├── .gitignore ├── Activity5.nvact ├── DepthViewer.cpp ├── DepthViewer.h ├── DynamicFusionUI.sln ├── DynamicFusionUI.vcxproj ├── DynamicFusionUI.vcxproj.filters ├── DynamicFusionUI.vcxproj.user ├── RayCastViewer.cpp ├── RayCastViewer.h ├── algorithm ├── BFGS │ ├── BFGSFit.cpp │ ├── BFGSFit.h │ ├── program.cpp │ ├── program.h │ ├── solver.cpp │ └── solver.h ├── DynamicFusion │ ├── CpuGaussNewton.cpp │ ├── CpuGaussNewton.h │ ├── CudaBsrMatrix.cpp │ ├── CudaBsrMatrix.cu │ ├── CudaBsrMatrix.h │ ├── CudaCholeSkeySolver.cpp │ ├── CudaCholeskeySolver.cu │ ├── CudaCholeskeySolver.h │ ├── CudaDiagBlockMatrix.cpp │ ├── CudaDiagBlockMatrix.cu │ ├── CudaDiagBlockMatrix.h │ ├── CudaUtil.cpp │ ├── DynamicFusionParam.cpp │ ├── DynamicFusionParam.h │ ├── DynamicFusionProcessor.cpp │ ├── DynamicFusionProcessor.cu │ ├── DynamicFusionProcessor.h │ ├── GpuCholeSky.h │ ├── GpuCholesky.cu │ ├── GpuGaussNewtonSolver.cpp │ ├── GpuGaussNewtonSolver.cu │ ├── GpuGaussNewtonSolver.h │ ├── GpuHeap.h │ ├── GpuKdTree.cpp │ ├── GpuKdTree.cu │ ├── GpuKdTree.h │ ├── GpuMesh.cpp │ ├── GpuMesh.cu │ ├── GpuMesh.h │ ├── MarchingCubes.cpp │ ├── MarchingCubes.cu │ ├── MarchingCubes.h │ ├── MicrosoftKinect.cpp │ ├── MicrosoftKinect.h │ ├── RayCaster.cpp │ ├── RayCaster.cu │ ├── RayCaster.h │ ├── SparseVolume.cpp │ ├── SparseVolume.cu │ ├── SparseVolume.h │ ├── TsdfVolume.cpp │ ├── TsdfVolume.cu │ ├── TsdfVolume.h │ ├── VoxelHash │ │ ├── chunk.h │ │ ├── voxel_block_allocation.cu │ │ ├── voxel_block_hash_table.cuh │ │ ├── voxel_block_selection.cu │ │ ├── voxel_block_streaming.cu │ │ ├── voxel_block_update.cu │ │ ├── voxel_hashing_device.h │ │ ├── voxel_hashing_internal.h │ │ └── voxel_hashing_utils.cu │ ├── WarpField.cpp │ ├── WarpField.cu │ ├── WarpField.h │ ├── cuda_utils.h │ ├── cudpp │ │ ├── ModerGpuWrapper.cu │ │ ├── ModerGpuWrapper.h │ │ ├── moderngpu │ │ │ ├── include │ │ │ │ ├── device │ │ │ │ │ ├── ctaloadbalance.cuh │ │ │ │ │ ├── ctamerge.cuh │ │ │ │ │ ├── ctascan.cuh │ │ │ │ │ ├── ctasearch.cuh │ │ │ │ │ ├── ctasegreduce.cuh │ │ │ │ │ ├── ctasegscan.cuh │ │ │ │ │ ├── ctasegsort.cuh │ │ │ │ │ ├── ctasortedsearch.cuh │ │ │ │ │ ├── devicetypes.cuh │ │ │ │ │ ├── deviceutil.cuh │ │ │ │ │ ├── intrinsics.cuh │ │ │ │ │ ├── launchbox.cuh │ │ │ │ │ ├── loadstore.cuh │ │ │ │ │ ├── serialsets.cuh │ │ │ │ │ └── sortnetwork.cuh │ │ │ │ ├── kernels │ │ │ │ │ ├── bulkinsert.cuh │ │ │ │ │ ├── bulkremove.cuh │ │ │ │ │ ├── csrtools.cuh │ │ │ │ │ ├── cubradixsort.cuh │ │ │ │ │ ├── intervalmove.cuh │ │ │ │ │ ├── join.cuh │ │ │ │ │ ├── loadbalance.cuh │ │ │ │ │ ├── localitysort.cuh │ │ │ │ │ ├── merge.cuh │ │ │ │ │ ├── mergesort.cuh │ │ │ │ │ ├── reduce.cuh │ │ │ │ │ ├── reducebykey.cuh │ │ │ │ │ ├── scan.cuh │ │ │ │ │ ├── search.cuh │ │ │ │ │ ├── segmentedsort.cuh │ │ │ │ │ ├── segreduce.cuh │ │ │ │ │ ├── segreducecsr.cuh │ │ │ │ │ ├── sets.cuh │ │ │ │ │ ├── sortedsearch.cuh │ │ │ │ │ └── spmvcsr.cuh │ │ │ │ ├── mgpudevice.cuh │ │ │ │ ├── mgpuenums.h │ │ │ │ ├── mgpuhost.cuh │ │ │ │ ├── mmio.h │ │ │ │ ├── moderngpu.cuh │ │ │ │ ├── sparsematrix.h │ │ │ │ └── util │ │ │ │ │ ├── format.h │ │ │ │ │ ├── mgpualloc.h │ │ │ │ │ ├── mgpucontext.h │ │ │ │ │ ├── static.h │ │ │ │ │ └── util.h │ │ │ └── src │ │ │ │ ├── mgpucontext.cu │ │ │ │ ├── mgpuutil.cpp │ │ │ │ ├── mmio.cpp │ │ │ │ └── sparsematrix.cpp │ │ ├── thrust_wrapper.cu │ │ └── thrust_wrapper.h │ ├── definations.h │ ├── device_array.h │ ├── device_memory.cpp │ ├── device_memory.h │ ├── device_utils.h │ ├── dualquaternion │ │ ├── dual_quat_cu.hpp │ │ ├── mat3.hpp │ │ ├── point3.hpp │ │ ├── quat_cu.hpp │ │ ├── transfo.hpp │ │ └── vec3.hpp │ ├── glsl │ │ ├── glsl.cpp │ │ ├── glsl.h │ │ ├── glslprogram.cpp │ │ └── glslprogram.h │ ├── helper_math.h │ ├── kernel_containers.h │ ├── kinect_util.cpp │ ├── kinect_util.cu │ └── kinect_util.h ├── FreeImage │ ├── CFreeImage.cpp │ ├── CFreeImage.h │ └── FreeImage.h ├── LMSolver.h ├── Renderable │ ├── AbstractMesh.cpp │ ├── AbstractMesh.h │ ├── BoneMesh.cpp │ ├── BoneMesh.h │ ├── Error.h │ ├── GLNode.cpp │ ├── GLNode.h │ ├── ObjMesh.cpp │ ├── ObjMesh.h │ ├── Renderable.h │ ├── bmesh.cpp │ ├── bmesh.h │ └── bmesh_private.h ├── camera │ ├── Camera.cpp │ ├── Camera.h │ └── fmath.h ├── eigen │ ├── Array │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigen2Support │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── LeastSquares │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── CMakeLists.txt │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_MKL.h │ │ ├── CholmodSupport │ │ ├── CMakeLists.txt │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CMakeLists.txt │ │ ├── CommaInitializer.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── Flagged.h │ │ ├── ForceAlignedAccess.h │ │ ├── Functors.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductBase.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── SolveTriangular.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AltiVec │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Default │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ └── SSE │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── products │ │ │ ├── CMakeLists.txt │ │ │ ├── CoeffBasedProduct.h │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ │ ├── GeneralMatrixMatrix_MKL.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_MKL.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_MKL.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_MKL.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_MKL.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_MKL.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ └── XprHelper.h │ │ ├── Eigen2Support │ │ ├── Block.h │ │ ├── CMakeLists.txt │ │ ├── Cwise.h │ │ ├── CwiseOperators.h │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── All.h │ │ │ ├── AngleAxis.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Hyperplane.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ └── Translation.h │ │ ├── LU.h │ │ ├── Lazy.h │ │ ├── LeastSquares.h │ │ ├── Macros.h │ │ ├── MathFunctions.h │ │ ├── Memory.h │ │ ├── Meta.h │ │ ├── Minor.h │ │ ├── QR.h │ │ ├── SVD.h │ │ ├── TriangularSolver.h │ │ └── VectorBlock.h │ │ ├── Eigenvalues │ │ ├── CMakeLists.txt │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_MKL.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_MKL.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ ├── CMakeLists.txt │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── CMakeLists.txt │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── CMakeLists.txt │ │ ├── ConjugateGradient.h │ │ ├── IncompleteLUT.h │ │ └── IterativeSolverBase.h │ │ ├── Jacobi │ │ ├── CMakeLists.txt │ │ └── Jacobi.h │ │ ├── LU │ │ ├── CMakeLists.txt │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── Inverse.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_MKL.h │ │ └── arch │ │ │ ├── CMakeLists.txt │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ ├── CMakeLists.txt │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── CMakeLists.txt │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ ├── CMakeLists.txt │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ ├── CMakeLists.txt │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── CMakeLists.txt │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_MKL.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_MKL.h │ │ ├── SPQRSupport │ │ ├── CMakeLists.txt │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── CMakeLists.txt │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_MKL.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── CMakeLists.txt │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CMakeLists.txt │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── CoreIterators.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── CMakeLists.txt │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ ├── CMakeLists.txt │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── CMakeLists.txt │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ ├── CMakeLists.txt │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ ├── CMakeLists.txt │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── CMakeLists.txt │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── Solve.h │ │ ├── SparseSolve.h │ │ └── blas.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CMakeLists.txt │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h ├── freeglut │ ├── freeglut.h │ ├── freeglut_ext.h │ ├── freeglut_std.h │ ├── glew.h │ └── glut.h ├── global_data_holder.cpp ├── global_data_holder.h ├── global_param.h ├── kdtree │ ├── AABB.cpp │ ├── AABB.h │ ├── BSphere.h │ ├── KdTree.cpp │ ├── KdTree.h │ ├── PointTree.h │ ├── Primitive.cpp │ ├── Primitive.h │ ├── Ray.h │ ├── common.h │ 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