├── .clang-format ├── .dockerignore ├── .github ├── FUNDING.yml └── workflows │ ├── claude-code-review.yml │ ├── claude.yml │ ├── ubuntu.yml │ └── windows.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README.md ├── cmake └── CudaComputeTargetFlags.cmake ├── docker-compose.yml ├── docs ├── _static │ ├── collision_voxels.gif │ ├── cupoch_logo.png │ ├── distancetransform.png │ ├── drone_pathplanning.gif │ ├── fgr.png │ ├── getting_started_1.png │ ├── getting_started_2.png │ ├── graph.png │ ├── image.png │ ├── kinematics.png │ ├── kinfu.gif │ ├── laserscan.gif │ ├── occupancygrid.png │ ├── og_gpu.gif │ ├── path_finding.png │ ├── pointcloud.png │ ├── ros_vo.gif │ ├── speedup.png │ ├── stereo.png │ ├── trianglemesh.png │ ├── vo_gpu.gif │ └── voxelgrid.png ├── getting_started.md ├── index.md └── tutorial │ └── realsense │ └── realsense_pcd_viewer.md ├── examples ├── CMakeLists.txt ├── cpp │ ├── CMakeLists.txt │ ├── image.cpp │ ├── kinematics.cpp │ ├── pointcloud.cpp │ ├── registration.cpp │ ├── trianglemesh.cpp │ └── voxelization.cpp ├── python │ ├── advanced │ │ ├── colored_pointcloud_registration.py │ │ ├── fast_global_registration.py │ │ ├── global_registration.py │ │ ├── iss_keypoint_detector.py │ │ ├── kinfu.py │ │ ├── laserscan_convert.py │ │ ├── pointcloud_outlier_removal.py │ │ ├── rgbd_integration.py │ │ ├── rgbd_integration_uniform.py │ │ ├── stereo.py │ │ ├── trajectory_io.py │ │ └── voxel_carving.py │ ├── basic │ │ ├── benchmarks.py │ │ ├── benchmarks2.py │ │ ├── benchmarks3.py │ │ ├── clustering.py │ │ ├── file_io.py │ │ ├── filterreg_registration.py │ │ ├── from_torch_tensor.py │ │ ├── gicp_registration.py │ │ ├── icp_registration.py │ │ ├── image_filter.py │ │ ├── mesh_filter.py │ │ ├── mesh_io.py │ │ ├── mesh_sampling.py │ │ ├── numpy_interop.py │ │ ├── opencv_interop.py │ │ ├── rgbd_odometry.py │ │ ├── to_torch_tensor.py │ │ └── visualization.py │ ├── depthai │ │ ├── depthai_pcd_viewer.py │ │ └── projector_3d.py │ ├── misc │ │ ├── __init__.py │ │ └── meshes.py │ ├── realsense │ │ ├── realsense_kinfu.py │ │ ├── realsense_occupancygrid_viewer.py │ │ ├── realsense_occupancygrid_with_vo.py │ │ ├── realsense_pcd_viewer.py │ │ └── realsense_rgbd_odometry.py │ ├── robotics │ │ ├── collision_linset_voxel.py │ │ ├── collision_voxelgrid.py │ │ ├── distancetransform.py │ │ ├── drone_pathplanning.py │ │ ├── graph.py │ │ ├── graph2d.py │ │ ├── kinematics.py │ │ ├── kinematics_animation.py │ │ ├── occupancygrid.py │ │ └── primitive_voxel.py │ ├── ros │ │ ├── image_msg.py │ │ ├── laserscan.py │ │ ├── laserscan_msg_convert.py │ │ ├── pointcloud2_msg.py │ │ ├── pointcloud2_publisher.py │ │ └── realsense_rgbd_odometry_node.py │ └── ros2 │ │ └── pointcloud2_msg.py └── testdata │ ├── Mapping1.bag │ ├── bathtub_0154.ply │ ├── camera_primesense.json │ ├── colored_icp │ ├── frag_115.ply │ └── frag_116.ply │ ├── crate │ ├── LICENSE.txt │ ├── crate.jpg │ ├── crate.mtl │ └── crate.obj │ ├── depth.png │ ├── dobot │ ├── base.mtl │ ├── base.obj │ ├── cad │ │ └── Dobot │ │ │ ├── A10.stl │ │ │ ├── A11.stl │ │ │ ├── A12_13.stl │ │ │ ├── A14.stl │ │ │ ├── A15.stl │ │ │ ├── A16.stl │ │ │ ├── A17.stl │ │ │ ├── A19.stl │ │ │ ├── A1_2.stl │ │ │ ├── A20.stl │ │ │ ├── A21.stl │ │ │ ├── A22.stl │ │ │ ├── A3.stl │ │ │ ├── A4.stl │ │ │ ├── A5.stl │ │ │ ├── A6_7.stl │ │ │ ├── A8.stl │ │ │ ├── A9.stl │ │ │ ├── M3x30.stl │ │ │ ├── M3x50.stl │ │ │ └── Max10.stl │ └── dobot.urdf │ ├── fragment.pcd │ ├── fragment.ply │ ├── franka_panda │ ├── meshes │ │ ├── collision │ │ │ ├── colors.png │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.dae │ └── panda.urdf │ ├── icp │ ├── cloud_bin_0.pcd │ ├── cloud_bin_1.pcd │ └── cloud_bin_2.pcd │ ├── knot.ply │ ├── left.png │ ├── lena_color.jpg │ ├── lena_gray.jpg │ ├── mog.png │ ├── rgbd │ ├── color │ │ ├── 00000.jpg │ │ ├── 00001.jpg │ │ ├── 00002.jpg │ │ ├── 00003.jpg │ │ └── 00004.jpg │ ├── depth │ │ ├── 00000.png │ │ ├── 00001.png │ │ ├── 00002.png │ │ ├── 00003.png │ │ └── 00004.png │ ├── odometry.log │ ├── other_formats │ │ ├── NYU_color.ppm │ │ ├── NYU_depth.pgm │ │ ├── SUN_color.jpg │ │ ├── SUN_depth.png │ │ ├── TUM_color.png │ │ └── TUM_depth.png │ ├── rgbd.match │ └── trajectory.log │ ├── right.png │ ├── sphere.ply │ └── tello.urdf ├── mkdocs.yml ├── scripts ├── actions │ └── install_deps_ubuntu.sh └── encode_shader.py ├── src ├── CMakeLists.txt ├── cupoch │ ├── CMakeLists.txt │ ├── camera │ │ ├── CMakeLists.txt │ │ ├── pinhole_camera_intrinsic.cpp │ │ ├── pinhole_camera_intrinsic.h │ │ ├── pinhole_camera_parameters.cpp │ │ └── pinhole_camera_parameters.h │ ├── collision │ │ ├── CMakeLists.txt │ │ ├── collision.cu │ │ ├── collision.h │ │ ├── primitives.cu │ │ └── primitives.h │ ├── cupoch.h │ ├── cupoch_config.h.in │ ├── geometry │ │ ├── CMakeLists.txt │ │ ├── boundingvolume.cu │ │ ├── boundingvolume.h │ │ ├── densegrid.h │ │ ├── densegrid.inl │ │ ├── distance_test.h │ │ ├── distance_test.inl │ │ ├── distancetransform.cu │ │ ├── distancetransform.h │ │ ├── distancetransform_factory.cu │ │ ├── down_sample.cu │ │ ├── estimate_normals.cu │ │ ├── geometry.h │ │ ├── geometry_base.h │ │ ├── geometry_functor.h │ │ ├── geometry_utils.cu │ │ ├── geometry_utils.h │ │ ├── graph.cu │ │ ├── graph.h │ │ ├── graph_factory.cu │ │ ├── image.cu │ │ ├── image.h │ │ ├── image_factory.cu │ │ ├── intersection_test.h │ │ ├── intersection_test.inl │ │ ├── iss_keypoints.cu │ │ ├── keypoint.h │ │ ├── laserscanbuffer.cu │ │ ├── laserscanbuffer.h │ │ ├── laserscanbuffer_factory.cu │ │ ├── lineset.cu │ │ ├── lineset.h │ │ ├── lineset_factory.cu │ │ ├── map2d.cu │ │ ├── map2d.h │ │ ├── meshbase.cu │ │ ├── meshbase.h │ │ ├── occupancygrid.cu │ │ ├── occupancygrid.h │ │ ├── occupancygrid_factory.cu │ │ ├── pointcloud.cu │ │ ├── pointcloud.h │ │ ├── pointcloud_cluster.cu │ │ ├── pointcloud_factory.cu │ │ ├── rgbdimage.cu │ │ ├── rgbdimage.h │ │ ├── rgbdimage_factory.cu │ │ ├── segmentation.cu │ │ ├── trianglemesh.cu │ │ ├── trianglemesh.h │ │ ├── trianglemesh_factory.cu │ │ ├── voxelgrid.cu │ │ ├── voxelgrid.h │ │ └── voxelgrid_factory.cu │ ├── imageproc │ │ ├── CMakeLists.txt │ │ ├── sgm.cpp │ │ └── sgm.h │ ├── integration │ │ ├── CMakeLists.txt │ │ ├── integrate_functor.h │ │ ├── marching_cubes_const.h │ │ ├── scalable_tsdfvolume.cu │ │ ├── scalable_tsdfvolume.h │ │ ├── tsdfvolume.h │ │ ├── uniform_tsdfvolume.cu │ │ └── uniform_tsdfvolume.h │ ├── io │ │ ├── CMakeLists.txt │ │ ├── class_io │ │ │ ├── ijson_convertible_io.cpp │ │ │ ├── ijson_convertible_io.h │ │ │ ├── image_io.cpp │ │ │ ├── image_io.cu │ │ │ ├── image_io.h │ │ │ ├── pointcloud_io.cpp │ │ │ ├── pointcloud_io.cu │ │ │ ├── pointcloud_io.h │ │ │ ├── trianglemesh_io.cpp │ │ │ ├── trianglemesh_io.cu │ │ │ ├── trianglemesh_io.h │ │ │ ├── voxelgrid_io.cpp │ │ │ ├── voxelgrid_io.cu │ │ │ └── voxelgrid_io.h │ │ ├── file_format │ │ │ ├── file_jpg.cu │ │ │ ├── file_json.cpp │ │ │ ├── file_obj.cu │ │ │ ├── file_pcd.cu │ │ │ ├── file_ply.cu │ │ │ ├── file_png.cu │ │ │ └── file_stl.cu │ │ └── ros │ │ │ ├── image_msg.cu │ │ │ ├── image_msg.h │ │ │ ├── pointcloud_msg.cu │ │ │ └── pointcloud_msg.h │ ├── kinematics │ │ ├── CMakeLists.txt │ │ ├── kinematic_chain.cpp │ │ └── kinematic_chain.h │ ├── kinfu │ │ ├── CMakeLists.txt │ │ ├── kinfu.cpp │ │ └── kinfu.h │ ├── knn │ │ ├── CMakeLists.txt │ │ ├── bruteforce_nn.h │ │ ├── bruteforce_nn.inl │ │ ├── kdtree_flann.cu │ │ ├── kdtree_flann.h │ │ ├── kdtree_flann.inl │ │ ├── kdtree_search_param.h │ │ ├── lbvh_knn.cu │ │ └── lbvh_knn.h │ ├── odometry │ │ ├── CMakeLists.txt │ │ ├── odometry.cu │ │ ├── odometry.h │ │ ├── odometry_option.h │ │ ├── rgbdodometry_jacobian.h │ │ └── rgbdodometry_jacobian.inl │ ├── planning │ │ ├── CMakeLists.txt │ │ ├── planner.cu │ │ └── planner.h │ ├── registration │ │ ├── CMakeLists.txt │ │ ├── colored_icp.cu │ │ ├── colored_icp.h │ │ ├── fast_global_registration.cu │ │ ├── fast_global_registration.h │ │ ├── feature.cu │ │ ├── feature.h │ │ ├── filterreg.cu │ │ ├── filterreg.h │ │ ├── fpfh.cu │ │ ├── generalized_icp.cu │ │ ├── generalized_icp.h │ │ ├── kabsch.cu │ │ ├── kabsch.h │ │ ├── lattice_utils.h │ │ ├── lattice_utils.inl │ │ ├── permutohedral.h │ │ ├── permutohedral.inl │ │ ├── registration.cu │ │ ├── registration.h │ │ ├── shot.cu │ │ ├── transformation_estimation.cu │ │ └── transformation_estimation.h │ ├── utility │ │ ├── CMakeLists.txt │ │ ├── console.cpp │ │ ├── console.h │ │ ├── device_vector.cu │ │ ├── device_vector.h │ │ ├── dl_converter.cu │ │ ├── dl_converter.h │ │ ├── eigen.cu │ │ ├── eigen.h │ │ ├── eigen.inl │ │ ├── eigenvalue.h │ │ ├── eigenvalue.inl │ │ ├── filesystem.cpp │ │ ├── filesystem.h │ │ ├── helper.cpp │ │ ├── helper.h │ │ ├── ijson_convertible.cpp │ │ ├── ijson_convertible.h │ │ ├── pinned_allocator.h │ │ ├── platform.cu │ │ ├── platform.h │ │ └── range.h │ ├── version.txt │ └── visualization │ │ ├── CMakeLists.txt │ │ ├── shader │ │ ├── geometry_renderer.cpp │ │ ├── geometry_renderer.h │ │ ├── glsl │ │ │ ├── image_fragment_shader.glsl │ │ │ ├── image_mask_fragment_shader.glsl │ │ │ ├── image_mask_vertex_shader.glsl │ │ │ ├── image_vertex_shader.glsl │ │ │ ├── normal_fragment_shader.glsl │ │ │ ├── normal_vertex_shader.glsl │ │ │ ├── phong_fragment_shader.glsl │ │ │ ├── phong_vertex_shader.glsl │ │ │ ├── picking_fragment_shader.glsl │ │ │ ├── picking_vertex_shader.glsl │ │ │ ├── rgmdimage_fragment_shader.glsl │ │ │ ├── simple2d_fragment_shader.glsl │ │ │ ├── simple2d_vertex_shader.glsl │ │ │ ├── simple_fragment_shader.glsl │ │ │ ├── simple_vertex_shader.glsl │ │ │ ├── simple_white_fragment_shader.glsl │ │ │ ├── simple_white_vertex_shader.glsl │ │ │ ├── texture_phong_fragment_shader.glsl │ │ │ ├── texture_phong_vertex_shader.glsl │ │ │ ├── texture_simple_fragment_shader.glsl │ │ │ └── texture_simple_vertex_shader.glsl │ │ ├── image_shader.cu │ │ ├── image_shader.h │ │ ├── normal_shader.cu │ │ ├── normal_shader.h │ │ ├── phong_shader.cu │ │ ├── phong_shader.h │ │ ├── shader_wrapper.cpp │ │ ├── shader_wrapper.h │ │ ├── simple_shader.cu │ │ ├── simple_shader.h │ │ ├── simple_white_shader.cu │ │ ├── simple_white_shader.h │ │ ├── texture_phong_shader.cu │ │ ├── texture_phong_shader.h │ │ ├── texture_simple_shader.cu │ │ └── texture_simple_shader.h │ │ ├── utility │ │ ├── color_map.cpp │ │ ├── color_map.h │ │ ├── draw_geometry.cpp │ │ ├── draw_geometry.h │ │ ├── gl_helper.cpp │ │ └── gl_helper.h │ │ └── visualizer │ │ ├── render_option.cpp │ │ ├── render_option.h │ │ ├── view_control.cpp │ │ ├── view_control.h │ │ ├── view_parameters.cpp │ │ ├── view_parameters.h │ │ ├── view_trajectory.cpp │ │ ├── view_trajectory.h │ │ ├── visualizer.cpp │ │ ├── visualizer.h │ │ ├── visualizer_callback.cpp │ │ └── visualizer_renderer.cpp ├── python │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── MANIFEST.in │ ├── README.md │ ├── cupoch │ │ └── __init__.py │ ├── cupoch_pybind │ │ ├── camera │ │ │ ├── camera.cpp │ │ │ └── camera.h │ │ ├── collision │ │ │ ├── collision.cpp │ │ │ ├── collision.h │ │ │ └── primitives.cpp │ │ ├── cupoch_pybind.cpp │ │ ├── cupoch_pybind.h │ │ ├── device_map_wrapper.cu │ │ ├── device_map_wrapper.h │ │ ├── device_vector_wrapper.cu │ │ ├── device_vector_wrapper.h │ │ ├── dl_converter.h │ │ ├── dl_converter.inl │ │ ├── docstring.cpp │ │ ├── docstring.h │ │ ├── geometry │ │ │ ├── boundingvolume.cpp │ │ │ ├── distancetransform.cpp │ │ │ ├── eigen_type_caster.h │ │ │ ├── geometry.cpp │ │ │ ├── geometry.h │ │ │ ├── geometry_trampoline.h │ │ │ ├── graph.cpp │ │ │ ├── image.cpp │ │ │ ├── kdtree_flann.cpp │ │ │ ├── keypoint.cpp │ │ │ ├── laserscanbuffer.cpp │ │ │ ├── lineset.cpp │ │ │ ├── meshbase.cpp │ │ │ ├── occupancygrid.cpp │ │ │ ├── pointcloud.cpp │ │ │ ├── trianglemesh.cpp │ │ │ └── voxelgrid.cpp │ │ ├── imageproc │ │ │ ├── imageproc.cpp │ │ │ └── imageproc.h │ │ ├── integration │ │ │ ├── integration.cpp │ │ │ └── integration.h │ │ ├── io │ │ │ ├── class_io.cpp │ │ │ ├── io.cpp │ │ │ ├── io.h │ │ │ └── ros_io.cpp │ │ ├── kinematics │ │ │ ├── kinematics.cpp │ │ │ └── kinematics.h │ │ ├── kinfu │ │ │ ├── kinfu.cpp │ │ │ └── kinfu.h │ │ ├── odometry │ │ │ ├── odometry.cpp │ │ │ └── odometry.h │ │ ├── planning │ │ │ ├── planning.cpp │ │ │ └── planning.h │ │ ├── registration │ │ │ ├── feature.cpp │ │ │ ├── registration.cpp │ │ │ └── registration.h │ │ ├── utility │ │ │ ├── console.cpp │ │ │ ├── eigen.cpp │ │ │ ├── utility.cpp │ │ │ └── utility.h │ │ └── visualization │ │ │ ├── renderoption.cpp │ │ │ ├── utility.cpp │ │ │ ├── viewcontrol.cpp │ │ │ ├── visualization.cpp │ │ │ ├── visualization.h │ │ │ ├── visualization_trampoline.h │ │ │ └── visualizer.cpp │ ├── make_install_pip_package.cmake │ ├── make_python_package.cmake │ ├── pyproject.toml │ ├── requirements.txt │ └── setup.py └── tests │ ├── CMakeLists.txt │ ├── collision │ └── collision.cpp │ ├── geometry │ ├── distancetransform.cpp │ ├── graph.cpp │ ├── image.cpp │ ├── laserscanbuffer.cpp │ ├── lineset.cpp │ ├── occupancygrid.cpp │ ├── pointcloud.cpp │ ├── trianglemesh.cpp │ └── voxelgrid.cpp │ ├── integration │ └── uniform_fsdfvolume.cpp │ ├── io │ └── class_io │ │ └── pointcloud_io.cpp │ ├── knn │ ├── kdtree_flann.cpp │ └── lbvh_knn.cpp │ ├── main.cpp │ ├── odometry │ ├── odometry_tools.cpp │ ├── odometry_tools.h │ ├── rgbdodometry_jacobian_from_color_term.cpp │ └── rgbdodometry_jacobian_from_hybrid_term.cpp │ ├── planning │ └── planner.cpp │ ├── registration │ ├── feature.cpp │ └── kabsch.cpp │ └── test_utility │ ├── print.cpp │ ├── print.h │ ├── rand.cpp │ ├── rand.h │ ├── raw.cpp │ ├── raw.h │ ├── sort.cpp │ ├── sort.h │ ├── unit_test.cpp │ └── unit_test.h └── third_party ├── CMakeLists.txt ├── GLFW ├── .gitignore ├── CMake │ ├── GenerateMappings.cmake │ ├── MacOSXBundleInfo.plist.in │ ├── amd64-mingw32msvc.cmake │ ├── i586-mingw32msvc.cmake │ ├── i686-pc-mingw32.cmake │ ├── i686-w64-mingw32.cmake │ ├── modules │ │ ├── FindMir.cmake │ │ ├── FindOSMesa.cmake │ │ ├── FindVulkan.cmake │ │ ├── FindWaylandProtocols.cmake │ │ └── FindXKBCommon.cmake │ └── x86_64-w64-mingw32.cmake ├── CMakeLists.txt ├── COPYING.txt ├── LICENSE.md ├── README.md ├── cmake_uninstall.cmake.in ├── deps │ ├── KHR │ │ └── khrplatform.h │ ├── getopt.c │ ├── getopt.h │ ├── glad.c │ ├── glad │ │ └── glad.h │ ├── linmath.h │ ├── mingw │ │ ├── _mingw_dxhelper.h │ │ ├── dinput.h │ │ └── xinput.h │ ├── nuklear.h │ ├── nuklear_glfw_gl2.h │ ├── stb_image_write.h │ ├── tinycthread.c │ ├── tinycthread.h │ ├── vs2008 │ │ └── stdint.h │ └── vulkan │ │ ├── vk_platform.h │ │ └── vulkan.h ├── include │ └── GLFW │ │ ├── glfw3.h │ │ └── glfw3native.h └── src │ ├── CMakeLists.txt │ ├── cocoa_init.m │ ├── cocoa_joystick.h │ ├── cocoa_joystick.m │ ├── cocoa_monitor.m │ ├── cocoa_platform.h │ ├── cocoa_time.c │ ├── cocoa_window.m │ ├── context.c │ ├── egl_context.c │ ├── egl_context.h │ ├── glfw3.pc.in │ ├── glfw3Config.cmake.in │ ├── glfw_config.h.in │ ├── glx_context.c │ ├── glx_context.h │ ├── init.c │ ├── input.c │ ├── internal.h │ ├── linux_joystick.c │ ├── linux_joystick.h │ ├── mappings.h │ ├── mappings.h.in │ ├── mir_init.c │ ├── mir_monitor.c │ ├── mir_platform.h │ ├── mir_window.c │ ├── monitor.c │ ├── nsgl_context.h │ ├── nsgl_context.m │ ├── null_init.c │ ├── null_joystick.c │ ├── null_joystick.h │ ├── null_monitor.c │ ├── null_platform.h │ ├── null_window.c │ ├── osmesa_context.c │ ├── osmesa_context.h │ ├── posix_thread.c │ ├── posix_thread.h │ ├── posix_time.c │ ├── posix_time.h │ ├── vulkan.c │ ├── wgl_context.c │ ├── wgl_context.h │ ├── win32_init.c │ ├── win32_joystick.c │ ├── win32_joystick.h │ ├── win32_monitor.c │ ├── win32_platform.h │ ├── win32_thread.c │ ├── win32_time.c │ ├── win32_window.c │ ├── window.c │ ├── wl_init.c │ ├── wl_monitor.c │ ├── wl_platform.h │ ├── wl_window.c │ ├── x11_init.c │ ├── x11_monitor.c │ ├── x11_platform.h │ ├── x11_window.c │ ├── xkb_unicode.c │ └── xkb_unicode.h ├── flann ├── algorithms │ ├── all_indices.h │ ├── center_chooser.h │ ├── device_vector.h │ ├── dist.h │ ├── kdtree_cuda_3d_index.cu │ ├── kdtree_cuda_3d_index.h │ ├── kdtree_cuda_builder.h │ ├── kdtree_index.h │ └── nn_index.h ├── config.h ├── config.h.in ├── defines.h ├── flann.hpp ├── general.h └── util │ ├── allocator.h │ ├── any.h │ ├── cuda │ ├── heap.h │ └── result_set.h │ ├── cutil_math.h │ ├── dynamic_bitset.h │ ├── heap.h │ ├── matrix.h │ ├── object_factory.h │ ├── params.h │ ├── random.h │ ├── result_set.h │ ├── saving.h │ ├── serialization.h │ └── timer.h ├── glew ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── include │ └── GL │ │ ├── eglew.h │ │ ├── glew.h │ │ ├── glxew.h │ │ └── wglew.h └── src │ ├── glew.c │ ├── glewinfo.c │ └── visualinfo.c ├── jsoncpp ├── AUTHORS ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ ├── CMakeLists.txt │ └── json │ │ ├── allocator.h │ │ ├── assertions.h │ │ ├── autolink.h │ │ ├── config.h │ │ ├── features.h │ │ ├── forwards.h │ │ ├── json.h │ │ ├── reader.h │ │ ├── value.h │ │ ├── version.h │ │ └── writer.h ├── json_reader.cpp ├── json_tool.h ├── json_value.cpp ├── json_valueiterator.inl └── json_writer.cpp ├── lbvh ├── .gitignore ├── LICENSE ├── Makefile ├── README.md └── lbvh │ ├── aabb.cuh │ ├── bvh.cuh │ ├── morton_code.cuh │ ├── predicator.cuh │ ├── query.cuh │ └── utility.cuh ├── lbvh_index ├── LICENSE ├── README.md └── lbvh_index │ ├── aabb.cuh │ ├── lbvh.cuh │ ├── lbvh_kernels.cuh │ ├── morton_code.cuh │ ├── query.cuh │ ├── query_knn.cuh │ ├── query_knn_kernels.cuh │ ├── static_priorityqueue.cuh │ └── vec_math.h ├── libjpeg-turbo ├── libjpeg-turbo.cmake └── libjpeg-turbo │ ├── BUILDING.md │ ├── Brewfile │ ├── CMakeLists.txt │ ├── ChangeLog.md │ ├── LICENSE.md │ ├── README.ijg │ ├── README.md │ ├── cderror.h │ ├── cdjpeg.c │ ├── cdjpeg.h │ ├── change.log │ ├── cjpeg.1 │ ├── cjpeg.c │ ├── cmakescripts │ ├── BuildPackages.cmake │ ├── GNUInstallDirs.cmake │ ├── cmake_uninstall.cmake.in │ └── testclean.cmake │ ├── cmyk.h │ ├── coderules.txt │ ├── djpeg.1 │ ├── djpeg.c │ ├── doc │ └── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classes.html │ │ ├── closed.png │ │ ├── doxygen-extra.css │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── dynsections.js │ │ ├── ftv2blank.png │ │ ├── ftv2cl.png │ │ ├── ftv2doc.png │ │ ├── ftv2folderclosed.png │ │ ├── ftv2folderopen.png │ │ ├── ftv2lastnode.png │ │ ├── ftv2link.png │ │ ├── ftv2mlastnode.png │ │ ├── ftv2mnode.png │ │ ├── ftv2mo.png │ │ ├── ftv2node.png │ │ ├── ftv2ns.png │ │ ├── ftv2plastnode.png │ │ ├── ftv2pnode.png │ │ ├── ftv2splitbar.png │ │ ├── ftv2vertline.png │ │ ├── functions.html │ │ ├── functions_vars.html │ │ ├── group___turbo_j_p_e_g.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── modules.html │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── search │ │ ├── all_63.html │ │ ├── all_63.js │ │ ├── all_64.html │ │ ├── all_64.js │ │ ├── all_68.html │ │ ├── all_68.js │ │ ├── all_6e.html │ │ ├── all_6e.js │ │ ├── all_6f.html │ │ ├── all_6f.js │ │ ├── all_72.html │ │ ├── all_72.js │ │ ├── all_74.html │ │ ├── all_74.js │ │ ├── all_77.html │ │ ├── all_77.js │ │ ├── all_78.html │ │ ├── all_78.js │ │ ├── all_79.html │ │ ├── all_79.js │ │ ├── classes_74.html │ │ ├── classes_74.js │ │ ├── close.png │ │ ├── enums_74.html │ │ ├── enums_74.js │ │ ├── enumvalues_74.html │ │ ├── enumvalues_74.js │ │ ├── functions_74.html │ │ ├── functions_74.js │ │ ├── groups_74.html │ │ ├── groups_74.js │ │ ├── mag_sel.png │ │ ├── nomatches.html │ │ ├── search.css │ │ ├── search.js │ │ ├── search_l.png │ │ ├── search_m.png │ │ ├── search_r.png │ │ ├── typedefs_74.html │ │ ├── typedefs_74.js │ │ ├── variables_63.html │ │ ├── variables_63.js │ │ ├── variables_64.html │ │ ├── variables_64.js │ │ ├── variables_68.html │ │ ├── variables_68.js │ │ ├── variables_6e.html │ │ ├── variables_6e.js │ │ ├── variables_6f.html │ │ ├── variables_6f.js │ │ ├── variables_72.html │ │ ├── variables_72.js │ │ ├── variables_74.html │ │ ├── variables_74.js │ │ ├── variables_77.html │ │ ├── variables_77.js │ │ ├── variables_78.html │ │ ├── variables_78.js │ │ ├── variables_79.html │ │ └── variables_79.js │ │ ├── structtjregion.html │ │ ├── structtjscalingfactor.html │ │ ├── structtjtransform.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ └── tabs.css │ ├── doxygen-extra.css │ ├── doxygen.config │ ├── example.txt │ ├── jaricom.c │ ├── java │ ├── CMakeLists.txt │ ├── MANIFEST.MF │ ├── README │ ├── TJBench.java │ ├── TJExample.java │ ├── TJUnitTest.java │ ├── doc │ │ ├── allclasses-frame.html │ │ ├── allclasses-noframe.html │ │ ├── constant-values.html │ │ ├── deprecated-list.html │ │ ├── help-doc.html │ │ ├── index-all.html │ │ ├── index.html │ │ ├── org │ │ │ └── libjpegturbo │ │ │ │ └── turbojpeg │ │ │ │ ├── TJ.html │ │ │ │ ├── TJCompressor.html │ │ │ │ ├── TJCustomFilter.html │ │ │ │ ├── TJDecompressor.html │ │ │ │ ├── TJException.html │ │ │ │ ├── TJScalingFactor.html │ │ │ │ ├── TJTransform.html │ │ │ │ ├── TJTransformer.html │ │ │ │ ├── YUVImage.html │ │ │ │ ├── package-frame.html │ │ │ │ ├── package-summary.html │ │ │ │ └── package-tree.html │ │ ├── overview-tree.html │ │ ├── package-list │ │ ├── resources │ │ │ ├── background.gif │ │ │ ├── tab.gif │ │ │ ├── titlebar.gif │ │ │ └── titlebar_end.gif │ │ ├── script.js │ │ ├── serialized-form.html │ │ └── stylesheet.css │ ├── org │ │ └── libjpegturbo │ │ │ └── turbojpeg │ │ │ ├── TJ.java │ │ │ ├── TJCompressor.java │ │ │ ├── TJCustomFilter.java │ │ │ ├── TJDecompressor.java │ │ │ ├── TJException.java │ │ │ ├── TJLoader-unix.java.in │ │ │ ├── TJLoader-win.java.in │ │ │ ├── TJScalingFactor.java │ │ │ ├── TJTransform.java │ │ │ ├── TJTransformer.java │ │ │ └── YUVImage.java │ ├── org_libjpegturbo_turbojpeg_TJ.h │ ├── org_libjpegturbo_turbojpeg_TJCompressor.h │ ├── org_libjpegturbo_turbojpeg_TJDecompressor.h │ └── org_libjpegturbo_turbojpeg_TJTransformer.h │ ├── jcapimin.c │ ├── jcapistd.c │ ├── jcarith.c │ ├── jccoefct.c │ ├── jccolext.c │ ├── jccolor.c │ ├── jcdctmgr.c │ ├── jchuff.c │ ├── jchuff.h │ ├── jcicc.c │ ├── jcinit.c │ ├── jcmainct.c │ ├── jcmarker.c │ ├── jcmaster.c │ ├── jcomapi.c │ ├── jconfig.h.in │ ├── jconfig.txt │ ├── jconfigint.h.in │ ├── jcparam.c │ ├── jcphuff.c │ ├── jcprepct.c │ ├── jcsample.c │ ├── jcstest.c │ ├── jctrans.c │ ├── jdapimin.c │ ├── jdapistd.c │ ├── jdarith.c │ ├── jdatadst-tj.c │ ├── jdatadst.c │ ├── jdatasrc-tj.c │ ├── jdatasrc.c │ ├── jdcoefct.c │ ├── jdcoefct.h │ ├── jdcol565.c │ ├── jdcolext.c │ ├── jdcolor.c │ ├── jdct.h │ ├── jddctmgr.c │ ├── jdhuff.c │ ├── jdhuff.h │ ├── jdicc.c │ ├── jdinput.c │ ├── jdmainct.c │ ├── jdmainct.h │ ├── jdmarker.c │ ├── jdmaster.c │ ├── jdmaster.h │ ├── jdmerge.c │ ├── jdmrg565.c │ ├── jdmrgext.c │ ├── jdphuff.c │ ├── jdpostct.c │ ├── jdsample.c │ ├── jdsample.h │ ├── jdtrans.c │ ├── jerror.c │ ├── jerror.h │ ├── jfdctflt.c │ ├── jfdctfst.c │ ├── jfdctint.c │ ├── jidctflt.c │ ├── jidctfst.c │ ├── jidctint.c │ ├── jidctred.c │ ├── jinclude.h │ ├── jmemmgr.c │ ├── jmemnobs.c │ ├── jmemsys.h │ ├── jmorecfg.h │ ├── jpeg_nbits_table.h │ ├── jpegcomp.h │ ├── jpegint.h │ ├── jpeglib.h │ ├── jpegtran.1 │ ├── jpegtran.c │ ├── jquant1.c │ ├── jquant2.c │ ├── jsimd.h │ ├── jsimd_none.c │ ├── jsimddct.h │ ├── jstdhuff.c │ ├── jutils.c │ ├── jversion.h │ ├── libjpeg.map.in │ ├── libjpeg.txt │ ├── md5 │ ├── CMakeLists.txt │ ├── md5.c │ ├── md5.h │ ├── md5cmp.c │ └── md5hl.c │ ├── rdbmp.c │ ├── rdcolmap.c │ ├── rdgif.c │ ├── rdjpgcom.1 │ ├── rdjpgcom.c │ ├── rdppm.c │ ├── rdrle.c │ ├── rdswitch.c │ ├── rdtarga.c │ ├── release │ ├── Distribution.xml.in │ ├── License.rtf │ ├── ReadMe.txt │ ├── Welcome.rtf │ ├── deb-control.in │ ├── installer.nsi.in │ ├── libjpeg.pc.in │ ├── libturbojpeg.pc.in │ ├── makecygwinpkg.in │ ├── makedpkg.in │ ├── makemacpkg.in │ ├── makerpm.in │ ├── makesrpm.in │ ├── maketarball.in │ ├── rpm.spec.in │ └── uninstall.in │ ├── sharedlib │ └── CMakeLists.txt │ ├── simd │ ├── CMakeLists.txt │ ├── arm │ │ ├── jsimd.c │ │ └── jsimd_neon.S │ ├── arm64 │ │ ├── jsimd.c │ │ └── jsimd_neon.S │ ├── gas-preprocessor.in │ ├── i386 │ │ ├── jccolext-avx2.asm │ │ ├── jccolext-mmx.asm │ │ ├── jccolext-sse2.asm │ │ ├── jccolor-avx2.asm │ │ ├── jccolor-mmx.asm │ │ ├── jccolor-sse2.asm │ │ ├── jcgray-avx2.asm │ │ ├── jcgray-mmx.asm │ │ ├── jcgray-sse2.asm │ │ ├── jcgryext-avx2.asm │ │ ├── jcgryext-mmx.asm │ │ ├── jcgryext-sse2.asm │ │ ├── jchuff-sse2.asm │ │ ├── jcphuff-sse2.asm │ │ ├── jcsample-avx2.asm │ │ ├── jcsample-mmx.asm │ │ ├── jcsample-sse2.asm │ │ ├── jdcolext-avx2.asm │ │ ├── jdcolext-mmx.asm │ │ ├── jdcolext-sse2.asm │ │ ├── jdcolor-avx2.asm │ │ ├── jdcolor-mmx.asm │ │ ├── jdcolor-sse2.asm │ │ ├── jdmerge-avx2.asm │ │ ├── jdmerge-mmx.asm │ │ ├── jdmerge-sse2.asm │ │ ├── jdmrgext-avx2.asm │ │ ├── jdmrgext-mmx.asm │ │ ├── jdmrgext-sse2.asm │ │ ├── jdsample-avx2.asm │ │ ├── jdsample-mmx.asm │ │ ├── jdsample-sse2.asm │ │ ├── jfdctflt-3dn.asm │ │ ├── jfdctflt-sse.asm │ │ ├── jfdctfst-mmx.asm │ │ ├── jfdctfst-sse2.asm │ │ ├── jfdctint-avx2.asm │ │ ├── jfdctint-mmx.asm │ │ ├── jfdctint-sse2.asm │ │ ├── jidctflt-3dn.asm │ │ ├── jidctflt-sse.asm │ │ ├── jidctflt-sse2.asm │ │ ├── jidctfst-mmx.asm │ │ ├── jidctfst-sse2.asm │ │ ├── jidctint-avx2.asm │ │ ├── jidctint-mmx.asm │ │ ├── jidctint-sse2.asm │ │ ├── jidctred-mmx.asm │ │ ├── jidctred-sse2.asm │ │ ├── jquant-3dn.asm │ │ ├── jquant-mmx.asm │ │ ├── jquant-sse.asm │ │ ├── jquantf-sse2.asm │ │ ├── jquanti-avx2.asm │ │ ├── jquanti-sse2.asm │ │ ├── jsimd.c │ │ └── jsimdcpu.asm │ ├── jsimd.h │ ├── loongson │ │ ├── jccolext-mmi.c │ │ ├── jccolor-mmi.c │ │ ├── jcsample-mmi.c │ │ ├── jcsample.h │ │ ├── jdcolext-mmi.c │ │ ├── jdcolor-mmi.c │ │ ├── jdsample-mmi.c │ │ ├── jfdctint-mmi.c │ │ ├── jidctint-mmi.c │ │ ├── jquanti-mmi.c │ │ ├── jsimd.c │ │ ├── jsimd_mmi.h │ │ └── loongson-mmintrin.h │ ├── mips │ │ ├── jsimd.c │ │ ├── jsimd_dspr2.S │ │ └── jsimd_dspr2_asm.h │ ├── nasm │ │ ├── jcolsamp.inc │ │ ├── jdct.inc │ │ ├── jpeg_nbits_table.inc │ │ ├── jsimdcfg.inc │ │ ├── jsimdcfg.inc.h │ │ └── jsimdext.inc │ ├── powerpc │ │ ├── jccolext-altivec.c │ │ ├── jccolor-altivec.c │ │ ├── jcgray-altivec.c │ │ ├── jcgryext-altivec.c │ │ ├── jcsample-altivec.c │ │ ├── jcsample.h │ │ ├── jdcolext-altivec.c │ │ ├── jdcolor-altivec.c │ │ ├── jdmerge-altivec.c │ │ ├── jdmrgext-altivec.c │ │ ├── jdsample-altivec.c │ │ ├── jfdctfst-altivec.c │ │ ├── jfdctint-altivec.c │ │ ├── jidctfst-altivec.c │ │ ├── jidctint-altivec.c │ │ ├── jquanti-altivec.c │ │ ├── jsimd.c │ │ └── jsimd_altivec.h │ └── x86_64 │ │ ├── jccolext-avx2.asm │ │ ├── jccolext-sse2.asm │ │ ├── jccolor-avx2.asm │ │ ├── jccolor-sse2.asm │ │ ├── jcgray-avx2.asm │ │ ├── jcgray-sse2.asm │ │ ├── jcgryext-avx2.asm │ │ ├── jcgryext-sse2.asm │ │ ├── jchuff-sse2.asm │ │ ├── jcphuff-sse2.asm │ │ ├── jcsample-avx2.asm │ │ ├── jcsample-sse2.asm │ │ ├── jdcolext-avx2.asm │ │ ├── jdcolext-sse2.asm │ │ ├── jdcolor-avx2.asm │ │ ├── jdcolor-sse2.asm │ │ ├── jdmerge-avx2.asm │ │ ├── jdmerge-sse2.asm │ │ ├── jdmrgext-avx2.asm │ │ ├── jdmrgext-sse2.asm │ │ ├── jdsample-avx2.asm │ │ ├── jdsample-sse2.asm │ │ ├── jfdctflt-sse.asm │ │ ├── jfdctfst-sse2.asm │ │ ├── jfdctint-avx2.asm │ │ ├── jfdctint-sse2.asm │ │ ├── jidctflt-sse2.asm │ │ ├── jidctfst-sse2.asm │ │ ├── jidctint-avx2.asm │ │ ├── jidctint-sse2.asm │ │ ├── jidctred-sse2.asm │ │ ├── jquantf-sse2.asm │ │ ├── jquanti-avx2.asm │ │ ├── jquanti-sse2.asm │ │ ├── jsimd.c │ │ └── jsimdcpu.asm │ ├── structure.txt │ ├── testimages │ ├── nightshot_iso_100.bmp │ ├── nightshot_iso_100.txt │ ├── test1.icc │ ├── test1.icc.txt │ ├── test2.icc │ ├── test2.icc.txt │ ├── testimgari.jpg │ ├── testimgint.jpg │ ├── testorig.jpg │ ├── testorig.ppm │ ├── testorig12.jpg │ ├── vgl_5674_0098.bmp │ ├── vgl_6434_0018a.bmp │ └── vgl_6548_0026a.bmp │ ├── tjbench.c │ ├── tjbenchtest.in │ ├── tjbenchtest.java.in │ ├── tjexample.c │ ├── tjexampletest.in │ ├── tjexampletest.java.in │ ├── tjunittest.c │ ├── tjutil.c │ ├── tjutil.h │ ├── transupp.c │ ├── transupp.h │ ├── turbojpeg-jni.c │ ├── turbojpeg-mapfile │ ├── turbojpeg-mapfile.jni │ ├── turbojpeg.c │ ├── turbojpeg.h │ ├── usage.txt │ ├── win │ ├── jconfig.h.in │ ├── jpeg62-memsrcdst.def │ ├── jpeg62.def │ ├── jpeg7-memsrcdst.def │ ├── jpeg7.def │ └── jpeg8.def │ ├── wizard.txt │ ├── wrbmp.c │ ├── wrgif.c │ ├── wrjpgcom.1 │ ├── wrjpgcom.c │ ├── wrppm.c │ ├── wrrle.c │ └── wrtarga.c ├── liblzf ├── CMakeLists.txt ├── lzf.h ├── lzfP.h ├── lzf_c.c └── lzf_d.c ├── libpng ├── ANNOUNCE ├── CHANGES ├── CMakeLists.txt ├── INSTALL ├── LICENSE ├── README ├── arm │ ├── arm_init.c │ ├── filter_neon.S │ └── filter_neon_intrinsics.c ├── contrib │ └── arm-neon │ │ ├── README │ │ └── linux.c ├── png.c ├── png.h ├── pngconf.h ├── pngdebug.h ├── pngerror.c ├── pngget.c ├── pnginfo.h ├── pnglibconf.h ├── pnglibconf.h.prebuilt ├── pngmem.c ├── pngpread.c ├── pngpriv.h ├── pngread.c ├── pngrio.c ├── pngrtran.c ├── pngrutil.c ├── pngset.c ├── pngstruct.h ├── pngtest.c ├── pngtrans.c ├── pngwio.c ├── pngwrite.c ├── pngwtran.c └── pngwutil.c ├── rply ├── CMakeLists.txt ├── LICENSE ├── etc │ ├── convert.c │ ├── dump.c │ ├── input.ply │ └── sconvert.c ├── manual │ ├── manual.html │ └── reference.css ├── rply.c └── rply.h ├── tomasakeninemoeller ├── opttritri.h ├── readme.md └── tribox3.h ├── urdfdom ├── .gitignore ├── .travis.yml ├── LICENSE ├── README.md └── urdf_parser │ ├── include │ ├── console_bridge │ │ └── console.h │ ├── tinyxml │ │ ├── tinystr.h │ │ └── tinyxml.h │ ├── urdf_exception │ │ └── exception.h │ ├── urdf_model │ │ ├── color.h │ │ ├── joint.h │ │ ├── link.h │ │ ├── model.h │ │ ├── pose.h │ │ ├── twist.h │ │ ├── types.h │ │ └── utils.h │ ├── urdf_model_state │ │ ├── model_state.h │ │ ├── twist.h │ │ └── types.h │ ├── urdf_parser │ │ ├── exportdecl.h │ │ └── urdf_parser.h │ ├── urdf_sensor │ │ ├── sensor.h │ │ └── types.h │ └── urdf_world │ │ ├── types.h │ │ └── world.h │ └── src │ ├── check_urdf.cpp │ ├── console.cpp │ ├── joint.cpp │ ├── link.cpp │ ├── model.cpp │ ├── pose.cpp │ ├── tinystr.cpp │ ├── tinyxml.cpp │ ├── tinyxmlerror.cpp │ ├── tinyxmlparser.cpp │ ├── twist.cpp │ ├── urdf_model_state.cpp │ ├── urdf_sensor.cpp │ ├── urdf_to_graphiz.cpp │ └── world.cpp └── zlib ├── CMakeLists.txt ├── ChangeLog ├── README ├── adler32.c ├── compress.c ├── crc32.c ├── crc32.h ├── deflate.c ├── deflate.h ├── gzclose.c ├── gzguts.h ├── gzlib.c ├── gzread.c ├── gzwrite.c ├── infback.c ├── inffast.c ├── inffast.h ├── inffixed.h ├── inflate.c ├── inflate.h ├── inftrees.c ├── inftrees.h ├── trees.c ├── trees.h ├── uncompr.c ├── zconf.h ├── zconf.h.cmakein ├── zlib.h ├── zutil.c └── zutil.h /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/neka-nat/cupoch/HEAD/.clang-format -------------------------------------------------------------------------------- /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/neka-nat/cupoch/HEAD/.dockerignore -------------------------------------------------------------------------------- /.github/FUNDING.yml: -------------------------------------------------------------------------------- 1 | github: neka-nat 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