├── .gitignore ├── .gitmodules ├── .ycm_extra_conf.py ├── CMakeLists.txt ├── Doxyfile.in ├── README.md ├── cmake ├── FindEigen3.cmake └── FindICP.cmake.in ├── cmake_modules ├── FindEigen3.cmake └── FindICP.cmake.in ├── include └── icp │ ├── constraints.hpp │ ├── eigentools.hpp │ ├── error.hpp │ ├── error_point_to_plane.hpp │ ├── error_point_to_plane_sim3.hpp │ ├── error_point_to_plane_so3.hpp │ ├── error_point_to_point.hpp │ ├── error_point_to_point_sim3.hpp │ ├── error_point_to_point_so3.hpp │ ├── icp.hpp │ ├── instanciate.hpp │ ├── linear_algebra.hpp │ ├── logging.hpp │ ├── maximum_absolute_deviation.hpp │ ├── mestimator.hpp │ ├── mestimator_hubert.hpp │ ├── pcltools.hpp │ ├── pointcloud.hpp │ ├── result.hpp │ ├── types.hpp │ └── utils.hpp ├── lib └── gtest-1.6.0 │ ├── CHANGES │ ├── CMakeLists.txt │ ├── CONTRIBUTORS │ ├── COPYING │ ├── Makefile.am │ ├── Makefile.in │ ├── README │ ├── aclocal.m4 │ ├── build-aux │ ├── config.guess │ ├── config.h.in │ ├── config.sub │ ├── depcomp │ ├── install-sh │ ├── ltmain.sh │ └── missing │ ├── cmake │ └── internal_utils.cmake │ ├── codegear │ ├── gtest.cbproj │ ├── gtest.groupproj │ ├── gtest_all.cc │ ├── gtest_link.cc │ ├── gtest_main.cbproj │ └── gtest_unittest.cbproj │ ├── configure │ ├── configure.ac │ ├── fused-src │ └── gtest │ │ ├── gtest-all.cc │ │ ├── gtest.h │ │ └── gtest_main.cc │ ├── include │ └── gtest │ │ ├── gtest-death-test.h │ │ ├── gtest-message.h │ │ ├── gtest-param-test.h │ │ ├── gtest-param-test.h.pump │ │ ├── gtest-printers.h │ │ ├── gtest-spi.h │ │ ├── gtest-test-part.h │ │ ├── gtest-typed-test.h │ │ ├── gtest.h │ │ ├── gtest_pred_impl.h │ │ ├── gtest_prod.h │ │ └── internal │ │ ├── gtest-death-test-internal.h │ │ ├── gtest-filepath.h │ │ ├── gtest-internal.h │ │ ├── gtest-linked_ptr.h │ │ ├── gtest-param-util-generated.h │ │ ├── gtest-param-util-generated.h.pump │ │ ├── gtest-param-util.h │ │ ├── gtest-port.h │ │ ├── gtest-string.h │ │ ├── gtest-tuple.h │ │ ├── gtest-tuple.h.pump │ │ ├── gtest-type-util.h │ │ └── gtest-type-util.h.pump │ ├── m4 │ ├── acx_pthread.m4 │ ├── gtest.m4 │ ├── libtool.m4 │ ├── ltoptions.m4 │ ├── ltsugar.m4 │ ├── ltversion.m4 │ └── lt~obsolete.m4 │ ├── make │ └── Makefile │ ├── msvc │ ├── gtest-md.sln │ ├── gtest-md.vcproj │ ├── gtest.sln │ ├── gtest.vcproj │ ├── gtest_main-md.vcproj │ ├── gtest_main.vcproj │ ├── gtest_prod_test-md.vcproj │ ├── gtest_prod_test.vcproj │ ├── gtest_unittest-md.vcproj │ └── gtest_unittest.vcproj │ ├── samples │ ├── prime_tables.h │ ├── sample1.cc │ ├── sample1.h │ ├── sample10_unittest.cc │ ├── sample1_unittest.cc │ ├── sample2.cc │ ├── sample2.h │ ├── sample2_unittest.cc │ ├── sample3-inl.h │ ├── sample3_unittest.cc │ ├── sample4.cc │ ├── sample4.h │ ├── sample4_unittest.cc │ ├── sample5_unittest.cc │ ├── sample6_unittest.cc │ ├── sample7_unittest.cc │ ├── sample8_unittest.cc │ └── sample9_unittest.cc │ ├── scripts │ ├── fuse_gtest_files.py │ ├── gen_gtest_pred_impl.py │ ├── gtest-config.in │ ├── pump.py │ └── test │ │ └── Makefile │ ├── src │ ├── gtest-all.cc │ ├── gtest-death-test.cc │ ├── gtest-filepath.cc │ ├── gtest-internal-inl.h │ ├── gtest-port.cc │ ├── gtest-printers.cc │ ├── gtest-test-part.cc │ ├── gtest-typed-test.cc │ ├── gtest.cc │ └── gtest_main.cc │ ├── test │ ├── gtest-death-test_ex_test.cc │ ├── gtest-death-test_test.cc │ ├── gtest-filepath_test.cc │ ├── gtest-linked_ptr_test.cc │ ├── gtest-listener_test.cc │ ├── gtest-message_test.cc │ ├── gtest-options_test.cc │ ├── gtest-param-test2_test.cc │ ├── gtest-param-test_test.cc │ ├── gtest-param-test_test.h │ ├── gtest-port_test.cc │ ├── gtest-printers_test.cc │ ├── gtest-test-part_test.cc │ ├── gtest-tuple_test.cc │ ├── gtest-typed-test2_test.cc │ ├── gtest-typed-test_test.cc │ ├── gtest-typed-test_test.h │ ├── gtest-unittest-api_test.cc │ ├── gtest_all_test.cc │ ├── gtest_break_on_failure_unittest.py │ ├── gtest_break_on_failure_unittest_.cc │ ├── gtest_catch_exceptions_test.py │ ├── gtest_catch_exceptions_test_.cc │ ├── gtest_color_test.py │ ├── gtest_color_test_.cc │ ├── gtest_env_var_test.py │ ├── gtest_env_var_test_.cc │ ├── gtest_environment_test.cc │ ├── gtest_filter_unittest.py │ ├── gtest_filter_unittest_.cc │ ├── gtest_help_test.py │ ├── gtest_help_test_.cc │ ├── gtest_list_tests_unittest.py │ ├── gtest_list_tests_unittest_.cc │ ├── gtest_main_unittest.cc │ ├── gtest_no_test_unittest.cc │ ├── gtest_output_test.py │ ├── gtest_output_test_.cc │ ├── gtest_output_test_golden_lin.txt │ ├── gtest_pred_impl_unittest.cc │ ├── gtest_prod_test.cc │ ├── gtest_repeat_test.cc │ ├── gtest_shuffle_test.py │ ├── gtest_shuffle_test_.cc │ ├── gtest_sole_header_test.cc │ ├── gtest_stress_test.cc │ ├── gtest_test_utils.py │ ├── gtest_throw_on_failure_ex_test.cc │ ├── gtest_throw_on_failure_test.py │ ├── gtest_throw_on_failure_test_.cc │ ├── gtest_uninitialized_test.py │ ├── gtest_uninitialized_test_.cc │ ├── gtest_unittest.cc │ ├── gtest_xml_outfile1_test_.cc │ ├── gtest_xml_outfile2_test_.cc │ ├── gtest_xml_outfiles_test.py │ ├── gtest_xml_output_unittest.py │ ├── gtest_xml_output_unittest_.cc │ ├── gtest_xml_test_utils.py │ ├── production.cc │ └── production.h │ └── xcode │ ├── Config │ ├── DebugProject.xcconfig │ ├── FrameworkTarget.xcconfig │ ├── General.xcconfig │ ├── ReleaseProject.xcconfig │ ├── StaticLibraryTarget.xcconfig │ └── TestTarget.xcconfig │ ├── Resources │ └── Info.plist │ ├── Samples │ └── FrameworkSample │ │ ├── Info.plist │ │ ├── WidgetFramework.xcodeproj │ │ └── project.pbxproj │ │ ├── runtests.sh │ │ ├── widget.cc │ │ ├── widget.h │ │ └── widget_test.cc │ ├── Scripts │ ├── runtests.sh │ └── versiongenerate.py │ └── gtest.xcodeproj │ └── project.pbxproj ├── models ├── ladder_robot │ ├── ladder_jr13_arnaud.pcd │ ├── ladder_jrl3.blend │ ├── ladder_jrl3.stl │ └── ladder_jrl3_arnaud.blend ├── teapot.pcd ├── valve.pcd ├── valve_simulation.pcd └── valve_simulation_clean.pcd ├── src ├── CMakeLists.txt ├── examples │ ├── CMakeLists.txt │ ├── icp_methods.cpp │ └── step_by_step.cpp └── icp │ ├── 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