├── .clang-format ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── config.yml │ └── questions.md └── workflows │ ├── ci-cpp.yml │ ├── ci-python.yml │ ├── compile-issue-tests.yml │ └── issue_comment.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CONTRIBUTING.md ├── LICENSE ├── Makefile ├── README.md ├── cpp ├── examples │ ├── 3rdparty │ │ ├── download_datasets.cmake │ │ ├── find_dependencies.cmake │ │ └── tbb │ │ │ ├── LICENSE │ │ │ └── tbb.cmake │ ├── CMakeLists.txt │ ├── COLCON_IGNORE │ ├── README.md │ ├── include │ │ └── quatro │ │ │ ├── fpfh.h │ │ │ ├── matcher.h │ │ │ └── quatro_utils.h │ └── src │ │ ├── conversion_speed_comparison.cc │ │ ├── downsampling_speed_comparison.cc │ │ ├── fpfh.cc │ │ ├── matcher.cc │ │ ├── run_kiss_matcher.cc │ │ └── run_matching_using_bunny.cc └── kiss_matcher │ ├── 3rdparty │ ├── eigen │ │ ├── LICENSE │ │ ├── eigen.cmake │ │ └── eigen.patch │ ├── find_dependencies.cmake │ ├── robin │ │ └── robin.cmake │ ├── tbb │ │ ├── LICENSE │ │ └── tbb.cmake │ ├── teaserpp │ │ └── teaserpp.cmake │ └── tsl_robin │ │ ├── LICENSE │ │ └── tsl_robin.cmake │ ├── CMakeLists.txt │ ├── COLCON_IGNORE │ ├── README.md │ ├── cmake │ ├── CompilerOptions.cmake │ └── kiss_matcherConfig.cmake │ └── core │ └── kiss_matcher │ ├── FasterPFH.cpp │ ├── FasterPFH.hpp │ ├── GncSolver.cpp │ ├── GncSolver.hpp │ ├── KISSMatcher.cpp │ ├── KISSMatcher.hpp │ ├── ROBINMatching.cpp │ ├── ROBINMatching.hpp │ ├── kdtree │ ├── kdtree.hpp │ ├── kdtree_tbb.hpp │ ├── nanoflann.hpp │ ├── nanoflann_tbb.hpp │ └── traits.hpp │ ├── points │ ├── downsampling.hpp │ ├── eigen.hpp │ ├── fast_floor.hpp │ ├── point_cloud.hpp │ ├── traits.hpp │ └── vector3i_hash.hpp │ └── tsl │ ├── robin_growth_policy.h │ ├── robin_hash.h │ ├── robin_map.h │ └── robin_set.h ├── python ├── CMakeLists.txt ├── COLCON_IGNORE ├── LICENSE ├── README.md ├── examples │ └── run_kiss_matcher.py ├── kiss_matcher │ ├── __init__.py │ ├── io_utils.py │ └── pybind │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── kiss_matcher_pybind.cpp │ │ └── stl_vector_eigen.h ├── pyproject.toml ├── tests │ ├── __init__.py │ └── test_kiss_matcher.py └── utils │ ├── bin2pcd.py │ └── download_datasets.py ├── ros ├── CMakeLists.txt ├── LICENSE ├── README.md ├── README_ROS2_REGISTRATION.md ├── config │ ├── alignment_config.yaml │ ├── kimera_multi │ │ ├── ouster64.yaml │ │ └── velodyne16.yaml │ ├── params.yaml │ └── slam_config.yaml ├── include │ ├── slam │ │ ├── loop_closure.h │ │ ├── loop_detector.h │ │ ├── loop_types.hpp │ │ ├── pose_graph_manager.h │ │ ├── pose_graph_node.hpp │ │ └── utils.hpp │ └── tictoc.hpp ├── launch │ ├── inter_frame_alignment.launch.yaml │ ├── run_kiss_matcher_sam.launch.yaml │ ├── slam_in_kimera_multi.launch.yaml │ └── visualizer_launch.py ├── package.xml ├── rviz │ ├── kimera_multi_initial_alignment.rviz │ ├── kiss_matcher_reg.rviz │ ├── kiss_matcher_sam.rviz │ └── slam_in_kimera_multi.rviz └── src │ ├── inter_frame_alignment.cpp │ ├── registration_visualizer.cpp │ ├── 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