├── .clang-format ├── .gitattributes ├── .github └── workflows │ └── main.yml ├── .gitignore ├── .gitmodules ├── .travis.yml ├── 3rdparty ├── CMakeLists.txt ├── CMakeModules │ ├── Find3DconnexionClient.cmake │ ├── FindANN.cmake │ ├── FindCUDA.cmake │ ├── FindLibZip.cmake │ ├── FindNewmat.cmake │ ├── FindOpenEXR.cmake │ ├── FindOpenVDB.cmake │ ├── FindSuiteSparse.cmake │ ├── FindSystemC.cmake │ ├── FindTBB.cmake │ ├── empty.depend.in │ ├── make2cmake.cmake │ ├── parse_cubin.cmake │ └── run_nvcc.cmake ├── ann │ ├── CMakeLists.txt │ └── ann_1.1.1_modified │ │ ├── Copyright.txt │ │ ├── License.txt │ │ ├── MS_Win32 │ │ ├── Ann.sln │ │ ├── ann2fig │ │ │ └── ann2fig.vcproj │ │ ├── dll │ │ │ └── dll.vcproj │ │ ├── sample │ │ │ └── sample.vcproj │ │ └── test │ │ │ └── test.vcproj │ │ ├── Make-config │ │ ├── Makefile │ │ ├── ReadMe.txt │ │ ├── ann2fig │ │ ├── Makefile │ │ └── ann2fig.cpp │ │ ├── changelog.txt │ │ ├── doc │ │ └── ANNmanual.pdf │ │ ├── include │ │ └── ANN │ │ │ ├── ANN.h │ │ │ ├── ANNperf.h │ │ │ └── ANNx.h │ │ ├── sample │ │ ├── Makefile │ │ ├── ann_sample.cpp │ │ ├── data.pts │ │ ├── query.pts │ │ └── sample.save │ │ ├── src │ │ ├── ANN.cpp │ │ ├── Makefile │ │ ├── bd_fix_rad_search.cpp │ │ ├── bd_pr_search.cpp │ │ ├── bd_search.cpp │ │ ├── bd_tree.cpp │ │ ├── bd_tree.h │ │ ├── brute.cpp │ │ ├── kd_dump.cpp │ │ ├── kd_fix_rad_search.cpp │ │ ├── kd_fix_rad_search.h │ │ ├── kd_pr_search.cpp │ │ ├── kd_pr_search.h │ │ ├── kd_search.cpp │ │ ├── kd_search.h │ │ ├── kd_split.cpp │ │ ├── kd_split.h │ │ ├── kd_tree.cpp │ │ ├── kd_tree.h │ │ ├── kd_util.cpp │ │ ├── kd_util.h │ │ ├── perf.cpp │ │ ├── pr_queue.h │ │ └── pr_queue_k.h │ │ └── test │ │ ├── Makefile │ │ ├── ann_test.cpp │ │ ├── rand.cpp │ │ ├── rand.h │ │ ├── test1-data.pts │ │ ├── test1-query.pts │ │ ├── test1.in │ │ ├── test1.save │ │ ├── test2-data.pts │ │ ├── test2-query.pts │ │ ├── test2.in │ │ └── test2.save ├── apriltag-3.3.0 │ ├── CMake │ │ └── apriltagConfig.cmake.in │ ├── CMakeLists.txt │ ├── LICENSE.md │ ├── Makefile │ ├── README.md │ ├── apriltag.c │ ├── apriltag.h │ ├── apriltag.pc.in │ ├── apriltag_detect.docstring │ ├── apriltag_math.h │ ├── apriltag_pose.c │ ├── apriltag_pose.h │ ├── apriltag_py_type.docstring │ ├── apriltag_pywrap.c │ ├── apriltag_quad_thresh.c │ ├── common │ │ ├── debug_print.h │ │ ├── doubles.h │ │ ├── doubles_floats_impl.h │ │ ├── floats.h │ │ ├── g2d.c │ │ ├── g2d.h │ │ ├── getopt.c │ │ ├── getopt.h │ │ ├── homography.c │ │ ├── homography.h │ │ ├── image_types.h │ │ ├── image_u8.c │ │ ├── image_u8.h │ │ ├── image_u8x3.c │ │ ├── image_u8x3.h │ │ ├── image_u8x4.c │ │ ├── image_u8x4.h │ │ ├── matd.c │ │ ├── matd.h │ │ ├── math_util.h │ │ ├── pam.c │ │ ├── pam.h │ │ ├── pjpeg-idct.c │ │ ├── pjpeg.c │ │ ├── pjpeg.h │ │ ├── pnm.c │ │ ├── pnm.h │ │ ├── postscript_utils.h │ │ ├── pthreads_cross.cpp │ │ ├── pthreads_cross.h │ │ ├── string_util.c │ │ ├── string_util.h │ │ ├── svd22.c │ │ ├── svd22.h │ │ ├── time_util.c │ │ ├── time_util.h │ │ ├── timeprofile.h │ │ ├── unionfind.c │ │ ├── unionfind.h │ │ ├── workerpool.c │ │ ├── workerpool.h │ │ ├── zarray.c │ │ ├── zarray.h │ │ ├── zhash.c │ │ ├── zhash.h │ │ ├── zmaxheap.c │ │ └── zmaxheap.h │ ├── example │ │ ├── .gitignore │ │ ├── Makefile │ │ ├── README │ │ ├── apriltag_demo.c │ │ └── opencv_demo.cc │ ├── install.sh │ ├── package.xml │ ├── python_build_flags.py │ ├── tag16h5.c │ ├── tag16h5.h │ ├── tag25h9.c │ ├── tag25h9.h │ ├── tag36h10.c │ ├── tag36h10.h │ ├── tag36h11.c │ ├── tag36h11.h │ ├── tagCircle21h7.c │ ├── tagCircle21h7.h │ ├── tagCircle49h12.c │ ├── tagCircle49h12.h │ ├── tagCustom48h12.c │ ├── tagCustom48h12.h │ ├── tagStandard41h12.c │ ├── tagStandard41h12.h │ ├── tagStandard52h13.c │ └── tagStandard52h13.h ├── cvblob │ ├── CMakeLists.txt │ ├── COPYING │ ├── COPYING.LESSER │ ├── README │ ├── cvaux.cpp │ ├── cvblob.cpp │ ├── cvblob.h │ ├── cvcolor.cpp │ ├── cvcontour.cpp │ ├── cvlabel.cpp │ └── cvtrack.cpp ├── e57-3d-imgfmt │ ├── CHANGES.TXT │ ├── CMakeLists.txt │ ├── README.TXT │ ├── SW_Beta_Test_Plan.pdf │ ├── cmake │ │ ├── Modules │ │ │ ├── CMakeGenerateDocumentation.cmake │ │ │ ├── FindICU.cmake │ │ │ ├── FindXerces.cmake │ │ │ └── Tags.cmake │ │ ├── c_flag_overrides.cmake │ │ └── cxx_flag_overrides.cmake │ ├── doc │ │ ├── E57SimpleAPIReleaseNotes.doc │ │ ├── FoundationAPI │ │ │ ├── CMakeLists.txt │ │ │ ├── Doxyfile │ │ │ ├── Doxyfile.in │ │ │ └── examples │ │ │ │ ├── BlobCreate.cpp │ │ │ │ ├── Cancel.cpp │ │ │ │ ├── CheckInvariant.cpp │ │ │ │ ├── CompressedVectorCreate.cpp │ │ │ │ ├── E57ExceptionFunctions.cpp │ │ │ │ ├── Extensions.cpp │ │ │ │ ├── FloatCreate.cpp │ │ │ │ ├── HelloWorld.cpp │ │ │ │ ├── ImageFileDump.cpp │ │ │ │ ├── IntegerCreate.cpp │ │ │ │ ├── NameParse.cpp │ │ │ │ ├── NodeFunctions.cpp │ │ │ │ ├── RawXML.cpp │ │ │ │ ├── ScaledIntegerCreate.cpp │ │ │ │ ├── SourceDestBufferFunctions.cpp │ │ │ │ ├── SourceDestBufferNumericCreate.cpp │ │ │ │ ├── SourceDestBufferStringCreate.cpp │ │ │ │ ├── StringCreate.cpp │ │ │ │ ├── StructureCreate.cpp │ │ │ │ ├── VectorCreate.cpp │ │ │ │ ├── VectorFunctions.cpp │ │ │ │ └── Versions.cpp │ │ ├── SimpleAPI │ │ │ ├── CMakeLists.txt │ │ │ ├── Doxyfile │ │ │ └── Doxyfile.in │ │ ├── e57fields.doc │ │ ├── e57xmldump.doc │ │ ├── getting_started.odt │ │ ├── getting_started.pdf │ │ ├── las2e57.doc │ │ └── libE57ReleaseNotes.doc │ ├── include │ │ ├── E57.reg │ │ ├── E57Foundation.h │ │ ├── E57Simple.h │ │ ├── LASReader.h │ │ ├── config.h.in │ │ ├── e57.ico │ │ └── time_conversion │ │ │ ├── basictypes.h │ │ │ ├── constants.h │ │ │ ├── gnss_error.h │ │ │ └── time_conversion.h │ └── src │ │ ├── LASReader │ │ └── LASReader.cpp │ │ ├── examples │ │ ├── DemoRead01.cpp │ │ └── DemoWrite01.cpp │ │ ├── refimpl │ │ ├── E57Foundation.cpp │ │ ├── E57FoundationImpl.cpp │ │ ├── E57FoundationImpl.h │ │ ├── E57RefImplConfig.cmake │ │ ├── E57Simple.cpp │ │ ├── E57SimpleImpl.cpp │ │ └── E57SimpleImpl.h │ │ ├── time_conversion │ │ └── time_conversion.c │ │ └── tools │ │ ├── e57_v0_6.rnc │ │ ├── e57fields.cpp │ │ ├── e57unpack.cpp │ │ ├── e57validate.cpp │ │ ├── e57xmldump.cpp │ │ └── las2e57.cpp ├── glee │ ├── GLee.c │ ├── GLee.h │ ├── extensionList.txt │ └── readme.txt ├── glui-2.36 │ ├── LICENSE.txt │ ├── algebra3.cpp │ ├── algebra3.h │ ├── arcball.cpp │ ├── arcball.h │ ├── glui.cpp │ ├── glui_add_controls.cpp │ ├── glui_bitmap_img_data.cpp │ ├── glui_bitmaps.cpp │ ├── glui_button.cpp │ ├── glui_checkbox.cpp │ ├── glui_column.cpp │ ├── glui_commandline.cpp │ ├── glui_control.cpp │ ├── glui_edittext.cpp │ ├── glui_filebrowser.cpp │ ├── glui_img_checkbox_0.c │ ├── glui_img_checkbox_0_dis.c │ ├── glui_img_checkbox_1.c │ ├── glui_img_checkbox_1_dis.c │ ├── glui_img_downarrow.c │ ├── glui_img_leftarrow.c │ ├── glui_img_listbox_down.c │ ├── glui_img_listbox_down.ppm │ ├── glui_img_listbox_up.c │ ├── glui_img_listbox_up.ppm │ ├── glui_img_listbox_up_dis.c │ ├── glui_img_listbox_up_dis.ppm │ ├── glui_img_radiobutton_0.c │ ├── glui_img_radiobutton_0_dis.c │ ├── glui_img_radiobutton_1.c │ ├── glui_img_radiobutton_1_dis.c │ ├── glui_img_rightarrow.c │ ├── glui_img_spindown_0.c │ ├── glui_img_spindown_1.c │ ├── glui_img_spindown_dis.c │ ├── glui_img_spinup_0.c │ ├── glui_img_spinup_1.c │ ├── glui_img_spinup_dis.c │ ├── glui_img_uparrow.c │ ├── glui_internal.h │ ├── glui_internal_control.h │ ├── glui_list.cpp │ ├── glui_listbox.cpp │ ├── glui_mouse_iaction.cpp │ ├── glui_node.cpp │ ├── glui_panel.cpp │ ├── glui_radio.cpp │ ├── glui_rollout.cpp │ ├── glui_rotation.cpp │ ├── glui_scrollbar.cpp │ ├── glui_separator.cpp │ ├── glui_spinner.cpp │ ├── glui_statictext.cpp │ ├── glui_string.cpp │ ├── glui_textbox.cpp │ ├── glui_translation.cpp │ ├── glui_tree.cpp │ ├── glui_treepanel.cpp │ ├── glui_window.cpp │ ├── include │ │ └── GL │ │ │ └── glui.h │ ├── makefile │ ├── quaternion.cpp │ ├── quaternion.h │ ├── readme.txt │ ├── viewmodel.cpp │ └── viewmodel.h ├── gocr-0.48 │ ├── AUTHORS │ ├── BUGS │ ├── CREDITS │ ├── HISTORY │ ├── INSTALL │ ├── README │ ├── READMEde.txt │ ├── REMARK.txt │ ├── REVIEW │ ├── TODO │ ├── doc │ │ ├── .cvsignore │ │ ├── Makefile │ │ ├── Makefile.in │ │ ├── example.dtd │ │ ├── example.xml │ │ ├── examples.txt │ │ ├── gocr.html │ │ └── unicode.txt │ ├── gocr.spec │ ├── gpl.html │ ├── include │ │ ├── .cvsignore │ │ ├── config.h │ │ ├── config.h.in │ │ └── version.h │ └── src │ │ ├── .cvsignore │ │ ├── Makefile │ │ ├── Makefile.in │ │ ├── amiga.h │ │ ├── barcode.c │ │ ├── barcode.c.orig │ │ ├── barcode.h │ │ ├── box.c │ │ ├── database.c │ │ ├── detect.c │ │ ├── gocr.c │ │ ├── gocr.h │ │ ├── jconv.c │ │ ├── job.c │ │ ├── lgocr.c │ │ ├── lgocr.h │ │ ├── lines.c │ │ ├── list.c │ │ ├── list.h │ │ ├── ocr0.c │ │ ├── ocr0.h │ │ ├── ocr0n.c │ │ ├── ocr1.c │ │ ├── ocr1.h │ │ ├── otsu.c │ │ ├── otsu.h │ │ ├── output.c │ │ ├── output.h │ │ ├── pcx.c │ │ ├── pcx.h │ │ ├── pgm2asc.c │ │ ├── pgm2asc.h │ │ ├── pixel.c │ │ ├── pnm.c │ │ ├── pnm.h │ │ ├── progress.c │ │ ├── progress.h │ │ ├── remove.c │ │ ├── test.cc │ │ ├── test2.c │ │ ├── tga.c │ │ ├── tga.h │ │ ├── unicode.c │ │ └── unicode.h ├── imgui │ ├── LICENSE.txt │ ├── backends │ │ ├── imgui_impl_allegro5.cpp │ │ ├── imgui_impl_allegro5.h │ │ ├── imgui_impl_android.cpp │ │ ├── imgui_impl_android.h │ │ ├── imgui_impl_dx10.cpp │ │ ├── imgui_impl_dx10.h │ │ ├── imgui_impl_dx11.cpp │ │ ├── imgui_impl_dx11.h │ │ ├── imgui_impl_dx12.cpp │ │ ├── imgui_impl_dx12.h │ │ ├── imgui_impl_dx9.cpp │ │ ├── imgui_impl_dx9.h │ │ ├── imgui_impl_glfw.cpp │ │ ├── imgui_impl_glfw.h │ │ ├── imgui_impl_glut.cpp │ │ ├── imgui_impl_glut.h │ │ ├── imgui_impl_metal.h │ │ ├── imgui_impl_metal.mm │ │ ├── imgui_impl_opengl2.cpp │ │ ├── imgui_impl_opengl2.h │ │ ├── imgui_impl_opengl3.cpp │ │ ├── imgui_impl_opengl3.h │ │ ├── imgui_impl_opengl3_loader.h │ │ ├── imgui_impl_osx.h │ │ ├── imgui_impl_osx.mm │ │ ├── imgui_impl_sdl2.cpp │ │ ├── imgui_impl_sdl2.h │ │ ├── imgui_impl_sdl3.cpp │ │ ├── imgui_impl_sdl3.h │ │ ├── imgui_impl_sdlrenderer2.cpp │ │ ├── imgui_impl_sdlrenderer2.h │ │ ├── imgui_impl_sdlrenderer3.cpp │ │ ├── imgui_impl_sdlrenderer3.h │ │ ├── imgui_impl_vulkan.cpp │ │ ├── imgui_impl_vulkan.h │ │ ├── imgui_impl_wgpu.cpp │ │ ├── imgui_impl_wgpu.h │ │ ├── imgui_impl_win32.cpp │ │ ├── imgui_impl_win32.h │ │ └── vulkan │ │ │ ├── generate_spv.sh │ │ │ ├── glsl_shader.frag │ │ │ └── glsl_shader.vert │ ├── docs │ │ ├── BACKENDS.md │ │ ├── CHANGELOG.txt │ │ ├── CONTRIBUTING.md │ │ ├── EXAMPLES.md │ │ ├── FAQ.md │ │ ├── FONTS.md │ │ ├── README.md │ │ └── TODO.txt │ ├── examples │ │ ├── README.txt │ │ ├── example_allegro5 │ │ │ ├── README.md │ │ │ ├── example_allegro5.vcxproj │ │ │ ├── example_allegro5.vcxproj.filters │ │ │ ├── imconfig_allegro5.h │ │ │ └── main.cpp │ │ ├── example_android_opengl3 │ │ │ ├── CMakeLists.txt │ │ │ ├── android │ │ │ │ ├── .gitignore │ │ │ │ ├── app │ │ │ │ │ ├── build.gradle │ │ │ │ │ └── src │ │ │ │ │ │ └── main │ │ │ │ │ │ ├── AndroidManifest.xml │ │ │ │ │ │ └── java │ │ │ │ │ │ └── MainActivity.kt │ │ │ │ ├── build.gradle │ │ │ │ └── settings.gradle │ │ │ └── main.cpp │ │ ├── example_apple_metal │ │ │ ├── README.md │ │ │ ├── example_apple_metal.xcodeproj │ │ │ │ └── project.pbxproj │ │ │ ├── iOS │ │ │ │ ├── Info-iOS.plist │ │ │ │ └── LaunchScreen.storyboard │ │ │ ├── macOS │ │ │ │ ├── Info-macOS.plist │ │ │ │ └── MainMenu.storyboard │ │ │ └── main.mm │ │ ├── example_apple_opengl2 │ │ │ ├── example_apple_opengl2.xcodeproj │ │ │ │ └── project.pbxproj │ │ │ └── main.mm │ │ ├── example_emscripten_wgpu │ │ │ ├── Makefile │ │ │ ├── README.md │ │ │ ├── main.cpp │ │ │ └── web │ │ │ │ └── index.html │ │ ├── example_glfw_metal │ │ │ ├── Makefile │ │ │ └── main.mm │ │ ├── example_glfw_opengl2 │ │ │ ├── Makefile │ │ │ ├── build_win32.bat │ │ │ ├── example_glfw_opengl2 │ │ │ ├── example_glfw_opengl2.vcxproj │ │ │ ├── example_glfw_opengl2.vcxproj.filters │ │ │ ├── imgui.ini │ │ │ └── main.cpp │ │ ├── example_glfw_opengl3 │ │ │ ├── Makefile │ │ │ ├── Makefile.emscripten │ │ │ ├── build_win32.bat │ │ │ ├── example_glfw_opengl3.vcxproj │ │ │ ├── example_glfw_opengl3.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_glfw_vulkan │ │ │ ├── CMakeLists.txt │ │ │ ├── build_win32.bat │ │ │ ├── build_win64.bat │ │ │ ├── example_glfw_vulkan.vcxproj │ │ │ ├── example_glfw_vulkan.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_glut_opengl2 │ │ │ ├── Makefile │ │ │ ├── example_glut_opengl2 │ │ │ ├── example_glut_opengl2.vcxproj │ │ │ ├── example_glut_opengl2.vcxproj.filters │ │ │ ├── imgui.ini │ │ │ └── main.cpp │ │ ├── example_null │ │ │ ├── Makefile │ │ │ ├── build_win32.bat │ │ │ ├── example_null │ │ │ ├── imgui.ini │ │ │ └── main.cpp │ │ ├── example_sdl2_directx11 │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl2_directx11.vcxproj │ │ │ ├── example_sdl2_directx11.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_sdl2_metal │ │ │ ├── Makefile │ │ │ └── main.mm │ │ ├── example_sdl2_opengl2 │ │ │ ├── Makefile │ │ │ ├── README.md │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl2_opengl2.vcxproj │ │ │ ├── example_sdl2_opengl2.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_sdl2_opengl3 │ │ │ ├── Makefile │ │ │ ├── Makefile.emscripten │ │ │ ├── README.md │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl2_opengl3.vcxproj │ │ │ ├── example_sdl2_opengl3.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_sdl2_sdlrenderer2 │ │ │ ├── Makefile │ │ │ ├── README.md │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl2_sdlrenderer2.vcxproj │ │ │ ├── example_sdl2_sdlrenderer2.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_sdl2_vulkan │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl2_vulkan.vcxproj │ │ │ ├── example_sdl2_vulkan.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_sdl3_opengl3 │ │ │ ├── Makefile │ │ │ ├── Makefile.emscripten │ │ │ ├── README.md │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl3_opengl3.vcxproj │ │ │ ├── example_sdl3_opengl3.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_sdl3_sdlrenderer3 │ │ │ ├── Makefile │ │ │ ├── build_win32.bat │ │ │ ├── example_sdl3_sdlrenderer3.vcxproj │ │ │ ├── example_sdl3_sdlrenderer3.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_win32_directx10 │ │ │ ├── build_win32.bat │ │ │ ├── example_win32_directx10.vcxproj │ │ │ ├── example_win32_directx10.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_win32_directx11 │ │ │ ├── build_win32.bat │ │ │ ├── example_win32_directx11.vcxproj │ │ │ ├── example_win32_directx11.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_win32_directx12 │ │ │ ├── build_win32.bat │ │ │ ├── example_win32_directx12.vcxproj │ │ │ ├── example_win32_directx12.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_win32_directx9 │ │ │ ├── build_win32.bat │ │ │ ├── example_win32_directx9.vcxproj │ │ │ ├── example_win32_directx9.vcxproj.filters │ │ │ └── main.cpp │ │ ├── example_win32_opengl3 │ │ │ ├── build_win32.bat │ │ │ ├── example_win32_opengl3.vcxproj │ │ │ ├── example_win32_opengl3.vcxproj.filters │ │ │ └── main.cpp │ │ ├── imgui_examples.sln │ │ └── libs │ │ │ ├── emscripten │ │ │ ├── emscripten_mainloop_stub.h │ │ │ └── shell_minimal.html │ │ │ ├── glfw │ │ │ ├── COPYING.txt │ │ │ ├── include │ │ │ │ └── GLFW │ │ │ │ │ ├── glfw3.h │ │ │ │ │ └── glfw3native.h │ │ │ ├── lib-vc2010-32 │ │ │ │ └── glfw3.lib │ │ │ └── lib-vc2010-64 │ │ │ │ └── glfw3.lib │ │ │ └── usynergy │ │ │ ├── README.txt │ │ │ ├── uSynergy.c │ │ │ └── uSynergy.h │ ├── imGuIZMO.quat │ │ ├── imGuIZMOquat.cpp │ │ ├── imGuIZMOquat.h │ │ ├── vGizmo.h │ │ ├── vGizmoMath.h │ │ ├── vgConfig.h │ │ └── vgMath.h │ ├── imconfig.h │ ├── imgui.cpp │ ├── imgui.h │ ├── imgui_demo.cpp │ ├── imgui_draw.cpp │ ├── imgui_internal.h │ ├── imgui_tables.cpp │ ├── imgui_widgets.cpp │ ├── imstb_rectpack.h │ ├── imstb_textedit.h │ ├── imstb_truetype.h │ └── misc │ │ ├── README.txt │ │ ├── cpp │ │ ├── README.txt │ │ ├── imgui_stdlib.cpp │ │ └── imgui_stdlib.h │ │ ├── debuggers │ │ ├── README.txt │ │ ├── imgui.gdb │ │ ├── imgui.natstepfilter │ │ └── imgui.natvis │ │ ├── fonts │ │ ├── Cousine-Regular.ttf │ │ ├── DroidSans.ttf │ │ ├── Karla-Regular.ttf │ │ ├── ProggyClean.ttf │ │ ├── ProggyTiny.ttf │ │ ├── Roboto-Medium.ttf │ │ └── binary_to_compressed_c.cpp │ │ ├── freetype │ │ ├── README.md │ │ ├── imgui_freetype.cpp │ │ └── imgui_freetype.h │ │ └── single_file │ │ └── imgui_single_file.h ├── lastools │ ├── ArcGIS_toolbox │ │ ├── LAStools.tbx │ │ ├── README.txt │ │ └── scripts │ │ │ ├── blast2dem.py │ │ │ ├── las2dem.py │ │ │ ├── las2iso.py │ │ │ ├── las2las_filter.py │ │ │ ├── las2las_project.py │ │ │ ├── las2las_transform.py │ │ │ ├── las2shp.py │ │ │ ├── las2tin.py │ │ │ ├── las2txt.py │ │ │ ├── lasboundary.py │ │ │ ├── lasclassify.py │ │ │ ├── lasclip.py │ │ │ ├── lascontrol.py │ │ │ ├── lasdiff.py │ │ │ ├── lasduplicate.py │ │ │ ├── lasgrid.py │ │ │ ├── lasground.py │ │ │ ├── lasheight.py │ │ │ ├── lasheight_classify.py │ │ │ ├── lasinfo.py │ │ │ ├── lasmerge.py │ │ │ ├── lasprecision.py │ │ │ ├── lassort.py │ │ │ ├── lassplit.py │ │ │ ├── lasthin.py │ │ │ ├── lastile.py │ │ │ ├── lasview.py │ │ │ ├── laszip.py │ │ │ ├── shp2las.py │ │ │ └── txt2las.py │ ├── CHANGES.txt │ ├── COPYING.txt │ ├── HALL_OF_SHAME.txt │ ├── Makefile │ ├── README.txt │ ├── bin │ │ ├── blast2dem_README.txt │ │ ├── las2dem_README.txt │ │ ├── las2iso_README.txt │ │ ├── las2las14_README.txt │ │ ├── las2las_README.txt │ │ ├── las2shp_README.txt │ │ ├── las2tin_README.txt │ │ ├── las2txt_README.txt │ │ ├── lasboundary_README.txt │ │ ├── lascanopy_README.txt │ │ ├── lasclassify_README.txt │ │ ├── lasclip_README.txt │ │ ├── lascontrol_README.txt │ │ ├── lasdiff_README.txt │ │ ├── lasduplicate_README.txt │ │ ├── lasgrid_README.txt │ │ ├── lasground_README.txt │ │ ├── lasheight_README.txt │ │ ├── lasindex_README.txt │ │ ├── lasinfo_README.txt │ │ ├── lasmerge_README.txt │ │ ├── lasoverage_README.txt │ │ ├── lasoverlap_README.txt │ │ ├── lasprecision_README.txt │ │ ├── lassort_README.txt │ │ ├── lassplit_README.txt │ │ ├── lasthin_README.txt │ │ ├── lastile_README.txt │ │ ├── lastool_README.txt │ │ ├── lasview_README.txt │ │ ├── laszip_README.txt │ │ ├── shp2las_README.txt │ │ └── txt2las_README.txt │ ├── example_batch_scripts │ │ └── lidar_to_dtm_dsm_iso_laz_tiles.bat │ ├── laslib │ │ ├── CHANGES.txt │ │ ├── LASlib.dsp │ │ ├── LASlib.dsw │ │ ├── Makefile │ │ ├── example │ │ │ ├── Makefile │ │ │ ├── lasexample.cpp │ │ │ └── lasexample.dsp │ │ ├── inc │ │ │ ├── bytestreamin.hpp │ │ │ ├── lasdefinitions.hpp │ │ │ ├── lasfilter.hpp │ │ │ ├── lasindex.hpp │ │ │ ├── lasinterval.hpp │ │ │ ├── lasquadtree.hpp │ │ │ ├── lasreader.hpp │ │ │ ├── lasreader_asc.hpp │ │ │ ├── lasreader_bil.hpp │ │ │ ├── lasreader_bin.hpp │ │ │ ├── lasreader_las.hpp │ │ │ ├── lasreader_qfit.hpp │ │ │ ├── lasreader_shp.hpp │ │ │ ├── lasreader_txt.hpp │ │ │ ├── lasreaderbuffered.hpp │ │ │ ├── lasreadermerged.hpp │ │ │ ├── lasreaderpipeon.hpp │ │ │ ├── lasspatial.hpp │ │ │ ├── lastransform.hpp │ │ │ ├── lasunzipper.hpp │ │ │ ├── lasutility.hpp │ │ │ ├── laswaveform13reader.hpp │ │ │ ├── laswaveform13writer.hpp │ │ │ ├── laswriter.hpp │ │ │ ├── laswriter_bin.hpp │ │ │ ├── laswriter_las.hpp │ │ │ ├── laswriter_qfit.hpp │ │ │ ├── laswriter_txt.hpp │ │ │ ├── laswriter_wrl.hpp │ │ │ ├── laszip.hpp │ │ │ ├── laszipper.hpp │ │ │ └── mydefs.hpp │ │ ├── laslib_README.txt │ │ ├── src │ │ │ ├── Makefile │ │ │ ├── arithmeticdecoder.cpp │ │ │ ├── arithmeticdecoder.hpp │ │ │ ├── arithmeticencoder.cpp │ │ │ ├── arithmeticencoder.hpp │ │ │ ├── arithmeticmodel.cpp │ │ │ ├── arithmeticmodel.hpp │ │ │ ├── bytestreamin_file.hpp │ │ │ ├── bytestreamin_istream.hpp │ │ │ ├── bytestreamout.hpp │ │ │ ├── bytestreamout_file.hpp │ │ │ ├── bytestreamout_nil.hpp │ │ │ ├── bytestreamout_ostream.hpp │ │ │ ├── entropydecoder.hpp │ │ │ ├── entropyencoder.hpp │ │ │ ├── fopen_compressed.cpp │ │ │ ├── integercompressor.cpp │ │ │ ├── integercompressor.hpp │ │ │ ├── lasfilter.cpp │ │ │ ├── lasindex.cpp │ │ │ ├── lasinterval.cpp │ │ │ ├── lasquadtree.cpp │ │ │ ├── lasreader.cpp │ │ │ ├── lasreader_asc.cpp │ │ │ ├── lasreader_bil.cpp │ │ │ ├── lasreader_bin.cpp │ │ │ ├── lasreader_las.cpp │ │ │ ├── lasreader_qfit.cpp │ │ │ ├── lasreader_shp.cpp │ │ │ ├── lasreader_txt.cpp │ │ │ ├── lasreaderbuffered.cpp │ │ │ ├── lasreadermerged.cpp │ │ │ ├── lasreaderpipeon.cpp │ │ │ ├── lasreaditem.hpp │ │ │ ├── lasreaditemcompressed_v1.cpp │ │ │ ├── lasreaditemcompressed_v1.hpp │ │ │ ├── lasreaditemcompressed_v2.cpp │ │ │ ├── lasreaditemcompressed_v2.hpp │ │ │ ├── lasreaditemraw.hpp │ │ │ ├── lasreadpoint.cpp │ │ │ ├── lasreadpoint.hpp │ │ │ ├── lasspatial.cpp │ │ │ ├── lastransform.cpp │ │ │ ├── lasunzipper.cpp │ │ │ ├── lasutility.cpp │ │ │ ├── laswaveform13reader.cpp │ │ │ ├── laswaveform13writer.cpp │ │ │ ├── laswriteitem.hpp │ │ │ ├── laswriteitemcompressed_v1.cpp │ │ │ ├── laswriteitemcompressed_v1.hpp │ │ │ ├── laswriteitemcompressed_v2.cpp │ │ │ ├── laswriteitemcompressed_v2.hpp │ │ │ ├── laswriteitemraw.hpp │ │ │ ├── laswritepoint.cpp │ │ │ ├── laswritepoint.hpp │ │ │ ├── laswriter.cpp │ │ │ ├── laswriter_bin.cpp │ │ │ ├── laswriter_las.cpp │ │ │ ├── laswriter_qfit.cpp │ │ │ ├── laswriter_txt.cpp │ │ │ ├── laswriter_wrl.cpp │ │ │ ├── laszip.cpp │ │ │ ├── laszip_common_v2.hpp │ │ │ └── laszipper.cpp │ │ ├── stl │ │ │ ├── algo.h │ │ │ ├── algobase.h │ │ │ ├── algorithm │ │ │ ├── alloc.h │ │ │ ├── bitset │ │ │ ├── bvector.h │ │ │ ├── char_traits.h │ │ │ ├── concept_checks.h │ │ │ ├── container_concepts.h │ │ │ ├── defalloc.h │ │ │ ├── deque │ │ │ ├── deque.h │ │ │ ├── function.h │ │ │ ├── functional │ │ │ ├── hash_map │ │ │ ├── hash_map.h │ │ │ ├── hash_set │ │ │ ├── hash_set.h │ │ │ ├── hashtable.h │ │ │ ├── heap.h │ │ │ ├── iterator │ │ │ ├── iterator.h │ │ │ ├── limits │ │ │ ├── list │ │ │ ├── list.h │ │ │ ├── map │ │ │ ├── map.h │ │ │ ├── memory │ │ │ ├── multimap.h │ │ │ ├── multiset.h │ │ │ ├── numeric │ │ │ ├── pair.h │ │ │ ├── pthread_alloc │ │ │ ├── pthread_alloc.h │ │ │ ├── queue │ │ │ ├── rope │ │ │ ├── rope.h │ │ │ ├── ropeimpl.h │ │ │ ├── sequence_concepts.h │ │ │ ├── set │ │ │ ├── set.h │ │ │ ├── slist │ │ │ ├── slist.h │ │ │ ├── stack │ │ │ ├── stack.h │ │ │ ├── stdexcept │ │ │ ├── stl_algo.h │ │ │ ├── stl_algobase.h │ │ │ ├── stl_alloc.h │ │ │ ├── stl_bvector.h │ │ │ ├── stl_config.h │ │ │ ├── stl_construct.h │ │ │ ├── stl_ctraits_fns.h │ │ │ ├── stl_deque.h │ │ │ ├── stl_exception.h │ │ │ ├── stl_function.h │ │ │ ├── stl_hash_fun.h │ │ │ ├── stl_hash_map.h │ │ │ ├── stl_hash_set.h │ │ │ ├── stl_hashtable.h │ │ │ ├── stl_heap.h │ │ │ ├── stl_iterator.h │ │ │ ├── stl_iterator_base.h │ │ │ ├── stl_list.h │ │ │ ├── stl_map.h │ │ │ ├── stl_multimap.h │ │ │ ├── stl_multiset.h │ │ │ ├── stl_numeric.h │ │ │ ├── stl_pair.h │ │ │ ├── stl_queue.h │ │ │ ├── stl_range_errors.h │ │ │ ├── stl_raw_storage_iter.h │ │ │ ├── stl_relops.h │ │ │ ├── stl_rope.h │ │ │ ├── stl_set.h │ │ │ ├── stl_slist.h │ │ │ ├── stl_stack.h │ │ │ ├── stl_string_fwd.h │ │ │ ├── stl_tempbuf.h │ │ │ ├── stl_threads.h │ │ │ ├── stl_tree.h │ │ │ ├── stl_uninitialized.h │ │ │ ├── stl_vector.h │ │ │ ├── string │ │ │ ├── tempbuf.h │ │ │ ├── tree.h │ │ │ ├── type_traits.h │ │ │ ├── utility │ │ │ ├── valarray │ │ │ ├── vector │ │ │ └── vector.h │ │ └── test │ │ │ ├── Makefile │ │ │ ├── laszippertest.cpp │ │ │ └── laszippertest.dsp │ ├── lastools.dsw │ └── src │ │ ├── Makefile │ │ ├── geoprojectionconverter.cpp │ │ ├── geoprojectionconverter.hpp │ │ ├── las2las.cpp │ │ ├── las2las.dsp │ │ ├── las2txt.cpp │ │ ├── las2txt.dsp │ │ ├── lasdiff.cpp │ │ ├── lasdiff.dsp │ │ ├── lasindex.cpp │ │ ├── lasindex.dsp │ │ ├── lasinfo.cpp │ │ ├── lasinfo.dsp │ │ ├── lasmerge.cpp │ │ ├── lasmerge.dsp │ │ ├── lasprecision.cpp │ │ ├── lasprecision.dsp │ │ ├── laszip.cpp │ │ ├── laszip.dsp │ │ ├── txt2las.cpp │ │ └── txt2las.dsp ├── minmea │ ├── COPYING │ ├── README.md │ ├── minmea.c │ └── minmea.h ├── newmat │ ├── CMakeLists.txt │ └── newmat-10 │ │ └── newmat │ │ ├── add_time.png │ │ ├── bandmat.cpp │ │ ├── boolean.h │ │ ├── cholesky.cpp │ │ ├── controlw.h │ │ ├── evalue.cpp │ │ ├── example.cpp │ │ ├── example.txt │ │ ├── fft.cpp │ │ ├── garch.cpp │ │ ├── garch.dat │ │ ├── garch.txt │ │ ├── hholder.cpp │ │ ├── include.h │ │ ├── jacobi.cpp │ │ ├── myexcept.cpp │ │ ├── myexcept.h │ │ ├── newfft.cpp │ │ ├── newmat.h │ │ ├── newmat.lfl │ │ ├── newmat1.cpp │ │ ├── newmat2.cpp │ │ ├── newmat3.cpp │ │ ├── newmat4.cpp │ │ ├── newmat5.cpp │ │ ├── newmat6.cpp │ │ ├── newmat7.cpp │ │ ├── newmat8.cpp │ │ ├── newmat9.cpp │ │ ├── newmatap.h │ │ ├── newmatex.cpp │ │ ├── newmatio.h │ │ ├── newmatnl.cpp │ │ ├── newmatnl.h │ │ ├── newmatrc.h │ │ ├── newmatrm.cpp │ │ ├── newmatrm.h │ │ ├── nl_ex.cpp │ │ ├── nl_ex.txt │ │ ├── nm10.htm │ │ ├── nm_b55.mak │ │ ├── nm_cc.mak │ │ ├── nm_gnu.mak │ │ ├── nm_targ.txt │ │ ├── precisio.h │ │ ├── rbd.css │ │ ├── sl_ex.cpp │ │ ├── sl_ex.txt │ │ ├── solution.cpp │ │ ├── solution.h │ │ ├── sort.cpp │ │ ├── submat.cpp │ │ ├── svd.cpp │ │ ├── test_exc.cpp │ │ ├── test_exc.txt │ │ ├── tmt.cpp │ │ ├── tmt.h │ │ ├── tmt.txt │ │ ├── tmt1.cpp │ │ ├── tmt2.cpp │ │ ├── tmt3.cpp │ │ ├── tmt4.cpp │ │ ├── tmt5.cpp │ │ ├── tmt6.cpp │ │ ├── tmt7.cpp │ │ ├── tmt8.cpp │ │ ├── tmt9.cpp │ │ ├── tmta.cpp │ │ ├── tmtb.cpp │ │ ├── tmtc.cpp │ │ ├── tmtd.cpp │ │ ├── tmte.cpp │ │ ├── tmtf.cpp │ │ ├── tmtg.cpp │ │ ├── tmth.cpp │ │ ├── tmti.cpp │ │ ├── tmtj.cpp │ │ ├── tmtk.cpp │ │ ├── tmtl.cpp │ │ └── tmtm.cpp ├── poisson │ ├── AdaptiveTreeVisualization.cpp │ ├── Allocator.h │ ├── Array.h │ ├── Array.inl │ ├── BMPStream.inl │ ├── BSplineData.h │ ├── BSplineData.inl │ ├── BinaryNode.h │ ├── CallRecon.cpp │ ├── CmdLineParser.h │ ├── CmdLineParser.inl │ ├── EDTInHeat.cpp │ ├── FEMTree.Evaluation.inl │ ├── FEMTree.Initialize.inl │ ├── FEMTree.IsoSurface.specialized.inl │ ├── FEMTree.SortedTreeNodes.inl │ ├── FEMTree.System.inl │ ├── FEMTree.WeightedSamples.inl │ ├── FEMTree.h │ ├── FEMTree.inl │ ├── Factor.h │ ├── FunctionData.h │ ├── FunctionData.inl │ ├── Geometry.h │ ├── Geometry.inl │ ├── Image.h │ ├── ImageStitching.cpp │ ├── JPEG.h │ ├── JPEG.inl │ ├── LinearSolvers.h │ ├── MAT.h │ ├── MAT.inl │ ├── MarchingCubes.h │ ├── MyMiscellany.h │ ├── PNG.h │ ├── PNG.inl │ ├── PPolynomial.h │ ├── PPolynomial.inl │ ├── Ply.h │ ├── PlyFile.cpp │ ├── PlyFile.h │ ├── PointStream.h │ ├── PointStream.inl │ ├── PointStreamData.h │ ├── PoissonRecon.cpp │ ├── PoissonRecon.h │ ├── Polynomial.h │ ├── Polynomial.inl │ ├── RegularTree.h │ ├── RegularTree.inl │ ├── SSDRecon.cpp │ ├── SparseMatrix.h │ ├── SparseMatrix.inl │ ├── SparseMatrixInterface.h │ ├── SparseMatrixInterface.inl │ ├── SurfaceTrimmer.cpp │ ├── SurfaceTrimmer.h │ ├── VoxelCompare.cpp │ ├── Window.h │ └── Window.inl ├── rply-1.1.4 │ ├── CMakeLists.txt │ ├── LICENSE │ ├── etc │ │ ├── convert.c │ │ ├── dump.c │ │ ├── input.ply │ │ └── sconvert.c │ ├── manual │ │ ├── manual.html │ │ ├── reference.css │ │ └── rply.png │ ├── rply.c │ ├── rply.h │ └── rplyfile.h ├── windows │ ├── XGetopt.cpp │ ├── XGetopt.h │ └── dirent.h └── wxthings │ ├── docs │ └── readme.txt │ ├── include │ └── wx │ │ └── things │ │ ├── block.h │ │ ├── bmpcombo.h │ │ ├── dropdown.h │ │ ├── filebrws.h │ │ ├── genergdi.h │ │ ├── geometry.h │ │ ├── matrix2d.h │ │ ├── medsort.h │ │ ├── menubtn.h │ │ ├── optvalue.h │ │ ├── range.h │ │ ├── spinctld.h │ │ ├── thingdef.h │ │ └── toggle.h │ └── src │ ├── Makefile │ ├── block.cpp │ ├── bmpcombo.cpp │ ├── dropdown.cpp │ ├── filebrws.cpp │ ├── filedlgg.cpp │ ├── genergdi.cpp │ ├── geometry.cpp │ ├── matrix2d.cpp │ ├── menubtn.cpp │ ├── optvalue.cpp │ ├── precomp.cpp │ ├── precomp.h │ ├── range.cpp │ ├── spinctld.cpp │ └── toggle.cpp ├── Brewfile ├── CMakeLists.txt ├── CONTRIBUTORS ├── INSTALL.md ├── LICENSING ├── Makefile ├── README.md ├── README.planes.md ├── README.scanserver.md ├── appveyor.yml ├── bin ├── 3dtopcd.sh ├── asc_comma_remove.sh ├── bash_completion_3dtk.sh ├── convert.py ├── eva_kitti.sh ├── hough.cfg ├── rts_recordingtime_gps.m ├── rts_recordingtime_sync.m └── wx.fbp ├── bindings ├── CMakeLists.txt └── python │ ├── CMakeLists.txt │ ├── py3dtk.cc │ └── test.py ├── dat ├── README ├── config.ini ├── scan000.3d ├── scan000.pose ├── scan001.3d ├── scan001.pose ├── scan002.3d ├── scan002.pose └── test │ ├── cone.obj │ ├── cube.obj │ ├── scan000.xyz │ ├── sphere.obj │ ├── sphere.xyz │ └── sphere_save.obj ├── doc ├── .gitignore ├── 3d_video.md ├── Configuration Files.md ├── README ├── david_scanner.pdf ├── documentation_HL.pdf ├── doxygen.cfg ├── equivs │ ├── control │ ├── control.debian.bookworm │ ├── control.debian.bullseye │ ├── control.debian.bullseye.ros │ ├── control.debian.buster │ ├── control.debian.buster.ros │ ├── control.debian.sid │ ├── control.debian.sid.clang │ ├── control.debian.sid.ros │ ├── control.debian.stretch │ ├── control.noros │ ├── control.ubuntu.bionic │ ├── control.ubuntu.focal │ ├── control.ubuntu.focal.ros │ ├── control.ubuntu.jammy │ ├── control.ubuntu.noble │ └── control.ubuntu.xenial ├── high_level_doc │ ├── Makefile │ ├── coordinate_system.eps │ ├── coordinate_system_white.eps │ ├── diplom.bib │ ├── diss.bib │ ├── documentation.bbl │ ├── documentation.tex │ ├── frame1_final.eps │ ├── frame2_final.eps │ ├── frame3_final.eps │ ├── lit.bib │ ├── paper.bib │ ├── stylish_scanner.eps │ └── unilogo.eps ├── icpFixpoint_Entwicklerhandbuch.pdf ├── icpFixpoint_Pflichtenheft.pdf ├── icpFixpoint_Praesentation.pdf └── papers │ ├── 3dim2007.pdf │ ├── 3dpvt2008.pdf │ ├── 3dresearch2011.pdf │ ├── cviu2010.pdf │ ├── ecmr2007.pdf │ ├── ecmr2009.pdf │ ├── icvs2009.pdf │ ├── jfr2007.pdf │ ├── jfr2008.pdf │ └── ras2007.pdf ├── include ├── calibration │ ├── AprilTag.h │ ├── AprilTag2f.h │ ├── AprilTag3f.h │ ├── AprilTagDetector.h │ ├── ArucoDetector.h │ ├── CCTagDetector.h │ ├── CalibrationPattern.h │ ├── CalibrationToolbox.h │ ├── Calibrator.h │ ├── CameraModel.h │ ├── Chessboard.h │ ├── ChessboardDetector.h │ ├── CirclesGridDetector.h │ ├── DetectionFileHandler.h │ ├── Detector.h │ ├── PArUcoDetector.h │ ├── PictureHandler.h │ ├── PinholeModel.h │ └── Settings.h ├── cuda │ ├── grid.h │ ├── grid_kernel.h │ ├── gridparams.h │ └── tools.h ├── curvefusion │ ├── common.h │ ├── curves.h │ ├── extractTrajectory.h │ ├── tf_broadcaster.h │ └── timestamps.h ├── detectCylinder │ ├── circleDetector.h │ ├── configFileCylinderDetector.h │ ├── cylinderAxisDetector.h │ ├── cylinderDetector.cfg │ ├── cylinderDetector.h │ └── detectCylinder.h ├── floorplan │ ├── colorGradient.h │ ├── commonTypes.h │ ├── floorPlan.h │ ├── plane3d.h │ ├── point3d.h │ ├── rotation3d.h │ ├── scene.h │ ├── util.h │ └── vector3d.h ├── gps │ └── gps.h ├── grid │ ├── Debug.h │ ├── grid.h │ ├── gridPoint.h │ ├── gridWriter.h │ ├── gridlines.h │ ├── hough.h │ ├── line.h │ ├── parcel.h │ ├── parcelinfo.h │ ├── parcelmanager.h │ ├── scanGrid.h │ ├── scanToGrid.h │ ├── scanmanager.h │ └── viewpointinfo.h ├── mesh │ ├── auto_scan_red.h │ ├── calc_normals.h │ ├── mesh.h │ ├── parse_options.h │ ├── poisson.h │ └── recon_commons.h ├── model │ ├── candidateOpening.h │ ├── commonTypes.h │ ├── graphicsAlg.h │ ├── labeledPlane3d.h │ ├── plane3d.h │ ├── point3d.h │ ├── rotation3d.h │ ├── scene.h │ ├── util.h │ └── vector3d.h ├── normals │ └── normals_panorama.h ├── parsers │ └── range_set_parser.h ├── peopleremover │ └── common.h ├── pmd │ ├── cvpmd.h │ ├── pmdWrap.h │ ├── pmdaccess2 │ │ ├── pmddatadescription.h │ │ ├── pmdheader.h │ │ ├── pmdsdk2.h │ │ └── pmdsdk2common.h │ └── pose │ │ ├── history.h │ │ └── motion3-horn.h ├── preg6d │ ├── cluster.h │ ├── io │ │ └── ioplanes.h │ ├── match │ │ ├── clustermatcher.h │ │ ├── matcher.h │ │ ├── planematcher.h │ │ └── simplematchers.h │ ├── model │ │ ├── detectplanes.h │ │ ├── normalplane.h │ │ └── planescan.h │ ├── opt │ │ ├── adadelta6d.h │ │ ├── gaussnewton.h │ │ ├── newtons6d.h │ │ ├── optimizer.h │ │ └── svd.h │ ├── tree │ │ ├── bkdplanes.h │ │ └── kdplanes.h │ └── util.h ├── qtshow │ ├── GLWidget.h │ ├── MainWindow.h │ ├── NavPushButton.h │ ├── QtShow.h │ ├── ScanPicker.h │ ├── SettingsDialog.h │ ├── ShortcutsDialog.h │ └── spnav_controller.h ├── ros │ ├── calibration.h │ ├── ekf_filter.h │ ├── evaluator.h │ ├── icp6Dwrapper.h │ ├── importer.h │ ├── my_robot_pose_ekf │ │ ├── nonlinearanalyticconditionalgaussianodo.cpp │ │ ├── nonlinearanalyticconditionalgaussianodo.h │ │ ├── odom_estimation.cpp │ │ └── odom_estimation.h │ ├── nrutil.h │ ├── odometry.h │ ├── powell.h │ ├── sickimporter.h │ ├── tdtkroswrapper.h │ └── timemap.h ├── sc_fixed │ ├── sc_ICP.h │ ├── sc_ICP.icc │ ├── sc_ICPapx.h │ ├── sc_ICPminimizer.h │ ├── sc_fixed_converter.h │ └── sc_fixed_math.h ├── scanio │ ├── framesreader.h │ ├── helper.h │ ├── scan_io.h │ ├── scan_io_faro_xyz_rgbr.h │ ├── scan_io_ks.h │ ├── scan_io_ks_rgb.h │ ├── scan_io_laz.h │ ├── scan_io_leica_xyzr.h │ ├── scan_io_ply.h │ ├── scan_io_pts.h │ ├── scan_io_pts_rgb.h │ ├── scan_io_pts_rgbr.h │ ├── scan_io_pts_rrgb.h │ ├── scan_io_ptsr.h │ ├── scan_io_riegl_rgb.h │ ├── scan_io_riegl_txt.h │ ├── scan_io_rts.h │ ├── scan_io_rxp.h │ ├── scan_io_uos.h │ ├── scan_io_uos_normal.h │ ├── scan_io_uos_rgb.h │ ├── scan_io_uos_rgbr.h │ ├── scan_io_uos_rrgb.h │ ├── scan_io_uos_rrgbt.h │ ├── scan_io_uosc.h │ ├── scan_io_uosr.h │ ├── scan_io_velodyne.h │ ├── scan_io_xyz.h │ ├── scan_io_xyz_rgb.h │ ├── scan_io_xyz_rgba.h │ ├── scan_io_xyz_rgbr.h │ ├── scan_io_xyz_rrgb.h │ ├── scan_io_xyzc.h │ ├── scan_io_xyzr.h │ └── writer.h ├── scanserver │ ├── cache │ │ ├── accessData.h │ │ ├── cacheDataAccess.h │ │ ├── cacheHandler.h │ │ ├── cacheManager.h │ │ └── cacheObject.h │ ├── cacheIO.h │ ├── clientInterface.h │ ├── defines.h │ ├── frame.h │ ├── frame_io.h │ ├── metrics.h │ ├── multiArray.h │ ├── pointfilter.icc │ ├── scanHandler.h │ ├── serverInterface.h │ ├── serverScan.h │ ├── sharedScan.h │ └── temporaryHandler.h ├── segmentation │ ├── FHGraph.h │ ├── disjoint-set.h │ ├── graph_cut │ │ ├── blob_color.h │ │ ├── david_graph.h │ │ ├── graph_cut.h │ │ └── util.h │ └── segment-graph.h ├── shapes │ ├── ConfigFileHough.h │ ├── ConfigFileHough.icc │ ├── NumberRecOctree.h │ ├── accumulator.h │ ├── config_sickday.h │ ├── convexplane.h │ ├── geom_math.h │ ├── hough.h │ ├── hsm3d.h │ ├── image.h │ ├── integralimg.h │ ├── numberrec.h │ ├── numbers.h │ ├── parascan.h │ ├── ppair.h │ ├── quadtree.h │ ├── ransac.h │ ├── ransac_Boctree.h │ ├── scan_ransac.h │ ├── shape.h │ └── sickday.h ├── show │ ├── NurbsPath.h │ ├── PathGraph.h │ ├── callbacks_glut.h │ ├── colordisplay.h │ ├── colormanager.h │ ├── compacttree.h │ ├── cylinderFitting.h │ ├── display.h │ ├── dummygl.h │ ├── program_options.h │ ├── scancolormanager.h │ ├── selectionframe.h │ ├── show.h │ ├── show.icc │ ├── show1.icc │ ├── show_Boctree.h │ ├── show_animate.h │ ├── show_common.h │ ├── show_gl.h │ ├── show_menu.h │ ├── url.h │ ├── url.png │ ├── vertexarray.h │ ├── viewcull.h │ └── wxshow.h ├── slam6d │ ├── Boctree.h │ ├── BruteForceNotATree.h │ ├── allocator.h │ ├── ann_kd.h │ ├── atomize.h │ ├── basicScan.h │ ├── bkd.h │ ├── bkdIndexed.h │ ├── condense.h │ ├── convergence.h │ ├── data_types.h │ ├── elch6D.h │ ├── elch6Deuler.h │ ├── elch6Dquat.h │ ├── elch6Dslerp.h │ ├── elch6DunitQuat.h │ ├── fbr │ │ ├── click_tool.h │ │ ├── fbr_global.h │ │ ├── feature.h │ │ ├── feature_drawer.h │ │ ├── feature_matcher.h │ │ ├── geoRefrencing.h │ │ ├── panorama.h │ │ ├── projection.h │ │ ├── registration.h │ │ └── scan_cv.h │ ├── frame.h │ ├── gapx6D.h │ ├── ghelix6DQ2.h │ ├── globals.icc │ ├── graph.h │ ├── graphSlam6D.h │ ├── icp6D.h │ ├── icp6D.icc │ ├── icp6Dapx.h │ ├── icp6Ddual.h │ ├── icp6Dhelix.h │ ├── icp6Dlumeuler.h │ ├── icp6Dlumquat.h │ ├── icp6Dminimizer.h │ ├── icp6Dnapx.h │ ├── icp6Dortho.h │ ├── icp6Dquat.h │ ├── icp6Dquatscale.h │ ├── icp6Dsvd.h │ ├── io_types.h │ ├── io_utils.h │ ├── kd.h │ ├── kdIndexed.h │ ├── kdManaged.h │ ├── kdMeta.h │ ├── kdTreeImpl.h │ ├── kdparams.h │ ├── loopSlam6D.h │ ├── lum6Deuler.h │ ├── lum6DeulerS.h │ ├── lum6Dquat.h │ ├── managedScan.h │ ├── metaScan.h │ ├── metrics.h │ ├── nnparams.h │ ├── normals.h │ ├── pairingMode.h │ ├── point.h │ ├── point.icc │ ├── point_type.h │ ├── point_type.icc │ ├── pointfilter.h │ ├── pointfilter.icc │ ├── ptpair.h │ ├── ptpair.icc │ ├── scan.h │ ├── scan.icc │ ├── scan_settings.h │ ├── searchTree.h │ └── subgraph_options.h ├── spherical_quadtree │ └── spherical_quadtree.h ├── srr │ ├── continuousreg.h │ ├── gapx6D.h │ ├── ghelix6DQ2.h │ ├── graphSlam6DL.h │ ├── lboctree.h │ ├── linescan.h │ ├── lnnparams.h │ ├── lsegment.h │ ├── lum6Deuler.h │ ├── simplereg.h │ └── srr_program_options.h ├── thermo │ └── thermo.h ├── tsdf │ ├── Sensor.h │ ├── SensorPolar3D.h │ ├── TsdSpaceVDB.h │ └── TsdVoxelVDB.h └── veloslam │ ├── cluster_classification.h │ ├── clusterboundingbox.h │ ├── color_util.h │ ├── debugview.h │ ├── gridcell.h │ ├── gridcluster.h │ ├── intersection_detection.h │ ├── kalmanfilter.h │ ├── lap.h │ ├── math_util.h │ ├── matrix.h │ ├── multiscan_random_field.h │ ├── pcddump.h │ ├── svm.h │ ├── tracker.h │ ├── trackermanager.h │ ├── velodefs.h │ └── veloscan.h ├── know_issues.txt ├── package.xml ├── pixi.toml ├── src ├── calibration │ ├── AprilTag.cc │ ├── AprilTagDetector.cc │ ├── ArucoDetector.cc │ ├── CCTagDetector.cc │ ├── CMakeLists.txt │ ├── CalibrationPattern.cc │ ├── CalibrationToolbox.cc │ ├── Calibrator.cc │ ├── Chessboard.cc │ ├── ChessboardDetector.cc │ ├── CirclesGridDetector.cc │ ├── DetectionFileHandler.cpp │ ├── PArUcoDetector.cc │ ├── PictureHandler.cc │ ├── PinholeModel.cc │ ├── calibrate.cc │ ├── camcal.cc │ ├── createAprilGrid.py │ ├── detect.cc │ ├── planeFromExtrinsics.cc │ ├── transformsFromExtrinsics.cc │ ├── undistortImage.cc │ └── undistortPoints.cc ├── collision │ ├── CMakeLists.txt │ ├── collision_model.cc │ ├── extract_hull.cc │ ├── segment_colliding.cc │ └── utils │ │ ├── BET2camera.py │ │ ├── BET2frames.py │ │ ├── BET2frames_bogie.py │ │ ├── BET2frames_spline.py │ │ ├── add_rotation_to_trajectory.py │ │ ├── frames2camera.py │ │ ├── lastxt2xyzr.py │ │ ├── move2com.py │ │ ├── normalize_reflectance.py │ │ ├── resampleBET.py │ │ └── resampleframes.py ├── cuda │ ├── CMakeLists.txt │ ├── grid.cc │ ├── grid_kernel.cu │ └── tools.cc ├── curvefusion │ ├── CMakeLists.txt │ ├── common.cc │ ├── curves.cc │ ├── extractTrajectory.cc │ ├── fusion.cc │ ├── tf_broadcaster.cc │ └── timestamps.cc ├── detectCylinder │ ├── CMakeLists.txt │ ├── circleDetector.cc │ ├── configFileCylinderDetector.cc │ ├── cylinderAxisDetector.cc │ ├── cylinderDetector.cc │ └── detectCylinder.cc ├── floorplan │ ├── CMakeLists.txt │ ├── colorGradient.cc │ ├── floorPlan.cc │ ├── floorplan_extractor.cc │ ├── plane3d.cc │ ├── point3d.cc │ ├── rotation3d.cc │ ├── scene.cc │ ├── util.cc │ └── vector3d.cc ├── gps │ ├── CMakeLists.txt │ ├── gpstools.cc │ ├── rtk2pose.cc │ └── scan2utm.cc ├── grid │ ├── 2DGridder.cc │ ├── CMakeLists.txt │ ├── docu.tex │ ├── grid.cc │ ├── gridPoint.cc │ ├── gridWriter.cc │ ├── gridlines.cc │ ├── hough.cc │ ├── line.cc │ ├── parcel.cc │ ├── parcelinfo.cc │ ├── parcelmanager.cc │ ├── scanGrid.cc │ ├── scanToGrid.cc │ ├── scanmanager.cc │ └── viewpointinfo.cc ├── mesh │ ├── CMakeLists.txt │ ├── README.md │ ├── auto_scan_red.cc │ ├── calc_normals.cc │ ├── mesh.cc │ ├── parse_options.cc │ ├── poisson.cc │ ├── recon.cc │ ├── recon_commons.cc │ └── testmesh.cc ├── model │ ├── CMakeLists.txt │ ├── candidateOpening.cc │ ├── graphicsAlg.cc │ ├── labeledPlane3d.cc │ ├── model.cc │ ├── plane3d.cc │ ├── point3d.cc │ ├── rotation3d.cc │ ├── scene.cc │ ├── util.cc │ └── vector3d.cc ├── normals │ ├── CMakeLists.txt │ ├── calc_normals.cc │ └── normals_panorama.cc ├── parsers │ └── range_set_parser.cc ├── peopleremover │ ├── CMakeLists.txt │ ├── common.cc │ ├── kitti2scan.py │ ├── peopleremover.cc │ ├── peopleremover.py │ └── scan_diff.py ├── pmd │ ├── CMakeLists.txt │ ├── README │ ├── calibrate │ │ ├── calibrate.cc │ │ ├── extrinsic.cc │ │ ├── grabFramesCam.cc │ │ └── grabFramesPMD.cc │ ├── cvpmd.cc │ ├── distortion-cam-6x4.xml │ ├── distortion-pmd-6x4.xml │ ├── essential-rot.xml │ ├── essential-trn.xml │ ├── intrinsic-cam-6x4.xml │ ├── intrinsic-pmd-6x4.xml │ ├── o3d.L32.pcp │ ├── offline │ │ ├── convertToSLAM6D.cc │ │ ├── grabVideoAnd3D.cc │ │ ├── pmdc.conf │ │ └── rename │ ├── pmdWrap.cc │ ├── pmdaccess2 │ │ └── pmdaccess.cc │ ├── pmdc.conf │ └── pose │ │ ├── dat │ │ └── commas2dots │ │ ├── djvm.ttf │ │ ├── history.cc │ │ ├── motion3-horn.cc │ │ ├── pmdc.conf │ │ └── pose.cc ├── preg6d │ ├── CMakeLists.txt │ ├── cluster.cc │ ├── io │ │ └── ioplanes.cc │ ├── match │ │ ├── clustermatcher.cc │ │ ├── matcher.cc │ │ ├── planematcher.cc │ │ └── simplematchers.cc │ ├── model │ │ ├── detectplanes.cc │ │ ├── normalplane.cc │ │ ├── planescan.cc │ │ └── rg.cc │ ├── opt │ │ ├── adadelta6d.cc │ │ ├── gaussnewton.cc │ │ ├── newtons6d.cc │ │ ├── optimizer.cc │ │ └── svd.cc │ ├── pgr.cc │ ├── planereg.cc │ ├── polyreg.cc │ └── tree │ │ ├── bkdplanes.cc │ │ └── kdplanes.cc ├── qtshow │ ├── CMakeLists.txt │ ├── GLWidget.cc │ ├── MainWindow.cc │ ├── MainWindow.ui │ ├── NavPushButton.cc │ ├── QtShow.cc │ ├── ScanPicker.cc │ ├── ScanPicker.ui │ ├── SettingsDialog.cc │ ├── SettingsDialog.ui │ ├── ShortcutsDialog.cc │ ├── ShortcutsDialog.ui │ ├── main.cc │ └── spnav_controller.cc ├── ros │ ├── CMakeLists.txt │ ├── bag2scan.cc │ ├── calibration.cc │ ├── cartographer2scan.cc │ ├── ekf_filter.cc │ ├── icp6D_node.cc │ ├── icp6Dwrapper.cc │ ├── importer.cc │ ├── my_robot_pose_ekf │ │ ├── nonlinearanalyticconditionalgaussianodo.cpp │ │ └── odom_estimation.cpp │ ├── nrutil.cc │ ├── odometry.cc │ ├── powell.cc │ ├── riegl │ │ ├── CMakeLists.txt │ │ └── msg │ │ │ ├── RieglStatus.msg │ │ │ └── RieglTime.msg │ ├── ros_listener.cc │ ├── scan2bag.cc │ ├── tdtkroswrapper.cc │ └── volksbotRT │ │ ├── CMakeLists.txt │ │ └── msg │ │ ├── pose2d.msg │ │ └── ticks.msg ├── sc_fixed │ ├── CMakeLists.txt │ ├── sc_ICP.cc │ ├── sc_ICPapx.cc │ ├── sc_fixed_converter.cc │ └── sc_fixed_math.cc ├── scanio │ ├── CMakeLists.txt │ ├── calibration.txt │ ├── framesreader.cc │ ├── helper.cc │ ├── old2uosr.py │ ├── scan_io.cc │ ├── scan_io_faro_xyz_rgbr.cc │ ├── scan_io_ks.cc │ ├── scan_io_ks_rgb.cc │ ├── scan_io_laz.cc │ ├── scan_io_leica_xyzr.cc │ ├── scan_io_ply.cc │ ├── scan_io_pts.cc │ ├── scan_io_pts_rgb.cc │ ├── scan_io_pts_rgbr.cc │ ├── scan_io_pts_rrgb.cc │ ├── scan_io_ptsr.cc │ ├── scan_io_riegl_rgb.cc │ ├── scan_io_riegl_txt.cc │ ├── scan_io_rts.cc │ ├── scan_io_rxp.cc │ ├── scan_io_uos.cc │ ├── scan_io_uos_normal.cc │ ├── scan_io_uos_rgb.cc │ ├── scan_io_uos_rgbr.cc │ ├── scan_io_uos_rrgb.cc │ ├── scan_io_uos_rrgbt.cc │ ├── scan_io_uosc.cc │ ├── scan_io_uosr.cc │ ├── scan_io_velodyne.cc │ ├── scan_io_xyz.cc │ ├── scan_io_xyz_rgb.cc │ ├── scan_io_xyz_rgba.cc │ ├── scan_io_xyz_rgbr.cc │ ├── scan_io_xyz_rrgb.cc │ ├── scan_io_xyzc.cc │ ├── scan_io_xyzr.cc │ └── writer.cc ├── scanner │ ├── CMakeLists.txt │ └── david_scanner.cc ├── scanserver │ ├── CMakeLists.txt │ ├── cache │ │ ├── accessData.cc │ │ ├── cacheDataAccess.cc │ │ ├── cacheHandler.cc │ │ ├── cacheManager.cc │ │ └── cacheObject.cc │ ├── cacheIO.cc │ ├── clientInterface.cc │ ├── frame_io.cc │ ├── metrics.cc │ ├── scanHandler.cc │ ├── scanserver.cc │ ├── serverInterface.cc │ ├── serverScan.cc │ ├── sharedScan.cc │ └── temporaryHandler.cc ├── segmentation │ ├── CMakeLists.txt │ ├── FHGraph.cc │ ├── disjoint-set.cc │ ├── fhsegmentation.cc │ ├── graph_cut │ │ ├── blob_color.cc │ │ ├── graph_cut.cc │ │ └── util.cc │ ├── scan2segments.cc │ └── segment-graph.cc ├── shapes │ ├── CMakeLists.txt │ ├── ConfigFileHough.cc │ ├── accumulator.cc │ ├── convexplane.cc │ ├── geom_math.cc │ ├── hough.cc │ ├── hsm3d.cc │ ├── image.cc │ ├── matchMarker.cc │ ├── numberrec.cc │ ├── parascan.cc │ ├── plane.cc │ ├── quadtree.cc │ ├── scan_ransac.cc │ ├── shapes.cc │ └── toImage.cc ├── show │ ├── CMakeLists.txt │ ├── NurbsPath.cc │ ├── PathGraph.cc │ ├── callbacks_glut.cpp │ ├── colormanager.cc │ ├── compacttree.cc │ ├── cylinderFitting.cc │ ├── display.cc │ ├── imshow.cc │ ├── program_options.cc │ ├── scancolormanager.cc │ ├── selectionframe.cc │ ├── show.cc │ ├── show_animate.cc │ ├── show_common.cc │ ├── show_gl.cc │ ├── show_menu.cc │ ├── vertexarray.cc │ ├── viewcull.cc │ └── wxshow.cc ├── slam6d │ ├── Boctree.cc │ ├── BruteForceNotATree.cc │ ├── CMakeLists.txt │ ├── allocator.cc │ ├── ann_kd.cc │ ├── atomize.cc │ ├── average6DoFposes.cc │ ├── basicScan.cc │ ├── bkd.cc │ ├── bkdIndexed.cc │ ├── condense.cc │ ├── convergence.cc │ ├── e572scan.cpp │ ├── elch6D.cc │ ├── elch6Deuler.cc │ ├── elch6Dquat.cc │ ├── elch6Dslerp.cc │ ├── elch6DunitQuat.cc │ ├── exportPoints.cc │ ├── fbr │ │ ├── CMakeLists.txt │ │ ├── click_tool.cc │ │ ├── fbr_global.cc │ │ ├── feature.cc │ │ ├── feature_based_registration.cc │ │ ├── feature_drawer.cc │ │ ├── feature_matcher.cc │ │ ├── geoRefrencing.cc │ │ ├── panorama.cc │ │ ├── panorama_matcher.cc │ │ ├── panorama_to_scan.cc │ │ ├── projection.cc │ │ ├── registration.cc │ │ ├── scan_cv.cc │ │ └── scan_to_panorama.cc │ ├── frame_to_graph.cc │ ├── frames2kitti.cc │ ├── frames2pose.cc │ ├── frames2riegl.cc │ ├── frames2tum.cc │ ├── framesdiff2frames.cc │ ├── gapx6D.cc │ ├── ghelix6DQ2.cc │ ├── graph.cc │ ├── graphSlam6D.cc │ ├── graph_balancer.cc │ ├── icp6D.cc │ ├── icp6Dapx.cc │ ├── icp6Ddual.cc │ ├── icp6Dhelix.cc │ ├── icp6Dlumeuler.cc │ ├── icp6Dlumquat.cc │ ├── icp6Dnapx.cc │ ├── icp6Dortho.cc │ ├── icp6Dquat.cc │ ├── icp6Dquatscale.cc │ ├── icp6Dsvd.cc │ ├── icpFixpoint.cc │ ├── io_types.cc │ ├── io_utils.cc │ ├── kd.cc │ ├── kdIndexed.cc │ ├── kdManaged.cc │ ├── kdMeta.cc │ ├── kitti2pose.cc │ ├── kitti2scan.cc │ ├── lum6Deuler.cc │ ├── lum6DeulerS.cc │ ├── lum6Dquat.cc │ ├── managedScan.cc │ ├── match_with_ground_truth.cc │ ├── metaScan.cc │ ├── metrics.cc │ ├── multFrames.cc │ ├── normals.cc │ ├── point_type.cc │ ├── pointfilter.cc │ ├── pose2frames.cc │ ├── riegl2frames.cc │ ├── sICP.cc │ ├── scan.cc │ ├── scan2features.cc │ ├── scan2scan_distance.cc │ ├── scan_diff.cc │ ├── scan_diff2d.cc │ ├── scan_red.cc │ ├── searchTree.cc │ ├── slam6D.cc │ ├── subgraphicp.cc │ ├── testICPortho.m │ ├── toGlobal.cc │ ├── trajectoryLength.cc │ ├── transformFrames.cc │ └── vigo23dtk.cc ├── spherical_quadtree │ ├── CMakeLists.txt │ ├── spherical_quadtree.cc │ ├── spherical_quadtree.py │ └── test.py ├── srr │ ├── CMakeLists.txt │ ├── continuousreg.cc │ ├── correction.cc │ ├── correction.cc~ │ ├── gapx6D.cc │ ├── ghelix6DQ2.cc │ ├── linescan.cc │ ├── lsegment.cc │ ├── lum6Deuler.cc │ ├── simplereg.cc │ └── srr_program_options.cc ├── thermo │ ├── CMakeLists.txt │ ├── caliboard.cc │ └── thermo.cc ├── tools │ ├── CMakeLists.txt │ ├── rxp2gps.cc │ ├── rxp2pose.cc │ └── rxpinfo.cc ├── tsdf │ ├── CMakeLists.txt │ ├── Sensor.cc │ ├── SensorPolar3D.cc │ ├── TsdSpaceVDB.cc │ ├── TsdVoxelVDB.cc │ ├── scan2tsdf.cc │ ├── scan2vdb.cc │ └── vdb2mesh.cc └── veloslam │ ├── CMakeLists.txt │ ├── SegIter.model │ ├── cluster_classification.cc │ ├── clusterboundingbox.cc │ ├── debugview.cc │ ├── drawtrackers.cc │ ├── intersection_detection.cc │ ├── kalmanfilter.cc │ ├── lap.cc │ ├── matrix.cc │ ├── multiscan_random_field.cc │ ├── pcddump.cc │ ├── svm.cc │ ├── tracker.cc │ ├── trackermanager.cc │ ├── veloscan.cc │ ├── veloshow.cc │ └── veloslam.cc ├── testing ├── CMakeLists.txt ├── apriltag │ ├── CMakeLists.txt │ └── main.cc ├── codestyle │ ├── CMakeLists.txt │ ├── line_endings.cc │ └── trailing_whitespace.cc ├── data │ ├── change_detection │ │ ├── CMakeLists.txt │ │ └── generate.cc │ └── icosphere │ │ ├── CMakeLists.txt │ │ ├── create_icosphere.cc │ │ └── zip.cc ├── kdtree │ ├── CMakeLists.txt │ ├── bkdtree.cc │ ├── kdtree.cc │ ├── kdtree_indexed.cc │ └── kdtree_indexed_random.cc ├── model │ ├── CMakeLists.txt │ ├── test_point3d.cc │ └── test_rotation3d.cc ├── peopleremover │ ├── CMakeLists.txt │ └── hashes.txt ├── scanio │ ├── CMakeLists.txt │ ├── helper.cc │ ├── readscans.cc │ └── zipreader.cc ├── segmentation │ ├── CMakeLists.txt │ ├── disjoint-set.cc │ └── segment-graph.cc └── show │ ├── CMakeLists.txt │ ├── compare_png.cc │ 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