├── .circleci └── config.yml ├── .clang-format ├── .clang-tidy ├── .github ├── check_style.sh ├── clang_git_format │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── clang_git_format │ │ ├── __init__.py │ │ ├── clang_format.py │ │ ├── config.py │ │ ├── custom_exceptions.py │ │ ├── repo.py │ │ └── utils.py │ └── format_code.py ├── python_clang_format_reqs.txt └── workflows │ ├── check-clang-format.yml │ └── ros-build.yml ├── .gitignore ├── .gitmodules ├── .vscode └── settings.json ├── 3rdparty └── CMakeLists.txt ├── CHANGELOG.rst ├── CMakeLists.txt ├── COPYING ├── README.md ├── apps ├── CMakeLists.txt ├── icp-log-viewer │ ├── CMakeLists.txt │ └── main.cpp ├── icp-run │ ├── CMakeLists.txt │ └── main.cpp ├── kitti2mm │ ├── CMakeLists.txt │ └── main.cpp ├── libcfgpath │ ├── .clang-format │ ├── README.md │ └── cfgpath.h ├── mm-filter │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp ├── mm-georef │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp ├── mm-info │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp ├── mm-viewer │ ├── CMakeLists.txt │ └── main.cpp ├── mm2txt │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp ├── rawlog-filter │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp ├── sm-cli │ ├── CMakeLists.txt │ ├── README.md │ ├── sm-cli-cut.cpp │ ├── sm-cli-export-kfs.cpp │ ├── sm-cli-export-rawlog.cpp │ ├── sm-cli-info.cpp │ ├── sm-cli-join.cpp │ ├── sm-cli-level.cpp │ ├── sm-cli-main.cpp │ ├── sm-cli-tf.cpp │ ├── sm-cli-trim.cpp │ └── sm-cli.h ├── sm2mm │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp └── txt2mm │ ├── CMakeLists.txt │ ├── README.md │ └── main.cpp ├── codecov.yml ├── colcon_defaults.yaml ├── demos ├── bunny_decim.xyz.gz ├── global_001.mm ├── happy_buddha_decim.xyz.gz ├── icp-settings-2d-lidar-example-point2line.yaml ├── icp-settings-2d-lidar-example-point2point.yaml ├── icp-settings-example1.yaml ├── icp-settings-kitti.yaml ├── local_001.mm ├── mm-filter_voxelmap_to_gridmap.yaml ├── sm2mm_bonxai_voxelmap.yaml ├── sm2mm_bonxai_voxelmap_gridmap.yaml ├── sm2mm_bonxai_voxelmap_gridmap_no_deskew.yaml ├── sm2mm_no_decim_imu.yaml ├── sm2mm_no_decim_imu_mls.yaml ├── sm2mm_no_decim_imu_mls_keyframe_map.yaml ├── sm2mm_pointcloud_voxelize.yaml ├── sm2mm_pointcloud_voxelize_no_deskew.yaml └── sm2mm_voxels_static_dynamic_points.yaml ├── docs ├── .gitignore ├── Makefile ├── Pairings.pptx ├── README.md ├── metric_map_t.pptx ├── mp2p_pairings.pptx ├── requirements.txt └── source │ ├── Doxyfile │ ├── _templates │ ├── footer.html │ ├── layout.html │ └── sourcelink.html │ ├── app_icp-log-viewer.rst │ ├── app_icp-run.rst │ ├── app_kitti2mm.rst │ ├── app_mm-filter.rst │ ├── app_mm-georef.rst │ ├── app_mm-info.rst │ ├── app_mm-viewer.rst │ ├── app_mm2txt.rst │ ├── app_sm-cli.rst │ ├── app_sm2mm.rst │ ├── app_txt2mm.rst │ ├── bibliography.rst │ ├── conf.py │ ├── doxygen-layout.xml │ ├── doxyrest-config.lua │ ├── doxyrest-frames │ ├── cfamily │ │ ├── class.rst.in │ │ ├── compound.rst.in │ │ ├── crefdb.py.in │ │ ├── crefdb_enums.py.in │ │ ├── crefdb_items.py.in │ │ ├── crefdb_members.py.in │ │ ├── details_aliases.rst.in │ │ ├── details_construction.rst.in │ │ ├── details_defines.rst.in │ │ ├── details_events.rst.in │ │ ├── details_functions.rst.in │ │ ├── details_properties.rst.in │ │ ├── details_typedefs.rst.in │ │ ├── details_unnamed_enum_values.rst.in │ │ ├── details_variables.rst.in │ │ ├── enum.rst.in │ │ ├── example.rst.in │ │ ├── global.rst.in │ │ ├── index.rst.in │ │ ├── namespace.rst.in │ │ ├── overview_aliases.rst.in │ │ ├── overview_classes.rst.in │ │ ├── overview_common.rst.in │ │ ├── overview_compound.rst.in │ │ ├── overview_construction.rst.in │ │ ├── overview_defines.rst.in │ │ ├── overview_enums.rst.in │ │ ├── overview_events.rst.in │ │ ├── overview_functions.rst.in │ │ ├── overview_members.rst.in │ │ ├── overview_namespaces.rst.in │ │ ├── overview_properties.rst.in │ │ ├── overview_typedefs.rst.in │ │ ├── overview_variables.rst.in │ │ ├── scope_class.rst.in │ │ ├── scope_namespace.rst.in │ │ └── utils.lua │ └── common │ │ ├── crefdb_groups.py.in │ │ ├── crefdb_items.py.in │ │ ├── details.rst.in │ │ ├── doc.lua │ │ ├── footnotes.rst.in │ │ ├── group.rst.in │ │ ├── index_main.rst.in │ │ ├── item.lua │ │ ├── page.rst.in │ │ ├── string.lua │ │ ├── table.lua │ │ └── toc.lua │ ├── imgs │ ├── Pairings.png │ ├── metric_map_t.png │ ├── metric_map_t_with_details.png │ ├── mola-architecture.png │ └── mp2p_pairings.png │ ├── index.rst │ ├── mp2p_icp_applications.rst │ ├── mp2p_icp_basics.rst │ ├── mp2p_icp_filters.rst │ └── mp2p_icp_optimal-transformations.rst ├── mp2p_icp ├── CMakeLists.txt ├── include │ └── mp2p_icp │ │ ├── ICP.h │ │ ├── IterTermReason.h │ │ ├── LogRecord.h │ │ ├── Matcher.h │ │ ├── Matcher_Adaptive.h │ │ ├── Matcher_Cov2Cov.h │ │ ├── Matcher_Point2Line.h │ │ ├── Matcher_Point2Plane.h │ │ ├── Matcher_Points_Base.h │ │ ├── Matcher_Points_DistanceThreshold.h │ │ ├── Matcher_Points_InlierRatio.h │ │ ├── OptimalTF_Result.h │ │ ├── PairWeights.h │ │ ├── Pairings.h │ │ ├── Parameters.h │ │ ├── QualityEvaluator.h │ │ ├── QualityEvaluator_PairedRatio.h │ │ ├── QualityEvaluator_RangeImageSimilarity.h │ │ ├── QualityEvaluator_Voxels.h │ │ ├── Results.h │ │ ├── Solver.h │ │ ├── Solver_GaussNewton.h │ │ ├── Solver_Horn.h │ │ ├── Solver_OLAE.h │ │ ├── WeightParameters.h │ │ ├── covariance.h │ │ ├── errorTerms.h │ │ ├── icp_pipeline_from_yaml.h │ │ ├── optimal_tf_gauss_newton.h │ │ ├── optimal_tf_horn.h │ │ ├── optimal_tf_olae.h │ │ ├── pt2ln_pl_to_pt2pt.h │ │ └── robust_kernels.h └── src │ ├── ICP.cpp │ ├── LogRecord.cpp │ ├── Matcher.cpp │ ├── Matcher_Adaptive.cpp │ ├── Matcher_Cov2Cov.cpp │ ├── Matcher_Point2Line.cpp │ ├── Matcher_Point2Plane.cpp │ ├── Matcher_Points_Base.cpp │ ├── Matcher_Points_DistanceThreshold.cpp │ ├── Matcher_Points_InlierRatio.cpp │ ├── PairWeights.cpp │ ├── Pairings.cpp │ ├── Parameters.cpp │ ├── QualityEvaluator.cpp │ ├── QualityEvaluator_PairedRatio.cpp │ ├── QualityEvaluator_RangeImageSimilarity.cpp │ ├── QualityEvaluator_Voxels.cpp │ ├── Results.cpp │ ├── Solver.cpp │ ├── Solver_GaussNewton.cpp │ ├── Solver_Horn.cpp │ ├── Solver_OLAE.cpp │ ├── WeightParameters.cpp │ ├── covariance.cpp │ ├── errorTerms.cpp │ ├── icp_pipeline_from_yaml.cpp │ ├── optimal_tf_gauss_newton.cpp │ ├── optimal_tf_horn.cpp │ ├── optimal_tf_olae.cpp │ ├── pt2ln_pl_to_pt2pt.cpp │ ├── register.cpp │ └── visit_correspondences.h ├── mp2p_icp_common ├── CMakeLists.txt ├── include │ └── mp2p_icp │ │ ├── Parameterizable.h │ │ └── load_plugin.h └── src │ ├── Parameterizable.cpp │ ├── load_plugin.cpp │ └── register.cpp ├── mp2p_icp_filters ├── CMakeLists.txt ├── include │ └── mp2p_icp_filters │ │ ├── FilterAdjustTimestamps.h │ │ ├── FilterBase.h │ │ ├── FilterBoundingBox.h │ │ ├── FilterByIntensity.h │ │ ├── FilterByRange.h │ │ ├── FilterByRing.h │ │ ├── FilterCurvature.h │ │ ├── FilterDecimateAdaptive.h │ │ ├── FilterDecimateVoxels.h │ │ ├── FilterDeleteLayer.h │ │ ├── FilterDeskew.h │ │ ├── FilterEdgesPlanes.h │ │ ├── FilterFartherPointSampling.h │ │ ├── FilterMLS.h │ │ ├── FilterMerge.h │ │ ├── FilterNormalizeIntensity.h │ │ ├── FilterPoleDetector.h │ │ ├── FilterRemoveByVoxelOccupancy.h │ │ ├── FilterVoxelSlice.h │ │ ├── Generator.h │ │ ├── GeneratorEdgesFromCurvature.h │ │ ├── GeneratorEdgesFromRangeImage.h │ │ ├── GetOrCreatePointLayer.h │ │ ├── PointCloudToVoxelGrid.h │ │ ├── PointCloudToVoxelGridSingle.h │ │ └── sm2mm.h └── src │ ├── FilterAdjustTimestamps.cpp │ ├── FilterBase.cpp │ ├── FilterBoundingBox.cpp │ ├── FilterByIntensity.cpp │ ├── FilterByRange.cpp │ ├── FilterByRing.cpp │ ├── FilterCurvature.cpp │ ├── FilterDecimateAdaptive.cpp │ ├── FilterDecimateVoxels.cpp │ ├── FilterDeleteLayer.cpp │ ├── FilterDeskew.cpp │ ├── FilterEdgesPlanes.cpp │ ├── FilterFartherPointSampling.cpp │ ├── FilterMLS.cpp │ ├── FilterMerge.cpp │ ├── FilterNormalizeIntensity.cpp │ ├── FilterPoleDetector.cpp │ ├── FilterRemoveByVoxelOccupancy.cpp │ ├── FilterVoxelSlice.cpp │ ├── Generator.cpp │ ├── GeneratorEdgesFromCurvature.cpp │ ├── GeneratorEdgesFromRangeImage.cpp │ ├── GetOrCreatePointLayer.cpp │ ├── PointCloudToVoxelGrid.cpp │ ├── PointCloudToVoxelGridSingle.cpp │ ├── register.cpp │ └── sm2mm.cpp ├── mp2p_icp_map ├── CMakeLists.txt ├── include │ └── mp2p_icp │ │ ├── IcpPrepareCapable.h │ │ ├── MetricMapMergeCapable.h │ │ ├── NearestPlaneCapable.h │ │ ├── NearestPointWithCovCapable.h │ │ ├── estimate_points_eigen.h │ │ ├── layer_name_t.h │ │ ├── load_xyz_file.h │ │ ├── metricmap.h │ │ ├── plane_patch.h │ │ ├── point_plane_pair_t.h │ │ ├── point_with_cov_pair_t.h │ │ ├── pointcloud_bitfield.h │ │ ├── pointcloud_sanity_check.h │ │ └── render_params.h └── src │ ├── IcpPrepareCapable.cpp │ ├── MetricMapMergeCapable.cpp │ ├── NearestPlaneCapable.cpp │ ├── NearestPointWithCovCapable.cpp │ ├── estimate_points_eigen.cpp │ ├── load_xyz_file.cpp │ ├── metricmap.cpp │ ├── point_with_cov_pair_t.cpp │ ├── pointcloud_sanity_check.cpp │ └── register.cpp ├── package.xml ├── scripts ├── formatter.sh ├── kitti-batch-convert.py ├── kitti-run-seq.py └── viewSimilarityImages.m └── tests ├── CMakeLists.txt ├── test-mp2p_FilterDecimateVoxels.cpp ├── test-mp2p_Filters.cpp ├── test-mp2p_deskew.cpp ├── test-mp2p_error_terms_jacobians.cpp ├── test-mp2p_georef_yaml.cpp ├── test-mp2p_icp_algos.cpp ├── test-mp2p_map_serialization.cpp ├── test-mp2p_matcher_pt2pl.cpp ├── test-mp2p_matcher_pt2pt.cpp ├── test-mp2p_matcher_pt2pt_parameterizable.cpp ├── test-mp2p_optimal_tf_algos.cpp ├── test-mp2p_optimize_cov2cov.cpp ├── test-mp2p_optimize_pt2ln.cpp ├── test-mp2p_optimize_pt2pl.cpp ├── test-mp2p_optimize_with_prior.cpp ├── test-mp2p_quality_reproject_ranges.cpp └── test-mp2p_quality_voxels.cpp /.circleci/config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MOLAorg/mp2p_icp/HEAD/.circleci/config.yml 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