├── .bumbversion.cfg ├── .dockerignore ├── .env.libpointmatcher ├── .github ├── CODEOWNERS ├── pull_request_template.md └── workflows │ ├── build-python.yaml │ └── update-API-documentation.yaml ├── .gitignore ├── .gitmodules ├── .readthedocs.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── Doxyfile.in ├── LICENSE ├── README.md ├── UseDoxygen.cmake ├── cmake_uninstall.cmake.in ├── contrib ├── CMakeLists.txt └── gtest │ ├── CHANGES │ ├── CONTRIBUTORS │ ├── LICENSE │ ├── README │ ├── gtest-all.cc │ ├── gtest.h │ └── gtest_main.cc ├── debian ├── changelog ├── compat ├── control ├── copyright ├── libpointmatcher-bin.dirs ├── libpointmatcher-bin.install ├── libpointmatcher-dev.dirs ├── libpointmatcher-dev.install ├── libpointmatcher-doc.dirs ├── libpointmatcher-doc.install ├── libpointmatcher1.dirs ├── libpointmatcher1.install ├── rules └── source │ └── format ├── doc ├── ApplicationsAndPub.md ├── ApplyingDataFilters.md ├── BasicRegistration.md ├── Compilation.md ├── CompilationPython.md ├── Configuration.md ├── DataFilters.md ├── DataPointsFilterDev.md ├── DefaultICPConfig.md ├── ICPIntro.md ├── ICPWithoutYaml.md ├── ImportExport.md ├── LinkingProjects.md ├── OutlierFiltersFamilies.md ├── PointClouds.md ├── PythonModule.md ├── ReleaseNotes.md ├── TransformationDev.md ├── Transformations.md ├── UnitTestDev.md ├── UsingInRos.md ├── contributing │ ├── commit_msg_reference.md │ └── contributing_instructions.md ├── images │ ├── .DS_Store │ ├── 2dTransMatrix.gif │ ├── 2dtestgrid.png │ ├── 2dvxgrid.png │ ├── 3d50mTrans.gif │ ├── 3dTransMatrix.gif │ ├── DefaultConvertChain.png │ ├── L2_nok.png │ ├── andrew_multik.png │ ├── andrew_threek.png │ ├── appt_0_maxdens.png │ ├── appt_0_rand.png │ ├── appt_dir.png │ ├── appt_norm.png │ ├── appt_obs_dir.png │ ├── appt_rand.png │ ├── appt_samp_norm_dense.png │ ├── appt_samp_norm_sparse.png │ ├── appt_top.png │ ├── appt_voxel.png │ ├── banner_dark.jpeg │ ├── banner_light.jpeg │ ├── bidistance_multikB.jpg │ ├── bidistance_nok.png │ ├── box_filt.png │ ├── box_filt_inside.png │ ├── box_filt_outside.png │ ├── car_example.png │ ├── car_translated.png │ ├── cauchy_multik.png │ ├── cauchy_threek.png │ ├── cauchy_weighted_linear_regression.png │ ├── cauchy_with_points.png │ ├── cmake_screenshot.png │ ├── default_icp_chain.png │ ├── default_icp_chain.svg │ ├── descriptorsMatrix.png │ ├── distance_limit.png │ ├── emicp_nok.png │ ├── eq_andrew.JPG │ ├── eq_bidistance.JPG │ ├── eq_cauchy.JPG │ ├── eq_emicp.JPG │ ├── eq_fair.JPG │ ├── eq_fgr.JPG │ ├── eq_geman.JPG │ ├── eq_gicp.JPG │ ├── eq_huber.JPG │ ├── eq_kc.JPG │ ├── eq_l1.JPG │ ├── eq_l2.JPG │ ├── eq_logistic.JPG │ ├── eq_maxdist.JPG │ ├── eq_percentile.JPG │ ├── eq_rmt.JPG │ ├── eq_sc.JPG │ ├── eq_sparse.JPG │ ├── eq_student.JPG │ ├── eq_tukey.JPG │ ├── eq_welsch.JPG │ ├── fair_multik.png │ ├── fair_threek.png │ ├── featuresMatrix.png │ ├── fgr.png │ ├── floor_plan.png │ ├── geman_multik.png │ ├── geman_threek.png │ ├── hg_noise.png │ ├── huber_multik.png │ ├── huber_threek.png │ ├── icp_tutorial_links.gif │ ├── icp_tutorial_reading.gif │ ├── l1_nok.png │ ├── linear_family.png │ ├── lmicp.png │ ├── lmicp_v2.png │ ├── logistic_multik.png │ ├── logistic_threek.png │ ├── logo.png │ ├── max_dens_after.png │ ├── max_dens_before.png │ ├── max_dis.png │ ├── max_num.png │ ├── max_quant.png │ ├── maximumdistance_multik.png │ ├── maximumdistance_threek.png │ ├── modular_cloud_matcher_icp_chain.png │ ├── norm.png │ ├── orient_norm.png │ ├── paraview_2_clouds.png │ ├── paraview_main.png │ ├── paraview_point_properties.png │ ├── percentile_family.png │ ├── pseudo_sin_family.png │ ├── ransac_threek.png │ ├── rmt_nok.png │ ├── samp_norm.png │ ├── sparceicp_fourk.png │ ├── sparseicp_fourk.png │ ├── spdf-method.jpg │ ├── step_family.png │ ├── student_fourk.png │ ├── switchableconstraint_multik.png │ ├── switchableconstraint_threek.png │ ├── tukey_multik.png │ ├── tukey_threek.png │ ├── welsch_multik.png │ ├── welsch_threek.png │ ├── win_cmake_libnabo.png │ ├── win_cmake_libpointmatcher.png │ └── youtubeCovers │ │ ├── M5Y99o7um88.jpg │ │ ├── McxpJGOZTPs.jpg │ │ ├── UCCAUf64tD0.jpg │ │ ├── cMgLyLpnsoU.jpg │ │ ├── g8l-Xq4qYeE.jpg │ │ ├── lP5Mj-TGaiw.jpg │ │ ├── rIZud3F5IJw.jpg │ │ ├── ygIvzWVfPYk.jpg │ │ └── youtube-play-button.xcf ├── index.md └── requirements.txt ├── evaluations ├── CMakeLists.txt ├── eval_solution.cpp ├── jupyter │ └── PlotSingleResults.ipynb └── official_solutions │ ├── Besl92_pt2point.yaml │ └── Chen91_pt2plane.yaml ├── examples ├── CMakeLists.txt ├── align_sequence.cpp ├── build_map.cpp ├── compute_overlap.cpp ├── data │ ├── 2D_oneBox.csv │ ├── 2D_twoBoxes.csv │ ├── add_descriptor_config.yaml │ ├── carCloudList.csv │ ├── car_cloud400.csv │ ├── car_cloud400_scaled.csv │ ├── car_cloud401.csv │ ├── cloud.00000.vtk │ ├── cloud.00001.vtk │ ├── cloud.00002.vtk │ ├── cloudList.csv │ ├── default-convert.yaml │ ├── default-identity.yaml │ ├── default.yaml │ ├── icp_data │ │ ├── SamplingSurfaceNormalDataPointsFilter1.ref_trans │ │ ├── SamplingSurfaceNormalDataPointsFilter1.yaml │ │ ├── SamplingSurfaceNormalDataPointsFilter2.ref_trans │ │ ├── SamplingSurfaceNormalDataPointsFilter2.yaml │ │ ├── SamplingSurfaceNormalDataPointsFilter3.ref_trans │ │ ├── SamplingSurfaceNormalDataPointsFilter3.yaml │ │ ├── defaultBoundingBoxDataPointsFilter.ref_trans │ │ ├── defaultBoundingBoxDataPointsFilter.yaml │ │ ├── defaultDistanceLimitDataPointsFilter.ref_trans │ │ ├── defaultDistanceLimitDataPointsFilter.yaml │ │ ├── defaultFixStepSamplingDataPointsFilter.ref_trans │ │ ├── defaultFixStepSamplingDataPointsFilter.yaml │ │ ├── defaultIdentityDataPointsFilter.ref_trans │ │ ├── defaultIdentityDataPointsFilter.yaml │ │ ├── defaultMaxDensityDataPointsFilter.ref_trans │ │ ├── defaultMaxDensityDataPointsFilter.yaml │ │ ├── defaultMaxDistDataPointsFilter.ref_trans │ │ ├── defaultMaxDistDataPointsFilter.yaml │ │ ├── defaultMaxPointCountDataPointsFilter.ref_trans │ │ ├── defaultMaxPointCountDataPointsFilter.yaml │ │ ├── defaultMaxQuantileOnAxisDataPointsFilter.ref_trans │ │ ├── defaultMaxQuantileOnAxisDataPointsFilter.yaml │ │ ├── defaultObservationDirectionDataPointsFilter.ref_trans │ │ ├── defaultObservationDirectionDataPointsFilter.yaml │ │ ├── defaultOrientNormalsDataPointsFilter.ref_trans │ │ ├── defaultOrientNormalsDataPointsFilter.yaml │ │ ├── defaultPointToPlaneMinDistDataPointsFilter.ref_trans │ │ ├── defaultPointToPlaneMinDistDataPointsFilter.yaml │ │ ├── defaultPointToPlaneWithCovErrorMinimizer.ref_trans │ │ ├── defaultPointToPointMinDistDataPointsFilter.ref_trans │ │ ├── defaultPointToPointMinDistDataPointsFilter.yaml │ │ ├── defaultPointToPointWithCovErrorMinimizer.ref_trans │ │ ├── defaultRemoveNaNDataPointsFilter.ref_trans │ │ ├── defaultRemoveNaNDataPointsFilter.yaml │ │ ├── defaultRobustOutlierFilter.ref_trans │ │ ├── defaultRobustOutlierFilter.yaml │ │ ├── defaultShadowDataPointsFilter.ref_trans │ │ ├── defaultShadowDataPointsFilter.yaml │ │ ├── defaultSimilarityPointToPointMinDistDataPointsFilter.ref_trans │ │ ├── defaultSimilarityPointToPointMinDistDataPointsFilter.yaml │ │ ├── defaultSimpleSensorNoiseDataPointsFilter.ref_trans │ │ ├── defaultSimpleSensorNoiseDataPointsFilter.yaml │ │ ├── force4DOFForPointToPlaneMinimizer.ref_trans │ │ └── force4DOFForPointToPlaneMinimizer.yaml │ ├── icp_scale.yaml │ ├── trajectory.vtk │ └── unit_tests │ │ ├── badIcpConfig_InvalidModuleType.yaml │ │ └── badIcpConfig_InvalidParameter.yaml ├── demo_Qt │ ├── demo.pro │ └── main.cpp ├── demo_cmake │ ├── CMakeLists.txt │ ├── convert.cpp │ └── default-convert.yaml ├── filterProfiler.cpp ├── icp.cpp ├── icp_advance_api.cpp ├── icp_customized.cpp ├── icp_simple.cpp ├── icp_tutorial │ ├── cloud_0.vtk │ ├── cloud_1.vtk │ ├── icp_tutorial_cfg.yaml │ └── icp_tutorial_empty.yaml ├── list_modules.cpp └── python │ ├── align_sequence.py │ ├── build_map.py │ ├── compute_overlap.py │ ├── icp.py │ ├── icp_advance_api.py │ ├── icp_customized.py │ ├── icp_simple.py │ ├── point_cloud_generator.py │ └── utils.py ├── libpointmatcherConfig.cmake.in ├── libpointmatcherConfigVersion.cmake.in ├── libpointmatcher_dependencies_installer.bash ├── libpointmatcher_installer.bash ├── mkdocs.yml ├── package.xml ├── pointmatcher.pc.in ├── pointmatcher ├── Bibliography.cpp ├── Bibliography.h ├── DataPoints.cpp ├── DataPointsFilter.cpp ├── DataPointsFilters │ ├── AddDescriptor.cpp │ ├── AddDescriptor.h │ ├── AngleLimit.cpp │ ├── AngleLimit.h │ ├── BoundingBox.cpp │ ├── BoundingBox.h │ ├── CovarianceSampling.cpp │ ├── CovarianceSampling.h │ ├── CutAtDescriptorThreshold.cpp │ ├── CutAtDescriptorThreshold.h │ ├── DistanceLimit.cpp │ ├── DistanceLimit.h │ ├── Elipsoids.cpp │ ├── Elipsoids.h │ ├── FixStepSampling.cpp │ ├── FixStepSampling.h │ ├── Gestalt.cpp │ ├── Gestalt.h │ ├── Identity.cpp │ ├── Identity.h │ ├── IncidenceAngle.cpp │ ├── IncidenceAngle.h │ ├── MaxDensity.cpp │ ├── MaxDensity.h │ ├── MaxDist.cpp │ ├── MaxDist.h │ ├── MaxPointCount.cpp │ ├── MaxPointCount.h │ ├── MaxQuantileOnAxis.cpp │ ├── MaxQuantileOnAxis.h │ ├── MinDist.cpp │ ├── MinDist.h │ ├── NormalSpace.cpp │ ├── NormalSpace.h │ ├── ObservationDirection.cpp │ ├── ObservationDirection.h │ ├── OctreeGrid.cpp │ ├── OctreeGrid.h │ ├── OrientNormals.cpp │ ├── OrientNormals.h │ ├── RandomSampling.cpp │ ├── RandomSampling.h │ ├── RemoveNaN.cpp │ ├── RemoveNaN.h │ ├── RemoveSensorBias.cpp │ ├── RemoveSensorBias.h │ ├── Saliency.cpp │ ├── Saliency.h │ ├── SamplingSurfaceNormal.cpp │ ├── SamplingSurfaceNormal.h │ ├── Shadow.cpp │ ├── Shadow.h │ ├── SimpleSensorNoise.cpp │ ├── SimpleSensorNoise.h │ ├── SpectralDecomposition.cpp │ ├── SpectralDecomposition.h │ ├── Sphericality.cpp │ ├── Sphericality.h │ ├── SurfaceNormal.cpp │ ├── SurfaceNormal.h │ ├── VoxelGrid.cpp │ ├── VoxelGrid.h │ └── utils │ │ ├── octree.h │ │ ├── octree.hpp │ │ ├── sparsetv.h │ │ ├── sparsetv.hpp │ │ └── utils.h ├── DataPointsFiltersImpl.h ├── DeprecationWarnings.h ├── Documentation.dox ├── ErrorMinimizer.cpp ├── ErrorMinimizers │ ├── Identity.cpp │ ├── Identity.h │ ├── PointToPlane.cpp │ ├── PointToPlane.h │ ├── PointToPlaneWithCov.cpp │ ├── PointToPlaneWithCov.h │ ├── PointToPoint.cpp │ ├── PointToPoint.h │ ├── PointToPointSimilarity.cpp │ ├── PointToPointSimilarity.h │ ├── PointToPointWithCov.cpp │ └── PointToPointWithCov.h ├── ErrorMinimizersImpl.h ├── Exceptions.cpp ├── Functions.h ├── Histogram.cpp ├── Histogram.h ├── ICP.cpp ├── IO.cpp ├── IO.h ├── IOFunctions.cpp ├── IOFunctions.h ├── Inspector.cpp ├── InspectorsImpl.cpp ├── InspectorsImpl.h ├── Logger.cpp ├── LoggerImpl.cpp ├── LoggerImpl.h ├── Matcher.cpp ├── MatchersImpl.cpp ├── MatchersImpl.h ├── Matches.cpp ├── OutlierFilter.cpp ├── OutlierFiltersImpl.cpp ├── OutlierFiltersImpl.h ├── Parametrizable.cpp ├── Parametrizable.h ├── PointCloudGenerator.cpp ├── PointMatcher.h ├── PointMatcherPrivate.h ├── Registrar.cpp ├── Registrar.h ├── Registry.cpp ├── Timer.cpp ├── Timer.h ├── Transformation.cpp ├── TransformationChecker.cpp ├── TransformationCheckersImpl.cpp ├── TransformationCheckersImpl.h ├── TransformationsImpl.cpp └── TransformationsImpl.h ├── python ├── .gitignore ├── CMakeLists.txt ├── datapointsfilters │ ├── add_descriptor.cpp │ ├── add_descriptor.h │ ├── angle_limit.cpp │ ├── angle_limit.h │ ├── bounding_box.cpp │ ├── bounding_box.h │ ├── covariance_sampling.cpp │ ├── covariance_sampling.h │ ├── cut_at_descriptor_threshold.cpp │ ├── cut_at_descriptor_threshold.h │ ├── distance_limit.cpp │ ├── distance_limit.h │ ├── ellipsoids.cpp │ ├── ellipsoids.h │ ├── fix_step_sampling.cpp │ ├── fix_step_sampling.h │ ├── gestalt.cpp │ ├── gestalt.h │ ├── identity.cpp │ ├── identity.h │ ├── incidence_angle.cpp │ ├── incidence_angle.h │ ├── max_density.cpp │ ├── max_density.h │ ├── max_pointcount.cpp │ ├── max_pointcount.h │ ├── max_quantile_on_axis.cpp │ ├── max_quantile_on_axis.h │ ├── normal_space.cpp │ ├── normal_space.h │ ├── observation_direction.cpp │ ├── observation_direction.h │ ├── octree_grid.cpp │ ├── octree_grid.h │ ├── orient_normals.cpp │ ├── orient_normals.h │ ├── random_sampling.cpp │ ├── random_sampling.h │ ├── remove_nan.cpp │ ├── remove_nan.h │ ├── remove_sensor_bias.cpp │ ├── remove_sensor_bias.h │ ├── sampling_surface_normal.cpp │ ├── sampling_surface_normal.h │ ├── shadow.cpp │ ├── shadow.h │ ├── simple_sensor_noise.cpp │ ├── simple_sensor_noise.h │ ├── sphericality.cpp │ ├── sphericality.h │ ├── surface_normal.cpp │ └── surface_normal.h ├── errorminimizers │ ├── identity.cpp │ ├── identity.h │ ├── point_to_plane.cpp │ ├── point_to_plane.h │ ├── point_to_plane_with_cov.cpp │ ├── point_to_plane_with_cov.h │ ├── point_to_point.cpp │ ├── point_to_point.h │ ├── point_to_point_similarity.cpp │ ├── point_to_point_similarity.h │ ├── point_to_point_with_cov.cpp │ └── point_to_point_with_cov.h ├── modules │ ├── data_points_filters_module.cpp │ ├── data_points_filters_module.h │ ├── error_minimizers_module.cpp │ ├── error_minimizers_module.h │ ├── point_matcher_module.cpp │ ├── point_matcher_module.h │ ├── point_matcher_support_module.cpp │ └── point_matcher_support_module.h ├── pointmatcher │ ├── data_points.cpp │ ├── data_points.h │ ├── data_points_filter.cpp │ ├── data_points_filter.h │ ├── data_points_filters.cpp │ ├── data_points_filters.h │ ├── error_minimizer.cpp │ ├── error_minimizer.h │ ├── icp.cpp │ ├── icp.h │ ├── icp_chain_base.cpp │ ├── icp_chain_base.h │ ├── icp_sequence.cpp │ ├── icp_sequence.h │ ├── impl.cpp │ ├── impl.h │ ├── impls │ │ ├── inspectors_impl.cpp │ │ ├── inspectors_impl.h │ │ ├── matchers_impl.cpp │ │ ├── matchers_impl.h │ │ ├── outlier_filters_impl.cpp │ │ ├── outlier_filters_impl.h │ │ ├── transformation_checkers_impl.cpp │ │ ├── transformation_checkers_impl.h │ │ ├── transformations_impl.cpp │ │ └── transformations_impl.h │ ├── inspector.cpp │ ├── inspector.h │ ├── io.cpp │ ├── io.h │ ├── matcher.cpp │ ├── matcher.h │ ├── matches.cpp │ ├── matches.h │ ├── outlier_filter.cpp │ ├── outlier_filter.h │ ├── outlier_filters.cpp │ ├── outlier_filters.h │ ├── point_cloud_generator.cpp │ ├── point_cloud_generator.h │ ├── point_matcher.cpp │ ├── point_matcher.h │ ├── transformation.cpp │ ├── transformation.h │ ├── transformation_checker.cpp │ ├── transformation_checker.h │ ├── transformation_checkers.cpp │ ├── transformation_checkers.h │ ├── transformations.cpp │ └── transformations.h ├── pointmatchersupport │ ├── bibliography.cpp │ ├── bibliography.h │ ├── logger.cpp │ ├── logger.h │ ├── logger_impl.cpp │ ├── logger_impl.h │ ├── parametrizable.cpp │ ├── parametrizable.h │ ├── registrar.cpp │ ├── registrar.h │ └── registrars │ │ ├── data_points_filter_registrar.cpp │ │ ├── data_points_filter_registrar.h │ │ ├── error_minimizer_registrar.cpp │ │ ├── error_minimizer_registrar.h │ │ ├── inspector_registrar.cpp │ │ ├── inspector_registrar.h │ │ ├── logger_registrar.cpp │ │ ├── logger_registrar.h │ │ ├── matcher_registrar.cpp │ │ ├── matcher_registrar.h │ │ ├── outlier_filter_registrar.cpp │ 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