├── .gitignore ├── BuildCorrespondence ├── .gitignore ├── BuildCorrespondence.cpp ├── BuildCorrespondence.vcxproj ├── BuildCorrespondence.vcxproj.filters ├── CorresApp.cpp ├── CorresApp.h ├── Helper.h ├── ReadMe.txt ├── stdafx.cpp ├── stdafx.h └── targetver.h ├── ElasticReconstruction.sln ├── FragmentOptimizer ├── .gitignore ├── FragmentOptimizer.cpp ├── FragmentOptimizer.vcxproj ├── FragmentOptimizer.vcxproj.filters ├── HashSparseMatrix.cpp ├── HashSparseMatrix.h ├── OptApp.cpp ├── OptApp.h ├── PointCloud.cpp ├── PointCloud.h ├── RGBDTrajectory.h ├── ReadMe.txt ├── external │ ├── Eigen │ │ ├── Array │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── CholmodSupport │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigen2Support │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── IterativeLinearSolvers │ │ ├── Jacobi │ │ ├── LU │ │ ├── LeastSquares │ │ ├── OrderingMethods │ │ ├── PaStiXSupport │ │ ├── PardisoSupport │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── SVD │ │ ├── Sparse │ │ ├── SparseCholesky │ │ ├── SparseCore │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ ├── SuperLUSupport │ │ ├── UmfPackSupport │ │ └── src │ │ │ ├── CMakeLists.txt │ │ │ ├── Cholesky │ │ │ ├── CMakeLists.txt │ │ │ ├── LDLT.h │ │ │ ├── LLT.h │ │ │ └── LLT_MKL.h │ │ │ ├── CholmodSupport │ │ │ ├── CMakeLists.txt │ │ │ └── CholmodSupport.h │ │ │ ├── Core │ │ │ ├── Array.h │ │ │ ├── ArrayBase.h │ │ │ ├── ArrayWrapper.h │ │ │ ├── Assign.h │ │ │ ├── Assign_MKL.h │ │ │ ├── BandMatrix.h │ │ │ ├── Block.h │ │ │ ├── BooleanRedux.h │ │ │ ├── CMakeLists.txt │ │ │ ├── CommaInitializer.h │ │ │ ├── CwiseBinaryOp.h │ │ │ ├── CwiseNullaryOp.h │ │ │ ├── CwiseUnaryOp.h │ │ │ ├── CwiseUnaryView.h │ │ │ ├── DenseBase.h │ │ │ ├── DenseCoeffsBase.h │ │ │ ├── DenseStorage.h │ │ │ ├── Diagonal.h │ │ │ ├── DiagonalMatrix.h │ │ │ ├── DiagonalProduct.h │ │ │ ├── Dot.h │ │ │ ├── EigenBase.h │ │ │ ├── Flagged.h │ │ │ ├── ForceAlignedAccess.h │ │ │ ├── Functors.h │ │ │ ├── Fuzzy.h │ │ │ ├── GeneralProduct.h │ │ │ ├── GenericPacketMath.h │ │ │ ├── GlobalFunctions.h │ │ │ ├── IO.h │ │ │ ├── Map.h │ │ │ ├── MapBase.h │ │ │ ├── MathFunctions.h │ │ │ ├── Matrix.h │ │ │ ├── MatrixBase.h │ │ │ ├── NestByValue.h │ │ │ ├── NoAlias.h │ │ │ ├── NumTraits.h │ │ │ ├── PermutationMatrix.h │ │ │ ├── PlainObjectBase.h │ │ │ ├── Product.h │ │ │ ├── ProductBase.h │ │ │ ├── Random.h │ │ │ ├── Redux.h │ │ │ ├── Replicate.h │ │ │ ├── ReturnByValue.h │ │ │ ├── Reverse.h │ │ │ ├── Select.h │ │ │ ├── SelfAdjointView.h │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ ├── SolveTriangular.h │ │ │ ├── StableNorm.h │ │ │ ├── Stride.h │ │ │ ├── Swap.h │ │ │ ├── Transpose.h │ │ │ ├── Transpositions.h │ │ │ ├── TriangularMatrix.h │ │ │ ├── VectorBlock.h │ │ │ ├── VectorwiseOp.h │ │ │ ├── Visitor.h │ │ │ ├── arch │ │ │ │ ├── AltiVec │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Complex.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Default │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── Settings.h │ │ │ │ ├── NEON │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Complex.h │ │ │ │ │ └── PacketMath.h │ │ │ │ └── SSE │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ ├── products │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CoeffBasedProduct.h │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ │ │ ├── GeneralMatrixMatrix_MKL.h │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ ├── GeneralMatrixVector_MKL.h │ │ │ │ ├── Parallelizer.h │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ ├── SelfadjointMatrixVector_MKL.h │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ ├── TriangularMatrixMatrix_MKL.h │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ ├── TriangularMatrixVector_MKL.h │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ ├── TriangularSolverMatrix_MKL.h │ │ │ │ └── TriangularSolverVector.h │ │ │ └── util │ │ │ │ ├── BlasUtil.h │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Constants.h │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ ├── MKL_support.h │ │ │ │ ├── Macros.h │ │ │ │ ├── Memory.h │ │ │ │ ├── Meta.h │ │ │ │ ├── NonMPL2.h │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ ├── StaticAssert.h │ │ │ │ └── XprHelper.h │ │ │ ├── Eigen2Support │ │ │ ├── Block.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Cwise.h │ │ │ ├── CwiseOperators.h │ │ │ ├── Geometry │ │ │ │ ├── AlignedBox.h │ │ │ │ ├── All.h │ │ │ │ ├── AngleAxis.h │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Hyperplane.h │ │ │ │ ├── ParametrizedLine.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Rotation2D.h │ │ │ │ ├── RotationBase.h │ │ │ │ ├── Scaling.h │ │ │ │ ├── Transform.h │ │ │ │ └── Translation.h │ │ │ ├── LU.h │ │ │ ├── Lazy.h │ │ │ ├── LeastSquares.h │ │ │ ├── Macros.h │ │ │ ├── MathFunctions.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── Minor.h │ │ │ ├── QR.h │ │ │ ├── SVD.h │ │ │ ├── TriangularSolver.h │ │ │ └── VectorBlock.h │ │ │ ├── Eigenvalues │ │ │ ├── CMakeLists.txt │ │ │ ├── ComplexEigenSolver.h │ │ │ ├── ComplexSchur.h │ │ │ ├── ComplexSchur_MKL.h │ │ │ ├── EigenSolver.h │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ ├── HessenbergDecomposition.h │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ ├── RealSchur.h │ │ │ ├── RealSchur_MKL.h │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ │ └── Tridiagonalization.h │ │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── AngleAxis.h │ │ │ ├── CMakeLists.txt │ │ │ ├── EulerAngles.h │ │ │ ├── Homogeneous.h │ │ │ ├── Hyperplane.h │ │ │ ├── OrthoMethods.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ ├── Translation.h │ │ │ ├── Umeyama.h │ │ │ └── arch │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── Geometry_SSE.h │ │ │ ├── Householder │ │ │ ├── BlockHouseholder.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Householder.h │ │ │ └── HouseholderSequence.h │ │ │ ├── IterativeLinearSolvers │ │ │ ├── BasicPreconditioners.h │ │ │ ├── BiCGSTAB.h │ │ │ ├── CMakeLists.txt │ │ │ ├── ConjugateGradient.h │ │ │ ├── IncompleteLUT.h │ │ │ └── IterativeSolverBase.h │ │ │ ├── Jacobi │ │ │ ├── CMakeLists.txt │ │ │ └── Jacobi.h │ │ │ ├── LU │ │ │ ├── CMakeLists.txt │ │ │ ├── Determinant.h │ │ │ ├── FullPivLU.h │ │ │ ├── Inverse.h │ │ │ ├── PartialPivLU.h │ │ │ ├── PartialPivLU_MKL.h │ │ │ └── arch │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── Inverse_SSE.h │ │ │ ├── OrderingMethods │ │ │ ├── Amd.h │ │ │ └── CMakeLists.txt │ │ │ ├── PaStiXSupport │ │ │ ├── CMakeLists.txt │ │ │ └── PaStiXSupport.h │ │ │ ├── PardisoSupport │ │ │ ├── CMakeLists.txt │ │ │ └── PardisoSupport.h │ │ │ ├── QR │ │ │ ├── CMakeLists.txt │ │ │ ├── ColPivHouseholderQR.h │ │ │ ├── ColPivHouseholderQR_MKL.h │ │ │ ├── FullPivHouseholderQR.h │ │ │ ├── HouseholderQR.h │ │ │ └── HouseholderQR_MKL.h │ │ │ ├── SVD │ │ │ ├── CMakeLists.txt │ │ │ ├── JacobiSVD.h │ │ │ ├── JacobiSVD_MKL.h │ │ │ └── UpperBidiagonalization.h │ │ │ ├── SparseCholesky │ │ │ ├── CMakeLists.txt │ │ │ └── SimplicialCholesky.h │ │ │ ├── SparseCore │ │ │ ├── AmbiVector.h │ │ │ ├── CMakeLists.txt │ │ │ ├── CompressedStorage.h │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ ├── CoreIterators.h │ │ │ ├── MappedSparseMatrix.h │ │ │ ├── SparseAssign.h │ │ │ ├── SparseBlock.h │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ ├── SparseDenseProduct.h │ │ │ ├── SparseDiagonalProduct.h │ │ │ ├── SparseDot.h │ │ │ ├── SparseFuzzy.h │ │ │ ├── SparseMatrix.h │ │ │ ├── SparseMatrixBase.h │ │ │ ├── SparsePermutation.h │ │ │ ├── SparseProduct.h │ │ │ ├── SparseRedux.h │ │ │ ├── SparseSelfAdjointView.h │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ ├── SparseTranspose.h │ │ │ ├── SparseTriangularView.h │ │ │ ├── SparseUtil.h │ │ │ ├── SparseVector.h │ │ │ ├── SparseView.h │ │ │ └── TriangularSolver.h │ │ │ ├── StlSupport │ │ │ ├── CMakeLists.txt │ │ │ ├── StdDeque.h │ │ │ ├── StdList.h │ │ │ ├── StdVector.h │ │ │ └── details.h │ │ │ ├── SuperLUSupport │ │ │ ├── CMakeLists.txt │ │ │ └── SuperLUSupport.h │ │ │ ├── UmfPackSupport │ │ │ ├── CMakeLists.txt │ │ │ └── UmfPackSupport.h │ │ │ ├── misc │ │ │ ├── CMakeLists.txt │ │ │ ├── Image.h │ │ │ ├── Kernel.h │ │ │ ├── Solve.h │ │ │ ├── SparseSolve.h │ │ │ └── blas.h │ │ │ └── plugins │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ ├── BlockMethods.h │ │ │ ├── CMakeLists.txt │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ └── MatrixCwiseUnaryOps.h │ ├── SuiteSparse │ │ ├── Bin │ │ │ ├── AMD_demo.exe │ │ │ ├── CAMD.dll │ │ │ ├── CCOLAMD.dll │ │ │ ├── CCOLAMD_example.exe │ │ │ ├── CHOLMOD.dll │ │ │ ├── CHOLMOD_demo.exe │ │ │ ├── CHOLMOD_simple.exe │ │ │ ├── CHOLMOD_test.cmd │ │ │ ├── COLAMD.dll │ │ │ ├── COLAMD_example.exe │ │ │ └── Matrix │ │ │ │ ├── 0.tri │ │ │ │ ├── bcsstk01.rsa │ │ │ │ ├── bcsstk01.tri │ │ │ │ ├── bcsstk02.rsa │ │ │ │ ├── bcsstk02.tri │ │ │ │ ├── c.mtx │ │ │ │ ├── c.tri │ │ │ │ ├── can___24.mtx │ │ │ │ ├── d.tri │ │ │ │ ├── empty.tri │ │ │ │ ├── lp_afiro.rra │ │ │ │ ├── lp_afiro.tri │ │ │ │ ├── mangle1.mtx │ │ │ │ ├── mangle2.mtx │ │ │ │ ├── mangle3.mtx │ │ │ │ ├── mangle4.mtx │ │ │ │ ├── mangle5.tri │ │ │ │ ├── mangle6.tri │ │ │ │ ├── mangle7.tri │ │ │ │ ├── mangle8.tri │ │ │ │ ├── n5 │ │ │ │ ├── one.tri │ │ │ │ ├── pts5ldd03.mtx │ │ │ │ └── up.tri │ │ ├── Include │ │ │ ├── License.txt │ │ │ ├── README.txt │ │ │ ├── SuiteSparse_config.h │ │ │ ├── cholmod.h │ │ │ ├── cholmod_blas.h │ │ │ ├── cholmod_check.h │ │ │ ├── cholmod_cholesky.h │ │ │ ├── cholmod_complexity.h │ │ │ ├── cholmod_config.h │ │ │ ├── cholmod_core.h │ │ │ ├── cholmod_internal.h │ │ │ ├── cholmod_io64.h │ │ │ ├── cholmod_matrixops.h │ │ │ ├── cholmod_modify.h │ │ │ ├── cholmod_partition.h │ │ │ ├── cholmod_supernodal.h │ │ │ └── cholmod_template.h │ │ └── Lib │ │ │ ├── AMD.lib │ │ │ ├── CAMD.lib │ │ │ ├── CCOLAMD.lib │ │ │ ├── CHOLMOD.lib │ │ │ ├── COLAMD.lib │ │ │ └── SuiteSparse_config.lib │ └── unsupported │ │ ├── CMakeLists.txt │ │ ├── Eigen │ │ ├── AdolcForward │ │ ├── AlignedVector3 │ │ ├── AutoDiff │ │ ├── BVH │ │ ├── CMakeLists.txt │ │ ├── FFT │ │ ├── IterativeSolvers │ │ ├── KroneckerProduct │ │ ├── MPRealSupport │ │ ├── MatrixFunctions │ │ ├── MoreVectorization │ │ ├── NonLinearOptimization │ │ ├── NumericalDiff │ │ ├── OpenGLSupport │ │ ├── Polynomials │ │ ├── Skyline │ │ ├── SparseExtra │ │ ├── Splines │ │ └── src │ │ │ ├── AutoDiff │ │ │ ├── AutoDiffJacobian.h │ │ │ ├── AutoDiffScalar.h │ │ │ ├── AutoDiffVector.h │ │ │ └── CMakeLists.txt │ │ │ ├── BVH │ │ │ ├── BVAlgorithms.h │ │ │ ├── CMakeLists.txt │ │ │ └── KdBVH.h │ │ │ ├── CMakeLists.txt │ │ │ ├── FFT │ │ │ ├── CMakeLists.txt │ │ │ ├── ei_fftw_impl.h │ │ │ └── ei_kissfft_impl.h │ │ │ ├── IterativeSolvers │ │ │ ├── CMakeLists.txt │ │ │ ├── ConstrainedConjGrad.h │ │ │ ├── GMRES.h │ │ │ ├── IncompleteLU.h │ │ │ ├── IterationController.h │ │ │ └── Scaling.h │ │ │ ├── KroneckerProduct │ │ │ ├── CMakeLists.txt │ │ │ └── KroneckerTensorProduct.h │ │ │ ├── MatrixFunctions │ │ │ ├── CMakeLists.txt │ │ │ ├── MatrixExponential.h │ │ │ ├── MatrixFunction.h │ │ │ ├── MatrixFunctionAtomic.h │ │ │ ├── MatrixLogarithm.h │ │ │ ├── MatrixSquareRoot.h │ │ │ └── StemFunction.h │ │ │ ├── MoreVectorization │ │ │ ├── CMakeLists.txt │ │ │ └── MathFunctions.h │ │ │ ├── NonLinearOptimization │ │ │ ├── CMakeLists.txt │ │ │ ├── HybridNonLinearSolver.h │ │ │ ├── LevenbergMarquardt.h │ │ │ ├── chkder.h │ │ │ ├── covar.h │ │ │ ├── dogleg.h │ │ │ ├── fdjac1.h │ │ │ ├── lmpar.h │ │ │ ├── qrsolv.h │ │ │ ├── r1mpyq.h │ │ │ ├── r1updt.h │ │ │ └── rwupdt.h │ │ │ ├── NumericalDiff │ │ │ ├── CMakeLists.txt │ │ │ └── NumericalDiff.h │ │ │ ├── Polynomials │ │ │ ├── CMakeLists.txt │ │ │ ├── Companion.h │ │ │ ├── PolynomialSolver.h │ │ │ └── PolynomialUtils.h │ │ │ ├── Skyline │ │ │ ├── CMakeLists.txt │ │ │ ├── SkylineInplaceLU.h │ │ │ ├── SkylineMatrix.h │ │ │ ├── SkylineMatrixBase.h │ │ │ ├── SkylineProduct.h │ │ │ ├── SkylineStorage.h │ │ │ └── SkylineUtil.h │ │ │ ├── SparseExtra │ │ │ ├── BlockOfDynamicSparseMatrix.h │ │ │ ├── CMakeLists.txt │ │ │ ├── DynamicSparseMatrix.h │ │ │ ├── MarketIO.h │ │ │ ├── MatrixMarketIterator.h │ │ │ └── RandomSetter.h │ │ │ └── Splines │ │ │ ├── CMakeLists.txt │ │ │ ├── Spline.h │ │ │ ├── SplineFitting.h │ │ │ └── SplineFwd.h │ │ ├── README.txt │ │ ├── doc │ │ ├── CMakeLists.txt │ │ ├── Doxyfile.in │ │ ├── Overview.dox │ │ ├── examples │ │ │ ├── BVH_Example.cpp │ │ │ ├── CMakeLists.txt │ │ │ ├── FFT.cpp │ │ │ ├── MatrixExponential.cpp │ │ │ ├── MatrixFunction.cpp │ │ │ ├── MatrixLogarithm.cpp │ │ │ ├── MatrixSine.cpp │ │ │ ├── MatrixSinh.cpp │ │ │ ├── MatrixSquareRoot.cpp │ │ │ ├── PolynomialSolver1.cpp │ │ │ └── PolynomialUtils1.cpp │ │ └── snippets │ │ │ └── CMakeLists.txt │ │ └── test │ │ ├── BVH.cpp │ │ ├── CMakeLists.txt │ │ ├── FFT.cpp │ │ ├── FFTW.cpp │ │ ├── NonLinearOptimization.cpp │ │ ├── NumericalDiff.cpp │ │ ├── alignedvector3.cpp │ │ ├── autodiff.cpp │ │ ├── forward_adolc.cpp │ │ ├── gmres.cpp │ │ ├── kronecker_product.cpp │ │ ├── matrix_exponential.cpp │ │ ├── matrix_function.cpp │ │ ├── matrix_square_root.cpp │ │ ├── mpreal │ │ ├── dlmalloc.c │ │ ├── dlmalloc.h │ │ ├── mpreal.cpp │ │ └── mpreal.h │ │ ├── mpreal_support.cpp │ │ ├── openglsupport.cpp │ │ ├── polynomialsolver.cpp │ │ ├── polynomialutils.cpp │ │ ├── sparse_extra.cpp │ │ └── splines.cpp ├── stdafx.cpp ├── stdafx.h └── targetver.h ├── GlobalRegistration ├── GlobalRegistration.cpp ├── GlobalRegistration.vcxproj ├── GlobalRegistration.vcxproj.filters ├── PolyRejector.h ├── RansacCurvature.cpp ├── RansacCurvature.h ├── ReadMe.txt ├── alignment.config ├── helper.h ├── stdafx.cpp ├── stdafx.h └── targetver.h ├── GraphOptimizer ├── .gitignore ├── GraphOptimizer.cpp ├── GraphOptimizer.vcxproj ├── GraphOptimizer.vcxproj.filters ├── OptApp.cpp ├── OptApp.h ├── ReadMe.txt ├── external │ └── g2o │ │ ├── bin │ │ ├── g2o.exe │ │ ├── g2o_cli.dll │ │ ├── g2o_cli_d.dll │ │ ├── g2o_core.dll │ │ ├── g2o_core_d.dll │ │ ├── g2o_csparse_extension.dll │ │ ├── g2o_csparse_extension_d.dll │ │ ├── g2o_ext_csparse.dll │ │ ├── g2o_ext_csparse_d.dll │ │ ├── g2o_ext_freeglut_minimal.dll │ │ ├── g2o_ext_freeglut_minimal_d.dll │ │ ├── g2o_opengl_helper.dll │ │ ├── g2o_opengl_helper_d.dll │ │ ├── g2o_simulator.dll │ │ ├── g2o_simulator2d.exe │ │ ├── g2o_simulator3d.exe │ │ ├── g2o_simulator_d.dll │ │ ├── g2o_solver_csparse.dll │ │ ├── g2o_solver_csparse_d.dll │ │ ├── g2o_solver_dense.dll │ │ ├── g2o_solver_dense_d.dll │ │ ├── g2o_solver_pcg.dll │ │ ├── g2o_solver_pcg_d.dll │ │ ├── g2o_solver_slam2d_linear.dll │ │ ├── g2o_solver_slam2d_linear_d.dll │ │ ├── g2o_solver_structure_only.dll │ │ ├── g2o_solver_structure_only_d.dll │ │ ├── g2o_stuff.dll │ │ ├── g2o_stuff_d.dll │ │ ├── g2o_types_data.dll │ │ ├── g2o_types_data_d.dll │ │ ├── g2o_types_icp.dll │ │ ├── g2o_types_icp_d.dll │ │ ├── g2o_types_sba.dll │ │ ├── g2o_types_sba_d.dll │ │ ├── g2o_types_sclam2d.dll │ │ ├── g2o_types_sclam2d_d.dll │ │ ├── g2o_types_sim3.dll │ │ ├── g2o_types_sim3_d.dll │ │ ├── g2o_types_slam2d.dll │ │ ├── g2o_types_slam2d_d.dll │ │ ├── g2o_types_slam3d.dll │ │ └── g2o_types_slam3d_d.dll │ │ ├── include │ │ ├── EXTERNAL │ │ │ ├── csparse │ │ │ │ ├── cs.h │ │ │ │ └── cs_api.h │ │ │ └── freeglut │ │ │ │ └── freeglut_minimal.h │ │ ├── g2o │ │ │ ├── apps │ │ │ │ ├── g2o_cli │ │ │ │ │ ├── dl_wrapper.h │ │ │ │ │ ├── g2o_cli_api.h │ │ │ │ │ ├── g2o_common.h │ │ │ │ │ └── output_helper.h │ │ │ │ └── g2o_simulator │ │ │ │ │ ├── g2o_simulator_api.h │ │ │ │ │ ├── pointsensorparameters.h │ │ │ │ │ ├── sensor_odometry.h │ │ │ │ │ ├── sensor_odometry2d.h │ │ │ │ │ ├── sensor_odometry3d.h │ │ │ │ │ ├── sensor_pointxy.h │ │ │ │ │ ├── sensor_pointxy_bearing.h │ │ │ │ │ ├── sensor_pointxy_offset.h │ │ │ │ │ ├── sensor_pointxyz.h │ │ │ │ │ ├── sensor_pointxyz_depth.h │ │ │ │ │ ├── sensor_pointxyz_disparity.h │ │ │ │ │ ├── sensor_pose2d.h │ │ │ │ │ ├── sensor_pose3d.h │ │ │ │ │ ├── sensor_pose3d_offset.h │ │ │ │ │ ├── sensor_se3_prior.h │ │ │ │ │ ├── simulator.h │ │ │ │ │ ├── simulator2d.h │ │ │ │ │ ├── simulator2d_base.h │ │ │ │ │ ├── simulator3d.h │ │ │ │ │ ├── simulator3d_base.h │ │ │ │ │ └── simutils.h │ │ │ ├── config.h │ │ │ ├── core │ │ │ │ ├── base_binary_edge.h │ │ │ │ ├── base_binary_edge.hpp │ │ │ │ ├── base_edge.h │ │ │ │ ├── base_multi_edge.h │ │ │ │ ├── base_multi_edge.hpp │ │ │ │ ├── base_unary_edge.h │ │ │ │ ├── base_unary_edge.hpp │ │ │ │ ├── base_vertex.h │ │ │ │ ├── base_vertex.hpp │ │ │ │ ├── batch_stats.h │ │ │ │ ├── block_solver.h │ │ │ │ ├── block_solver.hpp │ │ │ │ ├── cache.h │ │ │ │ ├── creators.h │ │ │ │ ├── estimate_propagator.h │ │ │ │ ├── factory.h │ │ │ │ ├── g2o_core_api.h │ │ │ │ ├── hyper_dijkstra.h │ │ │ │ ├── hyper_graph.h │ │ │ │ ├── hyper_graph_action.h │ │ │ │ ├── jacobian_workspace.h │ │ │ │ ├── linear_solver.h │ │ │ │ ├── marginal_covariance_cholesky.h │ │ │ │ ├── matrix_operations.h │ │ │ │ ├── matrix_structure.h │ │ │ │ ├── openmp_mutex.h │ │ │ │ ├── optimizable_graph.h │ │ │ │ ├── optimization_algorithm.h │ │ │ │ ├── optimization_algorithm_dogleg.h │ │ │ │ ├── optimization_algorithm_factory.h │ │ │ │ ├── optimization_algorithm_gauss_newton.h │ │ │ │ ├── optimization_algorithm_levenberg.h │ │ │ │ ├── optimization_algorithm_property.h │ │ │ │ ├── optimization_algorithm_with_hessian.h │ │ │ │ ├── parameter.h │ │ │ │ ├── parameter_container.h │ │ │ │ ├── robust_kernel.h │ │ │ │ ├── robust_kernel_factory.h │ │ │ │ ├── robust_kernel_impl.h │ │ │ │ ├── solver.h │ │ │ │ ├── sparse_block_matrix.h │ │ │ │ ├── sparse_block_matrix.hpp │ │ │ │ ├── sparse_block_matrix_ccs.h │ │ │ │ ├── sparse_block_matrix_diagonal.h │ │ │ │ ├── sparse_optimizer.h │ │ │ │ └── sparse_optimizer_terminate_action.h │ │ │ ├── solvers │ │ │ │ ├── csparse │ │ │ │ │ ├── csparse_helper.h │ │ │ │ │ ├── g2o_csparse_api.h │ │ │ │ │ ├── g2o_csparse_extension_api.h │ │ │ │ │ └── linear_solver_csparse.h │ │ │ │ ├── dense │ │ │ │ │ └── linear_solver_dense.h │ │ │ │ ├── pcg │ │ │ │ │ ├── linear_solver_pcg.h │ │ │ │ │ └── linear_solver_pcg.hpp │ │ │ │ ├── slam2d_linear │ │ │ │ │ ├── g2o_slam2d_linear_api.h │ │ │ │ │ └── solver_slam2d_linear.h │ │ │ │ └── structure_only │ │ │ │ │ └── structure_only_solver.h │ │ │ ├── stuff │ │ │ │ ├── color_macros.h │ │ │ │ ├── command_args.h │ │ │ │ ├── filesys_tools.h │ │ │ │ ├── g2o_stuff_api.h │ │ │ │ ├── macros.h │ │ │ │ ├── misc.h │ │ │ │ ├── opengl_primitives.h │ │ │ │ ├── opengl_wrapper.h │ │ │ │ ├── os_specific.h │ │ │ │ ├── property.h │ │ │ │ ├── sampler.h │ │ │ │ ├── scoped_pointer.h │ │ │ │ ├── sparse_helper.h │ │ │ │ ├── string_tools.h │ │ │ │ ├── timeutil.h │ │ │ │ └── unscented.h │ │ │ └── types │ │ │ │ ├── data │ │ │ │ ├── data_queue.h │ │ │ │ ├── g2o_types_data_api.h │ │ │ │ ├── laser_parameters.h │ │ │ │ ├── raw_laser.h │ │ │ │ ├── robot_data.h │ │ │ │ ├── robot_laser.h │ │ │ │ ├── types_data.h │ │ │ │ └── vertex_tag.h │ │ │ │ ├── icp │ │ │ │ ├── g2o_types_icp_api.h │ │ │ │ └── types_icp.h │ │ │ │ ├── sba │ │ │ │ ├── g2o_types_sba_api.h │ │ │ │ ├── sbacam.h │ │ │ │ ├── types_sba.h │ │ │ │ └── types_six_dof_expmap.h │ │ │ │ ├── sclam2d │ │ │ │ ├── edge_se2_odom_differential_calib.h │ │ │ │ ├── edge_se2_sensor_calib.h │ │ │ │ ├── g2o_types_sclam2d_api.h │ │ │ │ ├── odometry_measurement.h │ │ │ │ ├── types_sclam2d.h │ │ │ │ └── vertex_odom_differential_params.h │ │ │ │ ├── sim3 │ │ │ │ ├── sim3.h │ │ │ │ └── types_seven_dof_expmap.h │ │ │ │ ├── slam2d │ │ │ │ ├── edge_se2.h │ │ │ │ ├── edge_se2_offset.h │ │ │ │ ├── edge_se2_pointxy.h │ │ │ │ ├── edge_se2_pointxy_bearing.h │ │ │ │ ├── edge_se2_pointxy_calib.h │ │ │ │ ├── edge_se2_pointxy_offset.h │ │ │ │ ├── edge_se2_prior.h │ │ │ │ ├── g2o_types_slam2d_api.h │ │ │ │ ├── parameter_se2_offset.h │ │ │ │ ├── se2.h │ │ │ │ ├── types_slam2d.h │ │ │ │ ├── vertex_point_xy.h │ │ │ │ └── vertex_se2.h │ │ │ │ └── slam3d │ │ │ │ ├── dquat2mat.h │ │ │ │ ├── edge_se3.h │ │ │ │ ├── edge_se3_offset.h │ │ │ │ ├── edge_se3_pointxyz.h │ │ │ │ ├── edge_se3_pointxyz_depth.h │ │ │ │ ├── edge_se3_pointxyz_disparity.h │ │ │ │ ├── edge_se3_prior.h │ │ │ │ ├── g2o_types_slam3d_api.h │ │ │ │ ├── isometry3d_gradients.h │ │ │ │ ├── isometry3d_mappings.h │ │ │ │ ├── parameter_camera.h │ │ │ │ ├── parameter_se3_offset.h │ │ │ │ ├── parameter_stereo_camera.h │ │ │ │ ├── se3_ops.h │ │ │ │ ├── se3_ops.hpp │ │ │ │ ├── se3quat.h │ │ │ │ ├── types_slam3d.h │ │ │ │ ├── vertex_pointxyz.h │ │ │ │ └── vertex_se3.h │ │ └── slam_parser │ │ │ ├── interface │ │ │ ├── abstract_slam_interface.h │ │ │ ├── parser_interface.h │ │ │ └── slam_context_interface.h │ │ │ └── parser │ │ │ ├── FlexLexer.h │ │ │ ├── bison_parser.h │ │ │ ├── commands.h │ │ │ ├── driver.h │ │ │ ├── location.hh │ │ │ ├── position.hh │ │ │ ├── scanner.h │ │ │ ├── slam_context.h │ │ │ └── stack.hh │ │ └── lib │ │ ├── g2o_cli.lib │ │ ├── g2o_cli_d.lib │ │ ├── g2o_core.lib │ │ ├── g2o_core_d.lib │ │ ├── g2o_csparse_extension.lib │ │ ├── g2o_csparse_extension_d.lib │ │ ├── g2o_ext_csparse.lib │ │ ├── g2o_ext_csparse_d.lib │ │ ├── g2o_ext_freeglut_minimal.lib │ │ ├── g2o_ext_freeglut_minimal_d.lib │ │ ├── g2o_interface.lib │ │ ├── g2o_interface_d.lib │ │ ├── g2o_opengl_helper.lib │ │ ├── g2o_opengl_helper_d.lib │ │ ├── g2o_parser.lib │ │ ├── g2o_parser_d.lib │ │ ├── g2o_simulator.lib │ │ ├── g2o_simulator_d.lib │ │ ├── g2o_solver_csparse.lib │ │ ├── g2o_solver_csparse_d.lib │ │ ├── g2o_solver_dense.lib │ │ ├── g2o_solver_dense_d.lib │ │ ├── g2o_solver_pcg.lib │ │ ├── g2o_solver_pcg_d.lib │ │ ├── g2o_solver_slam2d_linear.lib │ │ ├── g2o_solver_slam2d_linear_d.lib │ │ ├── g2o_solver_structure_only.lib │ │ ├── g2o_solver_structure_only_d.lib │ │ ├── g2o_stuff.lib │ │ ├── g2o_stuff_d.lib │ │ ├── g2o_types_data.lib │ │ ├── g2o_types_data_d.lib │ │ ├── g2o_types_icp.lib │ │ ├── g2o_types_icp_d.lib │ │ ├── g2o_types_sba.lib │ │ ├── g2o_types_sba_d.lib │ │ ├── g2o_types_sclam2d.lib │ │ ├── g2o_types_sclam2d_d.lib │ │ ├── g2o_types_sim3.lib │ │ ├── g2o_types_sim3_d.lib │ │ ├── g2o_types_slam2d.lib │ │ ├── g2o_types_slam2d_d.lib │ │ ├── g2o_types_slam3d.lib │ │ └── g2o_types_slam3d_d.lib ├── helper.h ├── stdafx.cpp ├── stdafx.h ├── targetver.h └── vertigo │ ├── edge_se3Switchable.cpp │ ├── edge_se3Switchable.h │ ├── edge_switchPrior.cpp │ ├── edge_switchPrior.h │ ├── types_g2o_robust.cpp │ ├── vertex_switchLinear.cpp │ └── vertex_switchLinear.h ├── Integrate ├── .gitignore ├── ControlGrid.cpp ├── ControlGrid.h ├── Integrate.cpp ├── Integrate.vcxproj ├── Integrate.vcxproj.filters ├── IntegrateApp.cpp ├── IntegrateApp.h ├── ReadMe.txt ├── TSDFVolume.cpp ├── TSDFVolume.h ├── TSDFVolumeUnit.cpp ├── TSDFVolumeUnit.h ├── stdafx.cpp ├── stdafx.h └── targetver.h ├── LICENSE.txt ├── Matlab_Toolbox ├── Core │ ├── mrDrawTrajectory.m │ ├── mrEvaluateRegistration.m │ ├── mrEvaluateTrajectory.m │ ├── mrLoadInfo.m │ ├── mrLoadLog.m │ ├── mrMatchDepthColor.m │ ├── mrWriteInfo.m │ └── mrWriteLog.m ├── Example │ ├── Data │ │ ├── RegistrationEvaluation │ │ │ ├── livingroom1 │ │ │ │ ├── 4pcs.log │ │ │ │ ├── gt.info │ │ │ │ ├── gt.log │ │ │ │ ├── opencv.log │ │ │ │ ├── pcl.log │ │ │ │ ├── pcl_modified.log │ │ │ │ └── super4pcs.log │ │ │ ├── livingroom2 │ │ │ │ ├── 4pcs.log │ │ │ │ ├── gt.info │ │ │ │ ├── gt.log │ │ │ │ ├── opencv.log │ │ │ │ ├── pcl.log │ │ │ │ ├── pcl_modified.log │ │ │ │ └── super4pcs.log │ │ │ ├── office1 │ │ │ │ ├── 4pcs.log │ │ │ │ ├── gt.info │ │ │ │ ├── gt.log │ │ │ │ ├── opencv.log │ │ │ │ ├── pcl.log │ │ │ │ ├── pcl_modified.log │ │ │ │ └── super4pcs.log │ │ │ └── office2 │ │ │ │ ├── 4pcs.log │ │ │ │ ├── gt.info │ │ │ │ ├── gt.log │ │ │ │ ├── opencv.log │ │ │ │ ├── pcl.log │ │ │ │ ├── pcl_modified.log │ │ │ │ ├── registration_gt.info │ │ │ │ ├── registration_gt.log │ │ │ │ └── super4pcs.log │ │ └── Trajectory │ │ │ ├── traj_gt.log │ │ 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