├── .gitignore ├── LICENSE ├── README.md ├── data ├── bun0.pcd ├── bunny.pcd ├── bunny_color.pcd ├── milk.pcd ├── milk_cartoon_all_small_clorox.pcd ├── min_cut_segmentation_tutorial.pcd ├── region_growing_rgb_tutorial.pcd ├── region_growing_tutorial.pcd ├── samp11-utm.pcd ├── street.las ├── street_thinned.las ├── street_thinned_with_normals.las ├── table_scene_lms400.pcd ├── table_scene_mug_stereo_textured.pcd └── template_alignment │ ├── object_template_0.pcd │ ├── object_template_1.pcd │ ├── object_template_2.pcd │ ├── object_template_3.pcd │ ├── object_template_4.pcd │ ├── object_template_5.pcd │ ├── object_templates.txt │ └── person.pcd └── tutorial ├── 01_IO ├── README.assets │ ├── image-20210919155053342.png │ └── image-20210919161414065.png ├── README.md ├── concatenate_clouds.py ├── readPCD.py ├── savePCD.py └── save_pcd.pcd ├── 02_KdTree ├── README.assets │ ├── 2d_kdtree.png │ └── nn_kdtree.gif ├── README.md └── kdTreeDemo.py ├── 03_Octree ├── 01_point_cloud_compression.py ├── 02_octree_search.py ├── 03_octree_change_detection.py └── README.md ├── 04_Visualization ├── 01_cloud_viewer.py ├── 02_cloud_viewer_Full.py ├── 03_pcl_visualizer_demo.py ├── 04_Plotter_demo.py ├── README.assets │ ├── image-20210921130601016.png │ ├── image-20210921133541816.png │ ├── image-20210921134606149.png │ ├── image-20210922084140657.png │ ├── image-20210922090507823.png │ ├── image-20210922100628501.png │ └── image-20210922105424230.png └── README.md ├── 05_Filtering ├── 01_passthrough.py ├── 02_voxel_grid.py ├── 03_statistical_removal.py ├── 04_project_inliers.py ├── 05_extract_indices.py ├── 06_remove_outliers.py ├── README.assets │ ├── image-20210922151832790.png │ ├── image-20210922151940908.png │ ├── image-20210922160014156.png │ ├── image-20210922183350960.png │ ├── image-20210922183434016.png │ ├── image-20210922185941568.png │ ├── radius_outlier.png │ └── statistical_removal_2.jpg ├── README.md ├── table_scene_lms400_downsampled.pcd ├── table_scene_lms400_inliers.pcd └── table_scene_lms400_outliers.pcd ├── 06_RangeImages ├── 01_range_image_creation.py ├── 02_range_image_border_extraction.py └── README.md ├── 07_Keypoints ├── 01_narf_keypoint_extraction.py └── README.md ├── 08_SampleConsensus ├── 01_random_sample_consensus.py ├── README.assets │ ├── image-20210923171721245.png │ ├── image-20210923185849008.png │ ├── image-20210923190036674.png │ ├── image-20210923190212863.png │ ├── image-20210923190309204.png │ ├── random_sample_example1.png │ └── random_sample_example2.png └── README.md ├── 09_Features ├── 01_3DFeaturesWork.py ├── 02_covariance_matrix.py ├── 03_estimating_surface_normals.py ├── 04_normal_estimation_using_integral_images.py ├── 05_PHF_descriptors.py ├── 06_FPFH_descriptors.py ├── 07_VFH_descriptors.py ├── 08_moment_of_inertia.py ├── 09_rops_feature.py ├── 10_GRSD_descriptors.py ├── README.assets │ ├── 04efa18a7544650d18af847e2d3efd13839012f6.png │ ├── 05183080f866630e768f12d49bc272adfd9bc856.png │ ├── 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├── good_features.jpg │ ├── grid.png │ ├── grid_top_side_bottom_view.png │ ├── image-20210919133518668.png │ ├── image-20210924210925317.png │ ├── image-20210924210951785.png │ ├── image-20210925133748225.png │ ├── image-20210925153351173.png │ ├── normals_different_radii.jpg │ ├── pfh_diagram.png │ ├── pfh_frame.png │ ├── projected_cloud.png │ ├── second_component.jpg │ ├── unflipped_scene1.jpg │ ├── unflipped_scene2.jpg │ └── vfh_histogram.jpg └── README.md ├── 10_Registration ├── 01_ICP.py ├── README.assets │ ├── block_diagram_single_iteration.jpg │ ├── s1-6.jpg │ └── scans.jpg └── README.md ├── 11_Segmentation ├── 01_planar_segmentation.py ├── 02_cylinder_segmentation.py ├── 03_cluster_extraction.py ├── 04_region_growing_segmentation.py ├── 05_region_growing_rgb_segmentation.py ├── 06_min_cut_segmentation.py ├── 07_supervoxel_clustering.py ├── 08_bare_earth.py ├── README.assets │ ├── 0d695daff8dc459d8be572a9b8e3fe4f729cfb79.png │ ├── 0fb603759055144367dc379652c25850cb153290.png │ 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