├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── config_eth.json └── config_kitti.json ├── data ├── ETH_TLS │ └── facade │ │ ├── s1_v0.1_sor.pcd │ │ ├── s2-s1.pose │ │ ├── s2-s3.pose │ │ ├── s2_s1_top3.match │ │ ├── s2_s3_top3.match │ │ ├── s2_v0.1_sor.pcd │ │ ├── s3-s1.pose │ │ ├── s3_s1_top3.match │ │ └── s3_v0.1_sor.pcd └── KITTI │ └── 09 │ ├── 1380_v0.3.pcd │ ├── 1391-1380.pose │ ├── 1391_1380_top3.match │ ├── 1391_v0.3.pcd │ ├── 191_v0.3.pcd │ ├── 210-191.pose │ ├── 210_191_top3.match │ ├── 210_v0.3.pcd │ ├── 821_v0.3.pcd │ ├── 833-821.pose │ ├── 833_821_top3.match │ └── 833_v0.3.pcd ├── demo.cpp ├── figures ├── framework-a.png └── framework-b.png ├── registration ├── CMakeLists.txt ├── irls_welsch.cpp ├── irls_welsch.h ├── ransac_1pt2pt3pt.cpp ├── ransac_1pt2pt3pt.h ├── tcf.cpp └── tcf.h └── utils ├── CMakeLists.txt ├── for_cloud.cpp ├── for_cloud.h ├── for_io.h ├── for_misc.h └── for_time.h /CMakeLists.txt: 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