├── .clang-format ├── .github └── workflows │ ├── build.yml │ └── issue_response.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── data ├── 251370668.pcd ├── 251371071.pcd ├── proctime.png └── relative.txt ├── docker ├── focal │ └── Dockerfile ├── focal_cuda │ └── Dockerfile ├── kinetic │ └── Dockerfile ├── melodic │ └── Dockerfile ├── melodic_llvm │ └── Dockerfile ├── noetic │ └── Dockerfile └── noetic_llvm │ └── Dockerfile ├── include └── fast_gicp │ ├── cuda │ ├── brute_force_knn.cuh │ ├── compute_derivatives.cuh │ ├── compute_mahalanobis.cuh │ ├── covariance_estimation.cuh │ ├── covariance_regularization.cuh │ ├── fast_vgicp_cuda.cuh │ ├── find_voxel_correspondences.cuh │ ├── gaussian_voxelmap.cuh │ ├── ndt_compute_derivatives.cuh │ ├── ndt_cuda.cuh │ └── vector3_hash.cuh │ ├── gicp │ ├── experimental │ │ ├── fast_gicp_mp.hpp │ │ └── fast_gicp_mp_impl.hpp │ ├── fast_gicp.hpp │ ├── fast_gicp_st.hpp │ ├── fast_vgicp.hpp │ ├── fast_vgicp_cuda.hpp │ ├── fast_vgicp_voxel.hpp │ ├── gicp_settings.hpp │ ├── impl │ │ ├── fast_gicp_impl.hpp │ │ ├── fast_gicp_st_impl.hpp │ │ ├── fast_vgicp_cuda_impl.hpp │ │ ├── fast_vgicp_impl.hpp │ │ └── lsq_registration_impl.hpp │ └── lsq_registration.hpp │ ├── ndt │ ├── impl │ │ └── ndt_cuda_impl.hpp │ ├── ndt_cuda.hpp │ └── ndt_settings.hpp │ └── so3 │ └── so3.hpp ├── package.xml ├── scripts └── runtest_cuda.sh ├── setup.py └── src ├── align.cpp ├── fast_gicp ├── cuda │ ├── brute_force_knn.cu │ ├── compute_derivatives.cu │ ├── compute_mahalanobis.cu │ ├── covariance_estimation.cu │ ├── covariance_estimation_rbf.cu │ ├── covariance_regularization.cu │ ├── fast_vgicp_cuda.cu │ ├── find_voxel_correspondences.cu │ ├── gaussian_voxelmap.cu │ ├── ndt_compute_derivatives.cu │ └── ndt_cuda.cu ├── gicp │ ├── experimental │ │ └── fast_gicp_mp.cpp │ ├── fast_gicp.cpp │ ├── fast_gicp_st.cpp │ ├── fast_vgicp.cpp │ ├── fast_vgicp_cuda.cpp │ └── lsq_registration.cpp └── ndt │ └── ndt_cuda.cpp ├── kitti.cpp ├── kitti.py ├── python └── main.cpp └── test └── gicp_test.cpp /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/.clang-format -------------------------------------------------------------------------------- /.github/workflows/build.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/.github/workflows/build.yml -------------------------------------------------------------------------------- /.github/workflows/issue_response.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/.github/workflows/issue_response.yml -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/.gitmodules -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/README.md -------------------------------------------------------------------------------- /data/251370668.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/data/251370668.pcd -------------------------------------------------------------------------------- /data/251371071.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/data/251371071.pcd -------------------------------------------------------------------------------- /data/proctime.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/data/proctime.png -------------------------------------------------------------------------------- /data/relative.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/data/relative.txt -------------------------------------------------------------------------------- /docker/focal/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/focal/Dockerfile -------------------------------------------------------------------------------- /docker/focal_cuda/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/focal_cuda/Dockerfile -------------------------------------------------------------------------------- /docker/kinetic/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/kinetic/Dockerfile -------------------------------------------------------------------------------- /docker/melodic/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/melodic/Dockerfile -------------------------------------------------------------------------------- /docker/melodic_llvm/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/melodic_llvm/Dockerfile -------------------------------------------------------------------------------- /docker/noetic/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/noetic/Dockerfile -------------------------------------------------------------------------------- /docker/noetic_llvm/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/docker/noetic_llvm/Dockerfile -------------------------------------------------------------------------------- /include/fast_gicp/cuda/brute_force_knn.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/brute_force_knn.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/compute_derivatives.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/compute_derivatives.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/compute_mahalanobis.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/compute_mahalanobis.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/covariance_estimation.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/covariance_estimation.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/covariance_regularization.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/covariance_regularization.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/fast_vgicp_cuda.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/fast_vgicp_cuda.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/find_voxel_correspondences.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/find_voxel_correspondences.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/gaussian_voxelmap.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/gaussian_voxelmap.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/ndt_compute_derivatives.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/ndt_compute_derivatives.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/ndt_cuda.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/ndt_cuda.cuh -------------------------------------------------------------------------------- /include/fast_gicp/cuda/vector3_hash.cuh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/cuda/vector3_hash.cuh -------------------------------------------------------------------------------- /include/fast_gicp/gicp/experimental/fast_gicp_mp.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/experimental/fast_gicp_mp.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/experimental/fast_gicp_mp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/experimental/fast_gicp_mp_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/fast_gicp.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/fast_gicp.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/fast_gicp_st.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/fast_gicp_st.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/fast_vgicp.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/fast_vgicp.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/fast_vgicp_cuda.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/fast_vgicp_cuda.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/fast_vgicp_voxel.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/fast_vgicp_voxel.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/gicp_settings.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/gicp_settings.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/impl/fast_gicp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/impl/fast_gicp_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/impl/fast_gicp_st_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/impl/fast_gicp_st_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/impl/fast_vgicp_cuda_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/impl/fast_vgicp_cuda_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/impl/fast_vgicp_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/impl/fast_vgicp_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/impl/lsq_registration_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/impl/lsq_registration_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/gicp/lsq_registration.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/gicp/lsq_registration.hpp -------------------------------------------------------------------------------- /include/fast_gicp/ndt/impl/ndt_cuda_impl.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/ndt/impl/ndt_cuda_impl.hpp -------------------------------------------------------------------------------- /include/fast_gicp/ndt/ndt_cuda.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/ndt/ndt_cuda.hpp -------------------------------------------------------------------------------- /include/fast_gicp/ndt/ndt_settings.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/ndt/ndt_settings.hpp -------------------------------------------------------------------------------- /include/fast_gicp/so3/so3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/include/fast_gicp/so3/so3.hpp -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/package.xml -------------------------------------------------------------------------------- /scripts/runtest_cuda.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/scripts/runtest_cuda.sh -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/setup.py -------------------------------------------------------------------------------- /src/align.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/align.cpp -------------------------------------------------------------------------------- /src/fast_gicp/cuda/brute_force_knn.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/brute_force_knn.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/compute_derivatives.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/compute_derivatives.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/compute_mahalanobis.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/compute_mahalanobis.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/covariance_estimation.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/covariance_estimation.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/covariance_estimation_rbf.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/covariance_estimation_rbf.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/covariance_regularization.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/covariance_regularization.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/fast_vgicp_cuda.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/fast_vgicp_cuda.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/find_voxel_correspondences.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/find_voxel_correspondences.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/gaussian_voxelmap.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/gaussian_voxelmap.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/ndt_compute_derivatives.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/ndt_compute_derivatives.cu -------------------------------------------------------------------------------- /src/fast_gicp/cuda/ndt_cuda.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/cuda/ndt_cuda.cu -------------------------------------------------------------------------------- /src/fast_gicp/gicp/experimental/fast_gicp_mp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/gicp/experimental/fast_gicp_mp.cpp -------------------------------------------------------------------------------- /src/fast_gicp/gicp/fast_gicp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/gicp/fast_gicp.cpp -------------------------------------------------------------------------------- /src/fast_gicp/gicp/fast_gicp_st.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/gicp/fast_gicp_st.cpp -------------------------------------------------------------------------------- /src/fast_gicp/gicp/fast_vgicp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/gicp/fast_vgicp.cpp -------------------------------------------------------------------------------- /src/fast_gicp/gicp/fast_vgicp_cuda.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/gicp/fast_vgicp_cuda.cpp -------------------------------------------------------------------------------- /src/fast_gicp/gicp/lsq_registration.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/gicp/lsq_registration.cpp -------------------------------------------------------------------------------- /src/fast_gicp/ndt/ndt_cuda.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/fast_gicp/ndt/ndt_cuda.cpp -------------------------------------------------------------------------------- /src/kitti.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/kitti.cpp -------------------------------------------------------------------------------- /src/kitti.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/kitti.py -------------------------------------------------------------------------------- /src/python/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/python/main.cpp -------------------------------------------------------------------------------- /src/test/gicp_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/koide3/fast_gicp/HEAD/src/test/gicp_test.cpp --------------------------------------------------------------------------------