├── 3rdparty ├── Sophus.tar.gz └── sophus │ ├── common.hpp │ ├── example_ensure_handler.cpp │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── test_macros.hpp │ └── types.hpp ├── CMakeLists.txt ├── README.md ├── app └── test_optimize_icp_node.cpp ├── bin └── test_optimize_icp ├── config └── config.yaml ├── data ├── cloud-87.pcd ├── cloud-89.pcd └── cloud-91.pcd ├── pic ├── after.png ├── before.png └── output.png └── src ├── cloud_data.h ├── icp_registration.cpp ├── icp_registration.hpp ├── icp_svd_registration.cpp ├── icp_svd_registration.hpp ├── lidarOptimization ├── lidarCeres.cpp └── lidarCeres.h ├── ndt_cpu ├── NormalDistributionsTransform.cpp ├── NormalDistributionsTransform.h ├── Octree.cpp ├── Octree.h ├── Registration.cpp ├── Registration.h ├── SymmetricEigenSolver.h ├── VoxelGrid.cpp ├── VoxelGrid.h ├── debug.h ├── ndt_cpu_registration.cpp └── ndt_cpu_registration.hpp ├── ndt_registration.cpp ├── ndt_registration.hpp ├── 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