├── .gitignore ├── CMakeLists.txt ├── bin └── main_test ├── cmake └── FindOpen3d.cmake ├── data ├── T-rex-rs1.xf ├── mian_T-rex_high.ply └── rs1.ply ├── include ├── CPUTimer.h ├── Constants.h ├── PPF.h ├── PPF_PoseEstimation.h └── Params.h ├── lib └── libppf.a ├── ppf-reconstruction ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Q2 ├── R │ └── timings.R ├── README.md ├── _config.yml ├── include │ ├── ApproachComponents.h │ ├── CPUTimer.h │ ├── Constants.h │ ├── LoadingSaving.h │ ├── OpenCVHelpers.h │ ├── PPF.h │ ├── Params.h │ ├── PointCloud.h │ ├── PointCloudManipulation.h │ ├── PointPairFeatures.h │ ├── RandomN.h │ ├── Visualize.h │ ├── g2oTypeSim3Sophus.h │ ├── nanoflann.hpp │ ├── se3.hpp │ ├── so3.hpp │ ├── sophus.hpp │ └── types_icp.h ├── index.md ├── matlab │ ├── Frame.m │ ├── depth2cloud.m │ ├── deriveErrorAnalytic3NJacobian.m │ ├── eulerAngle.m │ ├── hat.m │ ├── lm_icp_easy.m │ ├── lm_icp_hard.m │ ├── lm_icp_step_eulerAngles.m │ ├── lm_icp_step_twists.m │ ├── lm_icp_step_twistsSimple.m │ ├── makeRot.m │ ├── mv_lm_icp_easy.m │ ├── mv_lm_icp_hard.m │ ├── mv_lm_icp_step.m │ ├── plotCloud.m │ ├── pointToPlaneSym.m │ ├── pointToPoint.m │ ├── pointToPoint_lm_twists.m │ ├── project.m │ ├── se3Exp.m │ ├── se3Log.m │ └── test.m ├── python │ ├── PLOT.png │ ├── add_pointclouds_to_bagfile.py │ ├── associate.py │ ├── badTraj │ ├── bunny_multi.png │ ├── bunny_multi_rpe.png │ ├── bunny_pair.png │ ├── evaluate_ate.py │ ├── evaluate_rpe.py │ ├── generate_pointcloud.py │ ├── generate_registered_pointcloud.py │ ├── plot_trajectory_into_image.py │ ├── saveBunny │ └── traj.png ├── samples │ ├── Bunny_RealData │ │ ├── Intrinsic.txt │ │ ├── P.txt │ │ ├── Q.txt │ │ ├── cloudXYZ_0.xyz │ │ ├── cloudXYZ_1.xyz │ │ ├── cloudXYZ_10.xyz │ │ ├── cloudXYZ_11.xyz │ │ ├── cloudXYZ_12.xyz │ │ ├── cloudXYZ_13.xyz │ │ ├── cloudXYZ_14.xyz │ │ ├── cloudXYZ_15.xyz │ │ ├── cloudXYZ_16.xyz │ │ ├── cloudXYZ_17.xyz │ │ ├── cloudXYZ_18.xyz │ │ ├── cloudXYZ_19.xyz │ │ ├── cloudXYZ_2.xyz │ │ ├── cloudXYZ_20.xyz │ │ ├── cloudXYZ_21.xyz │ │ ├── cloudXYZ_22.xyz │ │ ├── cloudXYZ_23.xyz │ │ ├── cloudXYZ_24.xyz │ │ ├── cloudXYZ_25.xyz │ │ ├── cloudXYZ_26.xyz │ │ ├── cloudXYZ_27.xyz │ │ ├── cloudXYZ_28.xyz │ │ ├── cloudXYZ_29.xyz │ │ ├── cloudXYZ_3.xyz │ │ ├── cloudXYZ_30.xyz │ │ ├── cloudXYZ_31.xyz │ │ ├── cloudXYZ_32.xyz │ │ ├── cloudXYZ_33.xyz │ │ ├── cloudXYZ_34.xyz │ │ ├── cloudXYZ_35.xyz │ │ ├── cloudXYZ_4.xyz │ │ ├── cloudXYZ_5.xyz │ │ ├── cloudXYZ_6.xyz │ │ ├── cloudXYZ_7.xyz │ │ ├── cloudXYZ_8.xyz │ │ ├── cloudXYZ_9.xyz │ │ ├── color_0.png │ │ ├── color_1.png │ │ ├── color_10.png │ │ ├── color_11.png │ │ ├── color_12.png │ │ ├── color_13.png │ │ ├── color_14.png │ │ ├── color_15.png │ │ ├── color_16.png │ │ ├── color_17.png │ │ ├── color_18.png │ │ ├── color_19.png │ │ ├── color_2.png │ │ ├── color_20.png │ │ ├── color_21.png │ │ ├── color_22.png │ │ ├── color_23.png │ │ ├── color_24.png │ │ ├── color_25.png │ │ ├── color_26.png │ │ ├── color_27.png │ │ ├── color_28.png │ │ ├── color_29.png │ │ ├── color_3.png │ │ ├── color_30.png │ │ ├── color_31.png │ │ ├── color_32.png │ │ ├── color_33.png │ │ ├── color_34.png │ │ ├── color_35.png │ │ ├── color_4.png │ │ ├── color_5.png │ │ ├── color_6.png │ │ ├── color_7.png │ │ ├── color_8.png │ │ ├── color_9.png │ │ ├── depth_0.png │ │ ├── depth_1.png │ │ ├── depth_10.png │ │ ├── depth_11.png │ │ ├── depth_12.png │ │ ├── depth_13.png │ │ ├── depth_14.png │ │ ├── depth_15.png │ │ ├── depth_16.png │ │ ├── depth_17.png │ │ ├── depth_18.png │ │ ├── depth_19.png │ │ ├── depth_2.png │ │ ├── depth_20.png │ │ ├── depth_21.png │ │ ├── depth_22.png │ │ ├── depth_23.png │ │ ├── depth_24.png │ │ ├── depth_25.png │ │ ├── depth_26.png │ │ ├── depth_27.png │ │ ├── depth_28.png │ │ ├── depth_29.png │ │ ├── depth_3.png │ │ ├── depth_30.png │ │ ├── depth_31.png │ │ ├── depth_32.png │ │ ├── depth_33.png │ │ ├── depth_34.png │ │ ├── depth_35.png │ │ ├── depth_4.png │ │ ├── depth_5.png │ │ ├── depth_6.png │ │ ├── depth_7.png │ │ ├── depth_8.png │ │ ├── depth_9.png │ │ ├── evaluationP_multiview.txt │ │ ├── evaluationP_pairwise.txt │ │ ├── evaluationQ.txt │ │ ├── fixedParam.txt │ │ ├── mask_0.png │ │ ├── mask_1.png │ │ ├── mask_10.png │ │ ├── mask_11.png │ │ ├── mask_12.png │ │ ├── mask_13.png │ │ ├── mask_14.png │ │ ├── mask_15.png │ │ ├── mask_16.png │ │ ├── mask_17.png │ │ ├── mask_18.png │ │ ├── mask_19.png │ │ ├── mask_2.png │ │ ├── mask_20.png │ │ ├── mask_21.png │ │ ├── mask_22.png │ │ ├── mask_23.png │ │ ├── mask_24.png │ │ ├── mask_25.png │ │ ├── mask_26.png │ │ ├── mask_27.png │ │ ├── mask_28.png │ │ ├── mask_29.png │ │ ├── mask_3.png │ │ ├── mask_30.png │ │ ├── mask_31.png │ │ ├── mask_32.png │ │ ├── mask_33.png │ │ ├── mask_34.png │ │ ├── mask_35.png │ │ ├── mask_4.png │ │ ├── mask_5.png │ │ ├── mask_6.png │ │ ├── mask_7.png │ │ ├── mask_8.png │ │ ├── mask_9.png │ │ ├── old-depth-poses-unused │ │ │ ├── posesMarkerN_0.txt │ │ │ ├── posesMarkerN_1.txt │ │ │ ├── posesMarkerN_10.txt │ │ │ ├── posesMarkerN_11.txt │ │ │ ├── posesMarkerN_12.txt │ │ │ ├── posesMarkerN_13.txt │ │ │ ├── posesMarkerN_14.txt │ │ │ ├── posesMarkerN_15.txt │ │ │ ├── posesMarkerN_16.txt │ │ │ ├── posesMarkerN_17.txt │ │ │ ├── posesMarkerN_18.txt │ │ │ ├── posesMarkerN_19.txt │ │ │ ├── posesMarkerN_2.txt │ │ │ ├── posesMarkerN_20.txt │ │ │ ├── posesMarkerN_21.txt │ │ │ ├── posesMarkerN_22.txt │ │ │ ├── posesMarkerN_23.txt │ │ │ ├── posesMarkerN_24.txt │ │ │ ├── posesMarkerN_25.txt │ │ │ ├── posesMarkerN_26.txt │ │ │ ├── posesMarkerN_27.txt │ │ │ ├── posesMarkerN_28.txt │ │ │ ├── posesMarkerN_29.txt │ │ │ ├── posesMarkerN_3.txt │ │ │ ├── posesMarkerN_30.txt │ │ │ ├── posesMarkerN_31.txt │ │ │ ├── posesMarkerN_32.txt │ │ │ ├── posesMarkerN_33.txt │ │ │ ├── posesMarkerN_34.txt │ │ │ ├── posesMarkerN_35.txt │ │ │ ├── posesMarkerN_36.txt │ │ │ ├── posesMarkerN_4.txt │ │ │ ├── posesMarkerN_5.txt │ │ │ ├── posesMarkerN_6.txt │ │ │ ├── posesMarkerN_7.txt │ │ │ ├── posesMarkerN_8.txt │ │ │ ├── posesMarkerN_9.txt │ │ │ ├── posesMarker_0.txt │ │ │ ├── posesMarker_1.txt │ │ │ ├── posesMarker_10.txt │ │ │ ├── posesMarker_11.txt │ │ │ ├── posesMarker_12.txt │ │ │ ├── posesMarker_13.txt │ │ │ ├── posesMarker_14.txt │ │ │ ├── posesMarker_15.txt │ │ │ ├── posesMarker_16.txt │ │ │ ├── posesMarker_17.txt │ │ │ ├── posesMarker_18.txt │ │ │ ├── posesMarker_19.txt │ │ │ ├── posesMarker_2.txt │ │ │ ├── posesMarker_20.txt │ │ │ ├── posesMarker_21.txt │ │ │ ├── posesMarker_22.txt │ │ │ ├── posesMarker_23.txt │ │ │ ├── posesMarker_24.txt │ │ │ ├── posesMarker_25.txt │ │ │ ├── posesMarker_26.txt │ │ │ ├── posesMarker_27.txt │ │ │ ├── posesMarker_28.txt │ │ │ ├── posesMarker_29.txt │ │ │ ├── posesMarker_3.txt │ │ │ ├── posesMarker_30.txt │ │ │ ├── posesMarker_31.txt │ │ │ ├── posesMarker_32.txt │ │ │ ├── posesMarker_33.txt │ │ │ ├── posesMarker_34.txt │ │ │ ├── posesMarker_35.txt │ │ │ ├── posesMarker_36.txt │ │ │ ├── posesMarker_4.txt │ │ │ ├── posesMarker_5.txt │ │ │ ├── posesMarker_6.txt │ │ │ ├── posesMarker_7.txt │ │ │ ├── posesMarker_8.txt │ │ │ ├── posesMarker_9.txt │ │ │ ├── poses_0.txt │ │ │ ├── poses_1.txt │ │ │ ├── poses_10.txt │ │ │ ├── poses_11.txt │ │ │ ├── poses_12.txt │ │ │ ├── poses_13.txt │ │ │ ├── poses_14.txt │ │ │ ├── poses_15.txt │ │ │ ├── poses_16.txt │ │ │ ├── poses_17.txt │ │ │ ├── poses_18.txt │ │ │ ├── poses_19.txt │ │ │ ├── poses_2.txt │ │ │ ├── poses_20.txt │ │ │ ├── poses_21.txt │ │ │ ├── poses_22.txt │ │ │ ├── poses_23.txt │ │ │ ├── poses_24.txt │ │ │ ├── poses_25.txt │ │ │ ├── poses_26.txt │ │ │ ├── poses_27.txt │ │ │ ├── poses_28.txt │ │ │ ├── poses_29.txt │ │ │ ├── poses_3.txt │ │ │ ├── poses_30.txt │ │ │ ├── poses_31.txt │ │ │ ├── poses_32.txt │ │ │ ├── poses_33.txt │ │ │ ├── poses_34.txt │ │ │ ├── poses_35.txt │ │ │ ├── poses_36.txt │ │ │ ├── poses_4.txt │ │ │ ├── poses_5.txt │ │ │ ├── poses_6.txt │ │ │ ├── poses_7.txt │ │ │ ├── poses_8.txt │ │ │ └── poses_9.txt │ │ ├── poses_0.txt │ │ ├── poses_1.txt │ │ ├── poses_10.txt │ │ ├── poses_11.txt │ │ ├── poses_12.txt │ │ ├── poses_13.txt │ │ ├── poses_14.txt │ │ ├── poses_15.txt │ │ ├── poses_16.txt │ │ ├── poses_17.txt │ │ ├── poses_18.txt │ │ ├── poses_19.txt │ │ ├── poses_2.txt │ │ ├── poses_20.txt │ │ ├── poses_21.txt │ │ ├── poses_22.txt │ │ ├── poses_23.txt │ │ ├── poses_24.txt │ │ ├── poses_25.txt │ │ ├── poses_26.txt │ │ ├── poses_27.txt │ │ ├── poses_28.txt │ │ ├── poses_29.txt │ │ ├── poses_3.txt │ │ ├── poses_30.txt │ │ ├── poses_31.txt │ │ ├── poses_32.txt │ │ ├── poses_33.txt │ │ ├── poses_34.txt │ │ ├── poses_35.txt │ │ ├── poses_4.txt │ │ ├── poses_5.txt │ │ ├── poses_6.txt │ │ ├── poses_7.txt │ │ ├── poses_8.txt │ │ ├── poses_9.txt │ │ ├── results.txt │ │ ├── results_A_x.png │ │ ├── results_A_y.png │ │ ├── results_B_x.png │ │ ├── results_B_y.png │ │ ├── results_C_x.png │ │ ├── results_C_y.png │ │ ├── results_C_z.png │ │ ├── results_accuracy.png │ │ ├── results_accuracy.tex │ │ ├── results_params.txt │ │ ├── results_timings.all.txt │ │ ├── results_timings.png │ │ ├── results_timings.tex │ │ ├── results_timings.txt │ │ ├── timings.png │ │ └── timings.tex │ ├── Bunny_Sphere │ │ ├── Intrinsic.txt │ │ ├── P.txt │ │ ├── Q.txt │ │ ├── color_000000.png │ │ ├── color_000001.png │ │ ├── color_000002.png │ │ ├── color_000003.png │ │ ├── color_000004.png │ │ ├── color_000005.png │ │ ├── color_000006.png │ │ ├── color_000007.png │ │ ├── color_000008.png │ │ ├── color_000009.png │ │ ├── color_000010.png │ │ ├── color_000011.png │ │ ├── color_000012.png │ │ ├── color_000013.png │ │ ├── color_000014.png │ │ ├── color_000015.png │ │ ├── color_000016.png │ │ ├── color_000017.png │ │ ├── color_000018.png │ │ ├── color_000019.png │ │ ├── color_000020.png │ │ ├── color_000021.png │ │ ├── color_000022.png │ │ ├── color_000023.png │ │ ├── color_000024.png │ │ ├── color_000025.png │ │ ├── color_000026.png │ │ ├── color_000027.png │ │ ├── color_000028.png │ │ ├── color_000029.png │ │ ├── color_000030.png │ │ ├── color_000031.png │ │ ├── color_000032.png │ │ ├── color_000033.png │ │ ├── color_000034.png │ │ ├── color_000035.png │ │ ├── color_000036.png │ │ ├── color_000037.png │ │ ├── color_000038.png │ │ ├── color_000039.png │ │ ├── color_000040.png │ │ ├── color_000041.png │ │ ├── depth_000000.exr │ │ ├── depth_000001.exr │ │ ├── depth_000002.exr │ │ ├── depth_000003.exr │ │ ├── depth_000004.exr │ │ ├── depth_000005.exr │ │ ├── depth_000006.exr │ │ ├── depth_000007.exr │ │ ├── depth_000008.exr │ │ ├── depth_000009.exr │ │ ├── depth_000010.exr │ │ ├── depth_000011.exr │ │ ├── depth_000012.exr │ │ ├── depth_000013.exr │ │ ├── depth_000014.exr │ │ ├── depth_000015.exr │ │ ├── depth_000016.exr │ │ ├── depth_000017.exr │ │ ├── depth_000018.exr │ │ ├── depth_000019.exr │ │ ├── depth_000020.exr │ │ ├── depth_000021.exr │ │ ├── depth_000022.exr │ │ ├── depth_000023.exr │ │ ├── depth_000024.exr │ │ ├── depth_000025.exr │ │ ├── depth_000026.exr │ │ ├── depth_000027.exr │ │ ├── depth_000028.exr │ │ ├── depth_000029.exr │ │ ├── depth_000030.exr │ │ ├── depth_000031.exr │ │ ├── depth_000032.exr │ │ ├── depth_000033.exr │ │ ├── depth_000034.exr │ │ ├── depth_000035.exr │ │ ├── depth_000036.exr │ │ ├── depth_000037.exr │ │ ├── depth_000038.exr │ │ ├── depth_000039.exr │ │ ├── depth_000040.exr │ │ ├── depth_000041.exr │ │ ├── evaluationP_pairwise.txt │ │ ├── evaluationQ.txt │ │ ├── knn │ │ │ ├── fixedParam.txt │ │ │ ├── results_accuracy.png │ │ │ ├── results_accuracy.tex │ │ │ ├── results_timings.png │ │ │ ├── results_timings.tex │ │ │ └── results_timings.txt │ │ ├── nFrames │ │ │ ├── 2frames-errortobig │ │ │ ├── fixedParam.txt │ │ │ ├── results_accuracy.png │ │ │ ├── results_accuracy.tex │ │ │ ├── results_timings.png │ │ │ ├── results_timings.tex │ │ │ ├── results_timings.txt │ │ │ └── results_timings_knn5.txt │ │ ├── poses_000000.txt │ │ ├── poses_000001.txt │ │ ├── poses_000002.txt │ │ ├── poses_000003.txt │ │ ├── poses_000004.txt │ │ ├── poses_000005.txt │ │ ├── poses_000006.txt │ │ ├── poses_000007.txt │ │ ├── poses_000008.txt │ │ ├── poses_000009.txt │ │ ├── poses_000010.txt │ │ ├── poses_000011.txt │ │ ├── poses_000012.txt │ │ ├── poses_000013.txt │ │ ├── poses_000014.txt │ │ ├── poses_000015.txt │ │ ├── poses_000016.txt │ │ ├── poses_000017.txt │ │ ├── poses_000018.txt │ │ ├── poses_000019.txt │ │ ├── poses_000020.txt │ │ ├── poses_000021.txt │ │ ├── poses_000022.txt │ │ ├── poses_000023.txt │ │ ├── poses_000024.txt │ │ ├── poses_000025.txt │ │ ├── poses_000026.txt │ │ ├── poses_000027.txt │ │ ├── poses_000028.txt │ │ ├── poses_000029.txt │ │ ├── poses_000030.txt │ │ ├── poses_000031.txt │ │ ├── poses_000032.txt │ │ ├── poses_000033.txt │ │ ├── poses_000034.txt │ │ ├── poses_000035.txt │ │ ├── poses_000036.txt │ │ ├── poses_000037.txt │ │ ├── poses_000038.txt │ │ ├── poses_000039.txt │ │ ├── poses_000040.txt │ │ ├── poses_000041.txt │ │ ├── results.txt │ │ ├── results_A_x.png │ │ ├── results_A_y.png │ │ ├── results_B_x.png │ │ ├── results_B_y.png │ │ ├── results_C_x.png │ │ ├── results_C_y.png │ │ ├── results_accuracy.png │ │ ├── results_accuracy.tex │ │ ├── results_params.txt │ │ ├── results_timings.png │ │ ├── results_timings.tex │ │ └── results_timings.txt │ └── models │ │ ├── bun_zipper.ply │ │ ├── bunny.ply │ │ ├── bunny_smoothNormals.ply │ │ ├── bunny_smoothNormals.xyz │ │ ├── model.xyz │ │ ├── parasaurolophus_6700.ply │ │ ├── parasaurolophus_low_normals2.ply │ │ ├── posesMarkerN_To_PLY-ppf.txt │ │ ├── rs1_normals.ply │ │ ├── rs22_proc2.ply │ │ └── scene.xyz ├── src │ ├── ApproachComponents.cpp │ ├── CPUTimer.cpp │ ├── LoadingSaving.cpp │ ├── PPF.cpp │ ├── Params.cpp │ ├── PointCloud.cpp │ ├── PointCloudManipulation.cpp │ ├── PointPairFeatures.cpp │ ├── Visualize.cpp │ ├── g2oTypeSim3Sophus.cpp │ ├── gicp_adrian.cpp │ ├── main_frameToFrame.cpp │ ├── main_frameToModel-PPF-coarse.cpp │ ├── main_globalOptimization.cpp │ ├── main_lm-icp.cpp │ ├── main_modelToScene.cpp │ ├── main_ppf_reconstruction.cpp │ ├── types_icp.cpp │ ├── viz-opencv │ │ ├── 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