├── CMakeLists.txt ├── README.md ├── abstract_planar_segment ├── CMakeLists.txt ├── include │ └── abstract_planar_segment │ │ └── abstract_planar_segment.h └── src │ └── abstract_planar_segment.cc ├── apps ├── CMakeLists.txt ├── config │ ├── BremenCityMap.ini │ ├── CrashedCarParkMap.ini │ ├── T-Boxes.ini │ ├── brl.ini │ ├── campus.ini │ ├── copter.ini │ ├── crashedCarPark.ini │ ├── experimental.ini │ ├── hannover2_sick.ini │ ├── indoorHokuyo.ini │ ├── lab.ini │ ├── mfi.ini │ ├── pmd.ini │ ├── ps_alrf_halfdeg_vfov180.ini │ ├── riegl.ini │ ├── scrapYard.ini │ ├── tams.ini │ └── uni_koblenz.ini ├── include │ └── application_options_manager │ │ └── application_options_manager.h └── src │ ├── application_options_manager.cpp │ ├── area_benchmark.cpp │ ├── covariance_matrix_feature.cpp │ ├── egi.cpp │ ├── loop_detection.cpp │ ├── map_merging.cpp │ ├── map_segmentation.cpp │ ├── octree_planar_segmentation.cpp │ ├── planar_segmentation.cpp │ ├── polygonization.cpp │ ├── registration.cpp │ ├── segments_descriptor.cpp │ └── soft.cpp ├── cmake ├── CGAL.cmake ├── PCL.cmake └── find_boost.cmake ├── common ├── CMakeLists.txt ├── include │ └── common │ │ ├── common.h │ │ ├── planar_patch.h │ │ ├── rgb.h │ │ ├── sensor_parameters.h │ │ └── subwindow.h └── src │ └── common.cc ├── data_acquisition ├── CMakeLists.txt ├── hokuyo │ ├── CMakeLists.txt │ ├── include │ │ └── hokuyo │ │ │ └── hokuyo.h │ └── src │ │ └── hokuyo.cpp ├── ptu │ ├── CMakeLists.txt │ ├── include │ │ └── ptu │ │ │ ├── cpiver.h │ │ │ ├── linuxser.h │ │ │ ├── opcodes.h │ │ │ └── ptu.h │ └── src │ │ ├── linuxser.cpp │ │ ├── main.cpp │ │ └── ptu.cpp └── ptulaser │ ├── CMakeLists.txt │ ├── include │ └── ptulaser │ │ └── ptulaser.h │ └── src │ ├── main.cpp │ ├── node.cpp │ └── ptulaser.cpp ├── fftw_correlate ├── CMakeLists.txt ├── include │ └── fftw_correlate │ │ ├── fftw_correlate.h │ │ └── softFFTWCorrelateReal.h └── src │ ├── fftw_correlate.cpp │ └── softFFTWCorrelateReal.c ├── intensity ├── CMakeLists.txt ├── histogram │ ├── CMakeLists.txt │ ├── include │ │ └── intensity_histogram │ │ │ └── intensity_histogram.h │ └── src │ │ └── intensity_histogram.cc └── sift │ ├── CMakeLists.txt │ └── src │ └── intensity_sift.cc ├── leap_detection ├── CMakeLists.txt ├── include │ └── leap_detection │ │ └── leap_detection.h └── src │ ├── leap_detection.cc │ └── leap_detection.cpp ├── loop_detector ├── CMakeLists.txt ├── include │ └── loop_detector │ │ └── loop_detector.h └── src │ └── loop_detector.cc ├── planar_segments_matcher ├── CMakeLists.txt ├── include │ └── planar_segments_matcher │ │ ├── correspondence_pairs.h │ │ ├── correspondences.h │ │ ├── matcher_parameters.h │ │ ├── one_pair_tester.h │ │ ├── solution.h │ │ ├── spherical_correlation_maximizer.h │ │ └── two_pairs_tester.h └── src │ ├── correspondence_pairs.cc │ ├── correspondences.cc │ ├── one_pair_tests.cc │ └── spherical_correlation_maximizer.cc ├── polygonization ├── include │ ├── alpha_shapes │ │ └── alpha_shapes_polygonizer.hh │ ├── common │ │ ├── polygonizer_attributes.hh │ │ ├── polygonizer_interface.hh │ │ └── polygonizer_utils.hh │ └── convex │ │ └── convex_polygonizer.hh └── src │ ├── alpha_shapes │ └── alpha_shapes_polygonizer.cc │ ├── common │ └── polygonizer_utils.cc │ └── convex │ └── convex_polygonizer.cc ├── registration ├── CMakeLists.txt ├── include │ └── registration │ │ ├── registration.h │ │ └── registration_parameters.h ├── registration.doxyfile └── src │ └── registration.cc ├── segmentation ├── CMakeLists.txt ├── hybrid_region_growing │ ├── CMakeLists.txt │ ├── include │ │ └── hybrid_region_growing │ │ │ ├── hybrid_region_growing.h │ │ │ └── hybrid_region_growing_parameters.h │ └── src │ │ ├── hybrid_region_growing.cc │ │ └── main.cpp ├── octree_region_growing_segmentation │ ├── CMakeLists.txt │ ├── include │ │ └── octree_region_growing_segmentation │ │ │ ├── octree_region_growing_segmentation.h │ │ │ └── octree_region_growing_segmentation_parameters.h │ └── src │ │ ├── area_benchmark.cc │ │ └── octree_region_growing_segmentation.cc ├── pcl_region_growing │ ├── CMakeLists.txt │ ├── include │ │ └── pcl │ │ │ └── segmentation │ │ │ ├── impl │ │ │ └── region_growing.hpp │ │ │ └── region_growing.h │ └── src │ │ ├── main.cpp │ │ └── region_growing.cpp ├── region_growing_segmentation │ ├── CMakeLists.txt │ ├── include │ │ └── region_growing_segmentation │ │ │ ├── impl │ │ │ └── region_growing_segmentation.hpp │ │ │ ├── region_growing_segmentation.h │ │ │ └── region_growing_segmentation_parameters.h │ └── src │ │ └── region_growing_segmentation.cpp └── subwindow_region_growing │ ├── CMakeLists.txt │ ├── include │ └── subwindow_region_growing │ │ ├── subwindow_region_growing.h │ │ └── subwindow_region_growing_parameters.h │ └── src │ ├── main.cpp │ └── subwindow_region_growing.cc ├── segments_area ├── CMakeLists.txt ├── include │ └── segments_area │ │ └── segments_area.h └── src │ └── segments_area.cc ├── segments_descriptor ├── CMakeLists.txt ├── clean ├── include │ └── 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