversions.cpp ├── pyproject.toml └── ros │ ├── open3d_slam_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── PolygonMesh.msg │ │ └── Vertices.msg │ ├── package.xml │ └── srv │ │ ├── FilePath.srv │ │ ├── SaveMap.srv │ │ └── SaveSubmaps.srv │ └── open3d_slam_ros │ ├── CMakeLists.txt │ ├── FindGflags.cmake │ ├── FindGlog.cmake │ ├── data │ └── .gitkeep │ ├── include │ └── open3d_slam_ros │ │ ├── Color.hpp │ │ ├── DataProcessorRos.hpp │ │ ├── ImuBuffer.hpp │ │ ├── ImuSignalLowPassFilter.hpp │ │ ├── OnlineRangeDataProcessorRos.hpp │ │ ├── RosbagRangeDataProcessorRos.hpp │ │ ├── SlamMapInitializer.hpp │ │ ├── SlamWrapperRos.hpp │ │ ├── creators.hpp │ │ └── helpers_ros.hpp │ ├── launch │ ├── development.launch │ ├── mapping_live.launch │ ├── replay.launch │ ├── tutorials │ │ ├── bonus_replay.launch │ │ ├── tutorial_1_LO.launch │ │ ├── tutorial_2_LiDAR_SLAM.launch │ │ └── tutorial_3_LiDAR_SLAM_with_SE.launch │ ├── vis.launch │ └── visualize_generated_map.launch │ ├── package.xml │ ├── param │ ├── bonus_replay.lua │ ├── default │ │ ├── default_parameters.lua │ │ └── parameter_structure_definitions.lua │ ├── icp.yaml │ ├── param_replay.lua │ ├── param_robosense_rs16.lua │ ├── param_rs16_localization.lua │ ├── tutorial_1_LO.lua │ ├── tutorial_2_LiDAR_SLAM.lua │ └── tutorial_3_LiDAR_SLAM_with_SE.lua │ ├── rviz │ ├── default.rviz │ ├── replay.rviz │ ├── tutorial_1.rviz │ └── visualizer_node.rviz │ └── src │ ├── Color.cpp │ ├── DataProcessorRos.cpp │ ├── ImuBuffer.cpp │ ├── OnlineRangeDataProcessorRos.cpp │ ├── RosbagRangeDataProcessorRos.cpp │ ├── SlamMapInitializer.cpp │ ├── SlamWrapperRos.cpp │ ├── adjacency_graph_example_node.cpp │ ├── creators.cpp │ ├── helpers_ros.cpp │ ├── mapping_node.cpp │ └── visualizer_node.cpp └── pointmatcher_ros ├── .clang-format ├── .gitignore ├── CMakeLists.txt ├── README.md ├── changelog ├── include └── pointmatcher_ros │ ├── Colors.h │ ├── IcpMatchesPublisher.h │ ├── PmTf.h │ ├── PointMatcherFilterInterface.h │ ├── RosPointCloud2Deserializer.h │ ├── StampedPointCloud.h │ ├── StampedPointCloudPublisher.h │ ├── deserialization.h │ ├── helper_functions.h │ ├── serialization.h │ ├── transform.h │ ├── usings.h │ └── visualization_utils.h ├── metadata.yaml ├── package.xml ├── src ├── IcpMatchesPublisher.cpp ├── PmTf.cpp ├── PointMatcherFilterInterface.cpp ├── RosPointCloud2Deserializer.cpp ├── StampedPointCloud.cpp ├── StampedPointCloudPublisher.cpp ├── deserialization.cpp ├── helper_functions.cpp ├── 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