├── .gitignore ├── LICENSE.txt ├── README.md ├── eqn.png ├── freeglut ├── Copying.txt ├── Readme.txt ├── bin │ ├── freeglut.dll │ └── x64 │ │ └── freeglut.dll ├── include │ └── GL │ │ ├── freeglut.h │ │ ├── freeglut_ext.h │ │ ├── freeglut_std.h │ │ └── glut.h └── lib │ ├── freeglut.lib │ └── x64 │ └── freeglut.lib ├── icp.sln ├── icp.vcxproj ├── icp.vcxproj.filters ├── icp.vcxproj.user ├── include ├── Eigen │ ├── Array │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigen2Support │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── LeastSquares │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ ├── VERSION_3.1.3.txt │ └── src │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_MKL.h │ │ ├── CholmodSupport │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CommaInitializer.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 │ │ ├── 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 │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ ├── Default │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ └── SSE │ │ │ │ ├── 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 │ │ │ ├── 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 │ │ ├── Cwise.h │ │ ├── CwiseOperators.h │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── All.h │ │ │ ├── AngleAxis.h │ │ │ ├── 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 │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_MKL.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealSchur.h │ │ ├── RealSchur_MKL.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── 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 │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── ConjugateGradient.h │ │ ├── IncompleteLUT.h │ │ └── IterativeSolverBase.h │ │ ├── Jacobi │ │ └── Jacobi.h │ │ ├── LU │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── Inverse.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_MKL.h │ │ └── arch │ │ │ └── Inverse_SSE.h │ │ ├── OrderingMethods │ │ └── Amd.h │ │ ├── PaStiXSupport │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_MKL.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_MKL.h │ │ ├── SVD │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_MKL.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ └── SimplicialCholesky.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── CoreIterators.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.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 │ │ ├── StlSupport │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── Solve.h │ │ ├── SparseSolve.h │ │ └── blas.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h ├── icp │ ├── alignment │ │ └── data_align.h │ ├── clk │ │ └── clk.h │ ├── data_str │ │ ├── circular_buffer.h │ │ ├── hash_funcs.h │ │ ├── hash_map.h │ │ ├── hash_map_managed.h │ │ ├── hash_set.h │ │ ├── min_heap.h │ │ ├── pair.h │ │ ├── triple.h │ │ ├── vector.h │ │ └── vector_managed.h │ ├── debug_util │ │ └── debug_util.h │ ├── file_io │ │ └── file_io.h │ ├── icp_base.h │ ├── math │ │ ├── bfgs.h │ │ ├── common_optimization.h │ │ ├── decompose.h │ │ ├── icp.h │ │ ├── icp_eigen_data.h │ │ ├── lm_fit.h │ │ ├── mat2x2.h │ │ ├── mat3x3.h │ │ ├── mat4x4.h │ │ ├── math_base.h │ │ ├── math_types.h │ │ ├── noise.h │ │ ├── perlin_noise.h │ │ ├── plane.h │ │ ├── pso.h │ │ ├── pso_parallel.h │ │ ├── quat.h │ │ ├── vec2.h │ │ ├── vec3.h │ │ └── vec4.h │ ├── string_util │ │ ├── macros.h │ │ ├── md5.h │ │ ├── string_util.h │ │ └── win32_debug_buffer.h │ └── threading │ │ ├── callback.h │ │ ├── callback_instances.h │ │ ├── callback_instances.py │ │ ├── callback_queue.h │ │ ├── callback_queue_item.h │ │ ├── thread.h │ │ └── thread_pool.h ├── nanoflann │ ├── VERSION_1.1.9.txt │ └── nanoflann.hpp └── test_unit │ ├── log_message.h │ ├── log_writer.h │ ├── param_map.h │ ├── test_unit.h │ └── test_util.h ├── matlab ├── .gitignore ├── bunny_data.mat ├── compile_mex.m ├── euler2RotMat.m ├── icp.cpp ├── icp_jacobian_calc.m ├── leftMultTranslation.m ├── rightMultScale.m └── test_mex.m ├── src ├── icp │ ├── data_str │ │ └── hash_funcs.cpp │ ├── debug_util │ │ ├── debug_util_macosx.cpp │ │ └── debug_util_win32.cpp │ ├── file_io │ │ └── file_io.cpp │ ├── icp_base.cpp │ ├── math │ │ ├── MathHelper.java │ │ ├── common_optimization.cpp │ │ ├── decompose.cpp │ │ ├── icp.cpp │ │ ├── math_base.cpp │ │ ├── pso.cpp │ │ └── pso_parallel.cpp │ ├── string_util │ │ ├── md5c.c │ │ └── string_util.cpp │ └── threading │ │ ├── thread.cpp │ │ └── thread_pool.cpp └── test_unit │ ├── log_message.cpp │ ├── log_writer.cpp │ └── param_map.cpp └── tests ├── .gitignore ├── CMakeLists.txt ├── bunny_normals.bin ├── bunny_vertices.bin ├── headers ├── test_callback.h ├── test_callback_queue.h ├── test_data_str.h ├── test_data_str │ ├── test_circular_buffer.h │ ├── test_hash_map.h │ ├── test_hash_map_managed.h │ ├── test_hash_set.h │ ├── test_min_heap.h │ ├── test_pair.h │ ├── test_vector.h │ └── test_vector_managed.h ├── test_iterative_closest_point.h ├── test_math.h ├── test_math │ ├── optimization_test_functions.h │ ├── test_math_base.h │ ├── test_profile_simd_math.h │ ├── test_quaternion.h │ ├── test_vec2_mat2x2.h │ ├── test_vec3_mat3x3.h │ └── test_vec4_mat4x4.h ├── test_optimization.h ├── test_thread.h ├── test_thread_pool.h └── test_thread_pool_lerner.h ├── settings_test.csv ├── src ├── test_all_tests.cpp └── test_math │ └── optimization_test_functions.cpp ├── test_math.m ├── tests.vcxproj ├── tests.vcxproj.filters └── 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