├── .gitignore ├── README.md ├── cpp ├── CMakeLists.txt ├── evaluation.cpp ├── openni_grabber.cpp ├── register.cpp ├── registration.cpp ├── registration.h ├── util.cpp └── util.h ├── matlab ├── evaluation │ ├── angular_distance.m │ ├── compound_error_at_offset.m │ ├── mean_diff_at_offset.m │ ├── mean_error_at_offset.m │ ├── mean_true_diff_at_offset.m │ ├── parse_eval_file.m │ ├── plot_eval.m │ └── plot_parameter_tuning.m └── registration │ ├── KinectConfig.xml │ ├── PointCloud.m │ ├── PointCloudSet.m │ ├── capture_D.m │ ├── capture_RGBD.m │ ├── config.m │ ├── depth2xyz.m │ ├── do_registration.m │ ├── each.m │ ├── evaluate.m │ ├── exp_sift_vs_icp.m │ ├── experiments.m │ ├── get_transformation.m │ ├── gicp.m │ ├── icp.m │ ├── rigid_multiply.m │ ├── rigid_transform.m │ ├── sift_vs_icp.m │ ├── siftstep.m │ ├── test_icp.m │ ├── test_transform.m │ └── write_trajectory.m ├── report ├── ims │ ├── deskAccumulatedrotationerrorover30frames.png │ ├── deskAccumulatedtranslationerrorover30frames.png │ ├── deskMagnitudeofestimatedrotation.png │ ├── deskMagnitudeofestimatedtranslation.png │ ├── deskRotationerror.png │ ├── deskTranslationerror.png │ ├── desk_results.png │ ├── examplesofa.png │ ├── fpfh.jpg │ ├── sofa_results.png │ ├── xyzAccumulatedrotationerrorover30frames.png │ ├── xyzAccumulatedtranslationerrorover30frames.png │ ├── xyzMagnitudeofestimatedrotation.png │ ├── xyzMagnitudeofestimatedtranslation.png │ ├── xyzRotationerror.png │ ├── xyzTranslationerror.png │ ├── xyz_results.png │ └── xyz_results_f2f.png └── report.tex └── tools ├── evaluate_ate.py ├── evaluate_rpe.py ├── generate_pointclouds.py ├── plot_trajectory_into_image.py └── rename_frames.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cvanweelden/ICP-Project/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: 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