├── .clang-format ├── .codedocs ├── .github └── workflows │ └── build.yml ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── cmake ├── Doxyfile.in ├── cilantroConfig.cmake.in ├── cmake_uninstall.cmake.in └── config.hpp.in ├── docs ├── Makefile ├── about.rst ├── conf.py ├── getting_started.rst ├── index.rst └── make.bat ├── examples ├── CMakeLists.txt ├── connected_component_extraction.cpp ├── convex_hull.cpp ├── flat_convex_hull.cpp ├── fusion.cpp ├── grid_downsampler.cpp ├── image_point_cloud_conversions.cpp ├── image_viewer.cpp ├── kd_tree.cpp ├── kmeans.cpp ├── matrix_io.cpp ├── mean_shift.cpp ├── multidimensional_scaling.cpp ├── non_rigid_icp.cpp ├── normal_estimation.cpp ├── ply_io.cpp ├── principal_component_analysis.cpp ├── ransac_plane_estimator.cpp ├── ransac_transform_estimator.cpp ├── rigid_icp.cpp ├── robust_normal_estimation.cpp ├── space_region_2d.cpp ├── space_region_3d.cpp ├── spectral_clustering.cpp ├── test_clouds │ ├── frame_1.ply │ ├── frame_2.ply │ └── test.ply └── visualizer.cpp ├── format.sh ├── include └── cilantro │ ├── 3rd_party │ ├── Spectra │ │ ├── DavidsonSymEigsSolver.h │ │ ├── GenEigsBase.h │ │ ├── GenEigsComplexShiftSolver.h │ │ ├── GenEigsRealShiftSolver.h │ │ ├── GenEigsSolver.h │ │ ├── HermEigsBase.h │ │ ├── HermEigsSolver.h │ │ ├── JDSymEigsBase.h │ │ ├── LinAlg │ │ │ ├── Arnoldi.h │ │ │ ├── BKLDLT.h │ │ │ ├── DoubleShiftQR.h │ │ │ ├── Lanczos.h │ │ │ ├── Orthogonalization.h │ │ │ ├── RitzPairs.h │ │ │ ├── SearchSpace.h │ │ │ ├── TridiagEigen.h │ │ │ ├── UpperHessenbergEigen.h │ │ │ ├── UpperHessenbergQR.h │ │ │ └── UpperHessenbergSchur.h │ │ ├── MatOp │ │ │ ├── DenseCholesky.h │ │ │ ├── DenseGenComplexShiftSolve.h │ │ │ ├── DenseGenMatProd.h │ │ │ ├── DenseGenRealShiftSolve.h │ │ │ ├── DenseHermMatProd.h │ │ │ ├── DenseSymMatProd.h │ │ │ ├── DenseSymShiftSolve.h │ │ │ ├── SparseCholesky.h │ │ │ ├── SparseGenComplexShiftSolve.h │ │ │ ├── SparseGenMatProd.h │ │ │ ├── SparseGenRealShiftSolve.h │ │ │ ├── SparseHermMatProd.h │ │ │ ├── SparseRegularInverse.h │ │ │ ├── SparseSymMatProd.h │ │ │ ├── SparseSymShiftSolve.h │ │ │ ├── SymShiftInvert.h │ │ │ └── internal │ │ │ │ ├── ArnoldiOp.h │ │ │ │ ├── SymGEigsBucklingOp.h │ │ │ │ ├── SymGEigsCayleyOp.h │ │ │ │ ├── SymGEigsCholeskyOp.h │ │ │ │ ├── SymGEigsRegInvOp.h │ │ │ │ └── SymGEigsShiftInvertOp.h │ │ ├── SymEigsShiftSolver.h │ │ ├── SymEigsSolver.h │ │ ├── SymGEigsShiftSolver.h │ │ ├── SymGEigsSolver.h │ │ ├── Util │ │ │ ├── CompInfo.h │ │ │ ├── GEigsMode.h │ │ │ ├── SelectionRule.h │ │ │ ├── SimpleRandom.h │ │ │ ├── TypeTraits.h │ │ │ └── Version.h │ │ └── contrib │ │ │ ├── LOBPCGSolver.h │ │ │ └── PartialSVDSolver.h │ ├── eigen_quadprog │ │ └── eiquadprog.hpp │ ├── libqhull_r │ │ ├── COPYING.txt │ │ ├── geom_r.h │ │ ├── io_r.h │ │ ├── libqhull_r.h │ │ ├── mem_r.h │ │ ├── merge_r.h │ │ ├── poly_r.h │ │ ├── qhull_ra.h │ │ ├── qset_r.h │ │ ├── random_r.h │ │ ├── stat_r.h │ │ └── user_r.h │ ├── libqhullcpp │ │ ├── COPYING.txt │ │ ├── Coordinates.h │ │ ├── PointCoordinates.h │ │ ├── Qhull.h │ │ ├── QhullError.h │ │ ├── QhullFacet.h │ │ ├── QhullFacetList.h │ │ ├── QhullFacetSet.h │ │ ├── QhullHyperplane.h │ │ ├── QhullIterator.h │ │ ├── QhullLinkedList.h │ │ ├── QhullPoint.h │ │ ├── QhullPointSet.h │ │ ├── QhullPoints.h │ │ ├── QhullQh.h │ │ ├── QhullRidge.h │ │ ├── QhullSet.h │ │ ├── QhullSets.h │ │ ├── QhullStat.h │ │ ├── QhullUser.h │ │ ├── QhullVertex.h │ │ ├── QhullVertexSet.h │ │ ├── RboxPoints.h │ │ ├── RoadError.h │ │ ├── RoadLogEvent.h │ │ └── functionObjects.h │ ├── nanoflann │ │ └── nanoflann.hpp │ └── tinyply │ │ └── tinyply.h │ ├── cilantro.hpp │ ├── clustering.hpp │ ├── clustering │ ├── clustering_base.hpp │ ├── connected_component_extraction.hpp │ ├── kmeans.hpp │ ├── mean_shift.hpp │ └── spectral_clustering.hpp │ ├── core.hpp │ ├── core │ ├── common_accumulators.hpp │ ├── common_pair_evaluators.hpp │ ├── correspondence.hpp │ ├── covariance.hpp │ ├── data_containers.hpp │ ├── grid_accumulator.hpp │ ├── grid_downsampler.hpp │ ├── image_point_cloud_conversions.hpp │ ├── kd_tree.hpp │ ├── nearest_neighbors.hpp │ ├── normal_estimation.hpp │ ├── openmp_reductions.hpp │ ├── principal_component_analysis.hpp │ ├── random.hpp │ ├── space_transformations.hpp │ └── spectral_embedding_base.hpp │ ├── correspondence_search.hpp │ ├── correspondence_search │ ├── common_transformable_feature_adaptors.hpp │ ├── correspondence_search_kd_tree.hpp │ ├── correspondence_search_kd_tree_utilities.hpp │ ├── correspondence_search_oracle.hpp │ └── correspondence_search_projective.hpp │ ├── model_estimation.hpp │ ├── model_estimation │ ├── ransac_base.hpp │ ├── ransac_hyperplane_estimator.hpp │ └── ransac_transform_estimator.hpp │ ├── registration.hpp │ ├── registration │ ├── correspondence_search_combined_metric_adaptor.hpp │ ├── correspondence_search_combined_metric_combiner.hpp │ ├── icp_base.hpp │ ├── icp_common_instances.hpp │ ├── icp_single_transform_combined_metric.hpp │ ├── icp_single_transform_point_to_point_metric.hpp │ ├── icp_warp_field_combined_metric_dense.hpp │ ├── icp_warp_field_combined_metric_sparse.hpp │ ├── transform_estimation.hpp │ ├── warp_field_estimation.hpp │ └── warp_field_utilities.hpp │ ├── spatial.hpp │ ├── spatial │ ├── convex_hull_utilities.hpp │ ├── convex_polytope.hpp │ ├── flat_convex_hull_3d.hpp │ └── space_region.hpp │ ├── utilities.hpp │ ├── utilities │ ├── io_utilities.hpp │ ├── multidimensional_scaling.hpp │ ├── nearest_neighbor_graph_utilities.hpp │ ├── ply_io.hpp │ ├── point_cloud.hpp │ └── timer.hpp │ ├── visualization.hpp │ └── visualization │ ├── colormap.hpp │ ├── common_renderables.hpp │ ├── image_viewer.hpp │ ├── renderable.hpp │ ├── visualizer.hpp │ └── visualizer_handler.hpp └── src ├── 3rd_party ├── libqhull_r │ ├── COPYING.txt │ ├── geom2_r.c │ ├── geom_r.c │ ├── global_r.c │ ├── io_r.c │ ├── libqhull_r.c │ ├── mem_r.c │ ├── merge_r.c │ ├── poly2_r.c │ ├── poly_r.c │ ├── qset_r.c │ ├── random_r.c │ ├── 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