├── .appveyor.yml ├── .clang-format ├── .gitattributes ├── .gitfilters ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── config.yml ├── .gitignore ├── .gitmodules ├── .style.yapf ├── .travis.yml ├── 3rdparty ├── CMake │ ├── FindCUTLASS.cmake │ ├── FindOSMesa.cmake │ ├── FindPythonExecutable.cmake │ ├── FindTBB.cmake │ ├── FindTensorflow.cmake │ └── Findlibusb-1.0.cmake ├── 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 ├── README.txt ├── azure_kinect │ └── azure_kinect.cmake ├── clang-format │ └── clang-format@5.rb ├── dirent │ └── dirent │ │ └── dirent.h ├── find_dependencies.cmake ├── flann │ ├── CMakeLists.txt │ └── flann │ │ ├── algorithms │ │ ├── all_indices.h │ │ ├── autotuned_index.h │ │ ├── center_chooser.h │ │ ├── composite_index.h │ │ ├── dist.h │ │ ├── hierarchical_clustering_index.h │ │ ├── kdtree_index.h │ │ ├── kdtree_single_index.h │ │ ├── kmeans_index.h │ │ ├── linear_index.h │ │ ├── lsh_index.h │ │ └── nn_index.h │ │ ├── config.h │ │ ├── defines.h │ │ ├── flann.h │ │ ├── flann.hpp │ │ ├── general.h │ │ ├── nn │ │ ├── ground_truth.h │ │ ├── index_testing.h │ │ └── simplex_downhill.h │ │ └── util │ │ ├── allocator.h │ │ ├── any.h │ │ ├── cutil_math.h │ │ ├── dynamic_bitset.h │ │ ├── heap.h │ │ ├── logger.h │ │ ├── lsh_table.h │ │ ├── matrix.h │ │ ├── object_factory.h │ │ ├── params.h │ │ ├── random.h │ │ ├── result_set.h │ │ ├── sampling.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 ├── libjpeg-turbo │ └── libjpeg-turbo.cmake ├── liblzf │ ├── CMakeLists.txt │ └── liblzf │ │ ├── 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 ├── librealsense │ ├── AUTHORS │ ├── CMakeLists.txt │ ├── COPYING │ ├── LICENSE │ ├── include │ │ └── librealsense │ │ │ ├── rs.h │ │ │ ├── rs.hpp │ │ │ └── rsutil.h │ └── src │ │ ├── context.cpp │ │ ├── context.h │ │ ├── device.cpp │ │ ├── device.h │ │ ├── f200-private.cpp │ │ ├── f200-private.h │ │ ├── f200.cpp │ │ ├── f200.h │ │ ├── image.cpp │ │ ├── image.h │ │ ├── libuvc │ │ ├── ctrl.c │ │ ├── dev.c │ │ ├── diag.c │ │ ├── frame.c │ │ ├── init.c │ │ ├── libuvc.h │ │ ├── libuvc_config.h │ │ ├── libuvc_internal.h │ │ ├── stream.c │ │ └── utlist.h │ │ ├── log.cpp │ │ ├── r200-private.cpp │ │ ├── r200-private.h │ │ ├── r200.cpp │ │ ├── r200.h │ │ ├── rs.cpp │ │ ├── stream.cpp │ │ ├── stream.h │ │ ├── sync.cpp │ │ ├── sync.h │ │ ├── types.cpp │ │ ├── types.h │ │ ├── uvc-libuvc.cpp │ │ ├── uvc-v4l2.cpp │ │ ├── uvc-wmf.cpp │ │ ├── uvc.cpp │ │ ├── uvc.h │ │ └── verify.c ├── rply │ ├── CMakeLists.txt │ ├── LICENSE │ └── rply │ │ ├── etc │ │ ├── convert.c │ │ ├── dump.c │ │ ├── input.ply │ │ └── sconvert.c │ │ ├── manual │ │ ├── manual.html │ │ └── reference.css │ │ ├── rply.c │ │ └── rply.h ├── tinyfiledialogs │ ├── CMakeLists.txt │ └── include │ │ └── tinyfiledialogs │ │ ├── tinyfiledialogs.c │ │ └── tinyfiledialogs.h ├── tomasakeninemoeller │ ├── include │ │ └── tomasakeninemoeller │ │ │ ├── opttritri.h │ │ │ └── tribox3.h │ └── readme.md └── 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 ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE ├── README.md ├── docs ├── Doxyfile ├── _static │ ├── Advanced │ │ ├── color_map_optimization │ │ │ ├── initial.png │ │ │ ├── initial_zoom.png │ │ │ ├── non_rigid.png │ │ │ ├── non_rigid_zoom.png │ │ │ ├── rigid.png │ │ │ └── rigid_zoom.png │ │ ├── colored_pointcloud_registration │ │ │ ├── colored.png │ │ │ ├── colored_side.png │ │ │ ├── initial.png │ │ │ ├── initial_side.png │ │ │ ├── point_to_plane.png │ │ │ └── point_to_plane_side.png │ │ ├── customized_visualization │ │ │ ├── custom.png │ │ │ ├── depth_small.gif │ │ │ ├── fov_5.png │ │ │ ├── fov_90.png │ │ │ ├── image_small.gif │ │ │ ├── key_k.png │ │ │ ├── normal.png │ │ │ └── rotate_small.gif │ │ ├── fast_global_registration │ │ │ ├── fgr.png │ │ │ └── ransac.png │ │ ├── global_registration │ │ │ ├── icp.png │ │ │ ├── initial.png │ │ │ └── ransac.png │ │ ├── interactive_visualization │ │ │ ├── crop_freeview.png │ │ │ ├── crop_lock.png │ │ │ ├── crop_result.png │ │ │ ├── crop_save.png │ │ │ ├── crop_selection.png │ │ │ ├── manual_icp_alignment.png │ │ │ ├── manual_icp_initial.png │ │ │ ├── manual_icp_source.png │ │ │ └── manual_icp_target.png │ │ ├── multiway_registration │ │ │ ├── combined.png │ │ │ ├── initial.png │ │ │ └── optimized.png │ │ ├── non_blocking_visualization │ │ │ └── visualize_icp_iteration.gif │ │ ├── pointcloud_outlier_removal │ │ │ ├── radius_outlier_removal.png │ │ │ ├── statistical_outlier_removal.png │ │ │ ├── uniform_down_sample.png │ │ │ └── voxel_down_sample.png │ │ └── rgbd_integration │ │ │ └── integrated.png │ ├── Basic │ │ ├── icp │ │ │ ├── initial.png │ │ │ ├── point_to_plane.png │ │ │ ├── point_to_point.png │ │ │ └── point_to_point_2000.png │ │ ├── kdtree │ │ │ └── kdtree.png │ │ ├── mesh │ │ │ ├── half.png │ │ │ ├── half_color.png │ │ │ ├── with_shading.png │ │ │ └── without_shading.png │ │ ├── pointcloud │ │ │ ├── crop.png │ │ │ ├── crop_color.png │ │ │ ├── downsampled.png │ │ │ ├── downsampled_normal.png │ │ │ ├── scene.png │ │ │ └── scene_small.png │ │ ├── rgbd_images │ │ │ ├── nyu_pcd.png │ │ │ ├── nyu_rgbd.png │ │ │ ├── redwood_pcd.png │ │ │ ├── redwood_rgbd.png │ │ │ ├── sun_pcd.png │ │ │ ├── sun_rgbd.png │ │ │ ├── tum_pcd.png │ │ │ └── tum_rgbd.png │ │ ├── rgbd_odometry │ │ │ ├── color_term.png │ │ │ └── hybrid_term.png │ │ ├── visualization │ │ │ ├── badview.png │ │ │ ├── color.png │ │ │ ├── colormap_hot.png │ │ │ ├── colormap_jet.png │ │ │ ├── lineset.png │ │ │ ├── newview.png │ │ │ └── premitive.png │ │ └── working_with_numpy │ │ │ ├── sync_3d.png │ │ │ └── sync_image.png │ ├── C++ │ │ ├── CMakeLists.txt │ │ ├── TestVisualizer.cpp │ │ ├── cpp_project_win.01.Open3D_not_found.png │ │ ├── cpp_project_win.02.Open3D_install_folder.png │ │ └── cpp_project_win.03.Open3D_found.png │ ├── ReconstructionSystem │ │ ├── capture_your_own_dataset │ │ │ └── recorder.png │ │ ├── integrate_scene │ │ │ └── scene.png │ │ └── make_fragments │ │ │ ├── fragment_0.png │ │ │ ├── fragment_1.png │ │ │ ├── fragment_2.png │ │ │ └── fragment_3.png │ ├── cmake_windows.png │ ├── docker │ │ └── Dockerfile │ ├── open3d.vc_solution.hightlights.png │ ├── open3d_logo.ico │ ├── open3d_logo_horizontal.png │ └── theme_overrides.css ├── builddocs.rst ├── compilation.rst ├── conf.py ├── contribute │ ├── contribute.rst │ ├── contribution_recipes.rst │ └── styleguide.rst ├── getting_started.rst ├── index.rst ├── introduction.rst ├── make.bat ├── make_docs.py ├── tutorial │ ├── Advanced │ │ ├── customized_visualization.rst │ │ ├── example_projects.rst │ │ ├── headless_rendering.rst │ │ ├── index.rst │ │ ├── interactive_visualization.rst │ │ └── non_blocking_visualization.rst │ ├── Basic │ │ ├── azure_kinect.rst │ │ └── index.rst │ ├── C++ │ │ └── cplusplus_interface.rst │ ├── ReconstructionSystem │ │ ├── capture_your_own_dataset.rst │ │ ├── index.rst │ │ ├── integrate_scene.rst │ │ ├── make_fragments.rst │ │ ├── refine_registration.rst │ │ ├── register_fragments.rst │ │ └── system_overview.rst │ ├── docker │ │ ├── docker-gui.rst │ │ ├── docker-test.rst │ │ └── index.rst │ └── reference.rst └── versions.js ├── examples ├── CMakeLists.txt ├── Cpp │ ├── AzureKinectMKVReader.cpp │ ├── AzureKinectRecord.cpp │ ├── AzureKinectViewer.cpp │ ├── CMakeLists.txt │ ├── CameraPoseTrajectory.cpp │ ├── ColorMapOptimization.cpp │ ├── DepthCapture.cpp │ ├── EvaluateFeatureMatch.cpp │ ├── EvaluatePCDMatch.cpp │ ├── FileDialog.cpp │ ├── FileSystem.cpp │ ├── Flann.cpp │ ├── Image.cpp │ ├── IntegrateRGBD.cpp │ ├── LineSet.cpp │ ├── Log.cpp │ ├── OdometryRGBD.cpp │ ├── OpenMP.cpp │ ├── PCDFileFormat.cpp │ ├── PointCloud.cpp │ ├── PoseGraph.cpp │ ├── ProgramOptions.cpp │ ├── RGBDOdometry.cpp │ ├── RealSense.cpp │ ├── RegistrationRANSAC.cpp │ ├── TriangleMesh.cpp │ ├── TrimMeshBasedOnPointCloud.cpp │ ├── ViewDistances.cpp │ ├── ViewPCDMatch.cpp │ ├── Visualizer.cpp │ └── Voxelization.cpp ├── Cuda │ ├── CMakeLists.txt │ ├── Demo │ │ ├── CMakeLists.txt │ │ ├── FPFHFeatureCuda.cpp │ │ ├── FastGlobalRegistrationCuda.cpp │ │ ├── RGBDOdometryCuda.cpp │ │ ├── RegistrationCudaForPointClouds.cpp │ │ ├── RegistrationCudaForRGBD.cpp │ │ ├── ScalableFusionCuda.cpp │ │ ├── UniformFusionCuda.cpp │ │ ├── UniformLoadAndMC.cpp │ │ └── Utils.h │ ├── Experiment │ │ ├── CMakeLists.txt │ │ ├── DownsampleTSDFVolumeCuda.cpp │ │ ├── ExtractVoxelsNearSurfaceCuda.cpp │ │ ├── RegisterRGBDToTSDFVolume.cpp │ │ ├── RegisterTSDFVolumesCuda.cpp │ │ ├── VolumeRenderingCuda.cpp │ │ └── WriteAndReadTSDFVolumeCuda.cpp │ └── ReconstructionSystem │ │ ├── CMakeLists.txt │ │ ├── DatasetConfig.h │ │ ├── IntegrateScene.h │ │ ├── MakeFragments.h │ │ ├── ORBPoseEstimation.h │ │ ├── README.txt │ │ ├── RefineRegistration.h │ │ ├── RegisterFragments.h │ │ ├── RunSystem.cpp │ │ ├── ViewFragments.cpp │ │ ├── ViewPoseGraph.cpp │ │ ├── config │ │ ├── bundlefusion │ │ │ ├── apt0.json │ │ │ ├── apt2.json │ │ │ ├── copyroom.json │ │ │ ├── office2.json │ │ │ └── office3.json │ │ ├── cmu │ │ │ ├── apt0.json │ │ │ ├── apt1.json │ │ │ ├── apt2.json │ │ │ ├── apt3.json │ │ │ ├── jack.json │ │ │ ├── nsh.json │ │ │ ├── office_2204.json │ │ │ ├── office_2205.json │ │ │ ├── ship.json │ │ │ ├── stair.json │ │ │ ├── stair2.json │ │ │ ├── test.json │ │ │ ├── test_corridor.json │ │ │ ├── test_office.json │ │ │ ├── tian.json │ │ │ ├── wei.json │ │ │ └── zimo.json │ │ ├── indoor_lidar_rgbd │ │ │ ├── apartment.json │ │ │ ├── bedroom.json │ │ │ ├── boardroom.json │ │ │ └── loft.json │ │ ├── intel │ │ │ └── test.json │ │ ├── intrinsics │ │ │ ├── camera_azure_kinect.json │ │ │ ├── camera_bf.json │ │ │ ├── camera_corbs.json │ │ │ ├── camera_realsense_d415.json │ │ │ ├── camera_realsense_d435.json │ │ │ ├── camera_tum_fr1.json │ │ │ ├── camera_tum_fr2.json │ │ │ ├── camera_tum_fr3.json │ │ │ └── camera_xtion_modified.json │ │ ├── redwood_object │ │ │ ├── car.json │ │ │ ├── chair.json │ │ │ ├── motorcycle.json │ │ │ ├── plant.json │ │ │ └── sofa.json │ │ ├── redwood_simulated │ │ │ ├── livingroom1-simulated.json │ │ │ ├── livingroom1.json │ │ │ ├── livingroom2-simulated.json │ │ │ ├── livingroom2.json │ │ │ ├── office1.json │ │ │ └── office2.json │ │ ├── stanford │ │ │ ├── burghers.json │ │ │ ├── copyroom.json │ │ │ ├── lounge.json │ │ │ └── stonewall.json │ │ └── tum │ │ │ ├── fr1_desktop.json │ │ │ ├── fr2_desktop.json │ │ │ └── fr3_household.json │ │ ├── debug │ │ ├── CMakeLists.txt │ │ ├── DebugMakeFragments.cpp │ │ ├── DebugRGBDOdometry.cpp │ │ └── DebugRegisterFragments.cpp │ │ ├── profile │ │ ├── Analyzer.h │ │ ├── CMakeLists.txt │ │ ├── ProfileColoredICP.cpp │ │ ├── ProfileFGR.cpp │ │ ├── ProfileIntegration.cpp │ │ ├── ProfileMarchingCubes.cpp │ │ ├── ProfileRGBDOdometry.cpp │ │ ├── VisualizeModels.cpp │ │ └── scripts │ │ │ ├── draw_component_runtime.py │ │ │ ├── draw_mc_time.py │ │ │ ├── draw_reduction_time.py │ │ │ ├── draw_system_runtime.py │ │ │ └── run.sh │ │ └── scripts │ │ ├── preprocess_stanford.py │ │ ├── preprocess_tum.py │ │ ├── process_losses_log.py │ │ ├── process_traj_log.py │ │ └── run.sh ├── Python │ ├── Advanced │ │ ├── __init__.py │ │ ├── camera_trajectory.py │ │ ├── color_map_optimization.ipynb │ │ ├── color_map_optimization_for_reconstruction_system.py │ │ ├── colored_pointcloud_registration.ipynb │ │ ├── customized_visualization.py │ │ ├── customized_visualization_key_action.py │ │ ├── global_registration.ipynb │ │ ├── headless_rendering.py │ │ ├── interactive_visualization.py │ │ ├── load_save_viewpoint.py │ │ ├── mesh_deformation.ipynb │ │ ├── mesh_deformation.py │ │ ├── multiway_registration.ipynb │ │ ├── non_blocking_visualization.py │ │ ├── pointcloud_outlier_removal.ipynb │ │ ├── remove_geometry.py │ │ ├── rgbd_integration.ipynb │ │ ├── rgbd_integration_uniform.py │ │ ├── surface_reconstruction.ipynb │ │ ├── trajectory_io.py │ │ └── voxelization.ipynb │ ├── Basic │ │ ├── __init__.py │ │ ├── file_io.ipynb │ │ ├── half_edge_mesh.py │ │ ├── icp_registration.ipynb │ │ ├── jupyter.ipynb │ │ ├── kdtree.ipynb │ │ ├── mesh.ipynb │ │ ├── pointcloud.ipynb │ │ ├── python_interface.ipynb │ │ ├── rgbd_image.ipynb │ │ ├── rgbd_odometry.ipynb │ │ ├── transformation.ipynb │ │ ├── visualization.ipynb │ │ └── working_with_numpy.ipynb │ ├── Benchmark │ │ ├── __init__.py │ │ ├── benchmark_fgr.py │ │ ├── benchmark_pre.py │ │ ├── benchmark_ransac.py │ │ └── benchmark_tsdf.py │ ├── CMakeLists.txt │ ├── Misc │ │ ├── __init__.py │ │ ├── color_image.py │ │ ├── evaluate_geometric_feature.py │ │ ├── feature.py │ │ ├── meshes.py │ │ ├── pose_graph_optimization.py │ │ ├── sampling.py │ │ └── vector.py │ ├── ReconstructionSystem │ │ ├── __init__.py │ │ ├── config │ │ │ ├── indoor_lidar_rgbd │ │ │ │ ├── apartment.json │ │ │ │ ├── bedroom.json │ │ │ │ ├── boardroom.json │ │ │ │ ├── lobby.json │ │ │ │ └── loft.json │ │ │ ├── realsense.json │ │ │ ├── redwood_objects │ │ │ │ ├── car.json │ │ │ │ ├── chair.json │ │ │ │ ├── motorcycle.json │ │ │ │ ├── plant.json │ │ │ │ ├── sofa.json │ │ │ │ └── truck.json │ │ │ ├── redwood_simulated │ │ │ │ ├── livingroom1-clean.json │ │ │ │ ├── livingroom1-simulated.json │ │ │ │ ├── livingroom2-clean.json │ │ │ │ ├── livingroom2-simulated.json │ │ │ │ ├── office1-clean.json │ │ │ │ ├── office1-simulated.json │ │ │ │ ├── office2-clean.json │ │ │ │ └── office2-simulated.json │ │ │ ├── stanford │ │ │ │ ├── burghers.json │ │ │ │ ├── cactusgarden.json │ │ │ │ ├── copyroom.json │ │ │ │ ├── lounge.json │ │ │ │ ├── stonewall.json │ │ │ │ └── totempole.json │ │ │ └── tutorial.json │ │ ├── dataset │ │ │ └── readme.txt │ │ ├── debug │ │ │ ├── __init__.py │ │ │ ├── pairwise_pc_alignment.py │ │ │ ├── pairwise_rgbd_alignment.py │ │ │ ├── visualize_alignment.py │ │ │ ├── visualize_fragments.py │ │ │ └── visualize_pointcloud.py │ │ ├── initialize_config.py │ │ ├── integrate_scene.py │ │ ├── make_fragments.py │ │ ├── opencv_pose_estimation.py │ │ ├── optimize_posegraph.py │ │ ├── refine_registration.py │ │ ├── register_fragments.py │ │ ├── run_system.py │ │ ├── scripts │ │ │ ├── __init__.py │ │ │ ├── download_indoor_lidar_rgbd.sh │ │ │ ├── download_redwood_objects.sh │ │ │ ├── download_redwood_simulated.sh │ │ │ ├── download_stanford.sh │ │ │ ├── download_tutorial.sh │ │ │ ├── gdrive_download.sh │ │ │ ├── requirements.txt │ │ │ └── synchronize_frames.py │ │ └── sensors │ │ │ ├── __init__.py │ │ │ ├── azure_kinect_mkv_reader.py │ │ │ ├── azure_kinect_recorder.py │ │ │ ├── azure_kinect_viewer.py │ │ │ ├── default_config.json │ │ │ ├── realsense_pcd_visualizer.py │ │ │ └── realsense_recorder.py │ ├── Utility │ │ ├── __init__.py │ │ ├── downloader.py │ │ ├── file.py │ │ ├── opencv.py │ │ └── visualization.py │ ├── __init__.py │ ├── jupyter_run_all.py │ ├── jupyter_strip_output.py │ └── open3d_tutorial.py └── TestData │ ├── ColoredICP │ ├── frag_115.ply │ └── frag_116.ply │ ├── Crop │ ├── cropped.json │ └── fragment.ply │ ├── Feature │ ├── cloud_bin_0.d32.bin │ ├── cloud_bin_0.fpfh.bin │ ├── cloud_bin_0.pcd │ ├── cloud_bin_1.d32.bin │ ├── cloud_bin_1.fpfh.bin │ └── cloud_bin_1.pcd │ ├── GraphOptimization │ ├── pose_graph_example_fragment.json │ └── pose_graph_example_global.json │ ├── ICP │ ├── cloud_bin_0.pcd │ ├── cloud_bin_1.pcd │ ├── cloud_bin_2.pcd │ └── init.log │ ├── RGBD │ ├── color │ │ ├── 00000.jpg │ │ ├── 00001.jpg │ │ ├── 00002.jpg │ │ ├── 00003.jpg │ │ └── 00004.jpg │ ├── depth │ │ ├── 00000.png │ │ ├── 00001.png │ │ ├── 00002.png │ │ ├── 00003.png │ │ ├── 00004.png │ │ ├── apt-022640.png │ │ └── lounge-00966.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 │ ├── bathtub_0154.ply │ ├── camera.json │ ├── camera_primesense.json │ ├── camera_trajectory.json │ ├── color.ply │ ├── crate │ ├── LICENSE.txt │ ├── crate.jpg │ ├── crate.mtl │ └── crate.obj │ ├── depth.png │ ├── depth_syn.png │ ├── depth_syn_camera.json │ ├── fragment.pcd │ ├── fragment.ply │ ├── image.PNG │ ├── knot.ply │ ├── lena_color.jpg │ ├── lena_gray.jpg │ ├── my_points.txt │ ├── renderoption.json │ ├── simple.xyz │ ├── sphere.ply │ └── test_pose_graph.json ├── src ├── Benchmark │ ├── CMakeLists.txt │ ├── Core │ │ └── Reduction.cpp │ └── Geometry │ │ ├── KDTreeFlann.cpp │ │ └── SamplePoints.cpp ├── CMakeLists.txt ├── Cuda │ ├── CMakeLists.txt │ ├── Camera │ │ ├── PinholeCameraIntrinsicCuda.h │ │ └── PinholeCameraTrajectoryCuda.h │ ├── Common │ │ ├── Common.h │ │ ├── HelperCuda.h │ │ ├── HelperString.h │ │ ├── JacobianCuda.h │ │ ├── LinearAlgebraCuda.h │ │ ├── Palatte.h │ │ ├── ReductionCuda.h │ │ ├── TransformCuda.h │ │ ├── TypeConversion.h │ │ └── UtilsCuda.h │ ├── Container │ │ ├── Array2DCuda.h │ │ ├── Array2DCudaDevice.cuh │ │ ├── Array2DCudaHost.hpp │ │ ├── Array2DCudaKernel.cuh │ │ ├── ArrayCuda.h │ │ ├── ArrayCudaDevice.cuh │ │ ├── ArrayCudaHost.hpp │ │ ├── ArrayCudaKernel.cuh │ │ ├── ContainerClasses.h │ │ ├── HashTableCuda.h │ │ ├── HashTableCudaDevice.cuh │ │ ├── HashTableCudaHost.hpp │ │ ├── HashTableCudaKernel.cuh │ │ ├── InstantiateContainers.cpp │ │ ├── InstantiateContainers.cu │ │ ├── LinkedListCuda.h │ │ ├── LinkedListCudaDevice.cuh │ │ ├── LinkedListCudaHost.hpp │ │ ├── LinkedListCudaKernel.cuh │ │ ├── MemoryHeapCuda.h │ │ ├── MemoryHeapCudaDevice.cuh │ │ ├── MemoryHeapCudaHost.hpp │ │ └── MemoryHeapCudaKernel.cuh │ ├── Experiment │ │ ├── ScalableTSDFVolumeProcessorCuda.h │ │ ├── ScalableTSDFVolumeProcessorCudaHost.hpp │ │ ├── ScalableTSDFVolumeProcessorCudaKernel.cuh │ │ ├── ScalableVolumeRegistrationCuda.h │ │ ├── ScalableVolumeRegistrationCudaDevice.cuh │ │ ├── ScalableVolumeRegistrationCudaHost.hpp │ │ └── ScalableVolumeRegistrationCudaKernel.cuh │ ├── Geometry │ │ ├── Geometry.h │ │ ├── GeometryClasses.h │ │ ├── ImageCuda.h │ │ ├── ImageCudaDevice.cuh │ │ ├── ImageCudaHost.hpp │ │ ├── ImageCudaKernel.cuh │ │ ├── InstantiateGeometry.cpp │ │ ├── InstantiateGeometry.cu │ │ ├── NNCuda.h │ │ ├── NNCudaHost.hpp │ │ ├── NNCudaKernel.cuh │ │ ├── PointCloudCuda.h │ │ ├── PointCloudCudaHost.hpp │ │ ├── PointCloudCudaKernel.cuh │ │ ├── RGBDImageCuda.h │ │ ├── RGBDImageCudaHost.hpp │ │ ├── RGBDImageCudaKernel.cuh │ │ ├── SegmentationCuda.h │ │ ├── SegmentationCudaHost.hpp │ │ ├── SegmentationCudaKernel.cuh │ │ ├── TriangleMeshCuda.h │ │ ├── TriangleMeshCudaHost.hpp │ │ └── TriangleMeshCudaKernel.cuh │ ├── IO │ │ └── ClassIO │ │ │ ├── ScalableTSDFVolumeCudaIO.cpp │ │ │ ├── ScalableTSDFVolumeCudaIO.h │ │ │ ├── UniformTSDFVolumeCudaIO.cpp │ │ │ ├── UniformTSDFVolumeCudaIO.h │ │ │ └── ZlibIO.h │ ├── Integration │ │ ├── InstantiateIntegration.cpp │ │ ├── InstantiateIntegration.cu │ │ ├── IntegrationClasses.h │ │ ├── MarchingCubesConstCuda.h │ │ ├── RGBDToTSDF.cpp │ │ ├── RGBDToTSDF.h │ │ ├── RGBDToTSDFKernel.cuh │ │ ├── ScalableMeshVolumeCuda.h │ │ ├── ScalableMeshVolumeCudaDevice.cuh │ │ ├── ScalableMeshVolumeCudaHost.hpp │ │ ├── ScalableMeshVolumeCudaKernel.cuh │ │ ├── ScalableTSDFVolumeCuda.h │ │ ├── ScalableTSDFVolumeCudaDevice.cuh │ │ ├── ScalableTSDFVolumeCudaHost.hpp │ │ ├── ScalableTSDFVolumeCudaKernel.cuh │ │ ├── UniformMeshVolumeCuda.h │ │ ├── UniformMeshVolumeCudaDevice.cuh │ │ ├── UniformMeshVolumeCudaHost.hpp │ │ ├── UniformMeshVolumeCudaKernel.cuh │ │ ├── UniformTSDFVolumeCuda.h │ │ ├── UniformTSDFVolumeCudaDevice.cuh │ │ ├── UniformTSDFVolumeCudaHost.hpp │ │ └── UniformTSDFVolumeCudaKernel.cuh │ ├── Odometry │ │ ├── InstantiateOdometry.cpp │ │ ├── InstantiateOdometry.cu │ │ ├── OdometryClasses.h │ │ ├── RGBDOdometryCuda.h │ │ ├── RGBDOdometryCudaDevice.cuh │ │ ├── RGBDOdometryCudaHost.hpp │ │ ├── RGBDOdometryCudaKernel.cuh │ │ ├── Reduction2DCuda.h │ │ └── Reduction2DCudaKernel.cuh │ ├── Open3DCuda.h │ ├── README.md │ ├── Registration │ │ ├── CorrespondenceSetCuda.h │ │ ├── CorrespondenceSetCudaHost.hpp │ │ ├── CorrespondenceSetCudaKernel.cuh │ │ ├── FastGlobalRegistrationCuda.h │ │ ├── FastGlobalRegistrationCudaDevice.cuh │ │ ├── FastGlobalRegistrationCudaHost.hpp │ │ ├── FastGlobalRegistrationCudaKernel.cuh │ │ ├── FeatureExtractorCuda.h │ │ ├── FeatureExtractorCudaDevice.cuh │ │ ├── FeatureExtractorCudaHost.hpp │ │ ├── FeatureExtractorCudaKernel.cuh │ │ ├── InstantiateRegistration.cpp │ │ ├── InstantiateRegistration.cu │ │ ├── RegistrationCuda.h │ │ ├── RegistrationCudaDevice.cuh │ │ ├── RegistrationCudaHost.hpp │ │ └── RegistrationCudaKernel.cuh │ └── Visualization │ │ ├── Shader │ │ ├── CudaGLInterp.h │ │ ├── GLSL │ │ │ ├── PhongFragmentShader.glsl │ │ │ └── PhongVertexShader.glsl │ │ ├── GeometryRendererCuda.cpp │ │ ├── GeometryRendererCuda.h │ │ ├── NormalShaderCuda.cpp │ │ ├── NormalShaderCuda.h │ │ ├── PhongShaderCuda.cpp │ │ ├── PhongShaderCuda.h │ │ ├── SimpleBlackShaderCuda.cpp │ │ ├── SimpleBlackShaderCuda.h │ │ ├── SimpleShaderCuda.cpp │ │ └── SimpleShaderCuda.h │ │ ├── Utility │ │ ├── DrawGeometryWithCudaModule.cpp │ │ └── DrawGeometryWithCudaModule.h │ │ └── Visualizer │ │ ├── VisualizerWithCudaModule.cpp │ │ └── VisualizerWithCudaModule.h ├── Open3D │ ├── CMakeLists.txt │ ├── Camera │ │ ├── CMakeLists.txt │ │ ├── PinholeCameraIntrinsic.cpp │ │ ├── PinholeCameraIntrinsic.h │ │ ├── PinholeCameraParameters.cpp │ │ ├── PinholeCameraParameters.h │ │ ├── PinholeCameraTrajectory.cpp │ │ └── PinholeCameraTrajectory.h │ ├── ColorMap │ │ ├── CMakeLists.txt │ │ ├── ColorMapOptimization.cpp │ │ ├── ColorMapOptimization.h │ │ ├── ColorMapOptimizationJacobian.cpp │ │ ├── ColorMapOptimizationJacobian.h │ │ ├── EigenHelperForNonRigidOptimization.cpp │ │ ├── EigenHelperForNonRigidOptimization.h │ │ ├── ImageWarpingField.cpp │ │ ├── ImageWarpingField.h │ │ ├── TriangleMeshAndImageUtilities.cpp │ │ └── TriangleMeshAndImageUtilities.h │ ├── Core │ │ ├── AdvancedIndexing.cpp │ │ ├── AdvancedIndexing.h │ │ ├── Blob.h │ │ ├── CMakeLists.txt │ │ ├── CUDAState.cuh │ │ ├── CUDAUtils.cpp │ │ ├── CUDAUtils.h │ │ ├── DLPack │ │ │ ├── DLPackConverter.cpp │ │ │ ├── DLPackConverter.h │ │ │ └── dlpack.h │ │ ├── Device.h │ │ ├── Dispatch.h │ │ ├── Dtype.h │ │ ├── FuncionTraits.h │ │ ├── Indexer.cpp │ │ ├── Indexer.h │ │ ├── Kernel │ │ │ ├── BinaryEW.cpp │ │ │ ├── BinaryEW.h │ │ │ ├── BinaryEWCPU.cpp │ │ │ ├── BinaryEWCUDA.cu │ │ │ ├── CPULauncher.h │ │ │ ├── CUDALauncher.cuh │ │ │ ├── IndexGetSet.cpp │ │ │ ├── IndexGetSet.h │ │ │ ├── IndexGetSetCPU.cpp │ │ │ ├── IndexGetSetCUDA.cu │ │ │ ├── Kernel.h │ │ │ ├── Reduction.cpp │ │ │ ├── Reduction.h │ │ │ ├── ReductionCPU.cpp │ │ │ ├── ReductionCUDA.cu │ │ │ ├── UnaryEW.cpp │ │ │ ├── UnaryEW.h │ │ │ ├── UnaryEWCPU.cpp │ │ │ └── UnaryEWCUDA.cu │ │ ├── MemoryManager.cpp │ │ ├── MemoryManager.h │ │ ├── MemoryManagerCPU.cpp │ │ ├── MemoryManagerCUDA.cu │ │ ├── ParallelUtil.h │ │ ├── ShapeUtil.cpp │ │ ├── ShapeUtil.h │ │ ├── SizeVector.h │ │ ├── Tensor.cpp │ │ ├── Tensor.h │ │ ├── TensorKey.cpp │ │ ├── TensorKey.h │ │ ├── TensorList.cpp │ │ └── TensorList.h │ ├── Geometry │ │ ├── BoundingVolume.cpp │ │ ├── BoundingVolume.h │ │ ├── CMakeLists.txt │ │ ├── EstimateNormals.cpp │ │ ├── Geometry.h │ │ ├── Geometry2D.h │ │ ├── Geometry3D.cpp │ │ ├── Geometry3D.h │ │ ├── HalfEdgeTriangleMesh.cpp │ │ ├── HalfEdgeTriangleMesh.h │ │ ├── Image.cpp │ │ ├── Image.h │ │ ├── ImageFactory.cpp │ │ ├── IntersectionTest.cpp │ │ ├── IntersectionTest.h │ │ ├── KDTreeFlann.cpp │ │ ├── KDTreeFlann.h │ │ ├── KDTreeSearchParam.h │ │ ├── LineSet.cpp │ │ ├── LineSet.h │ │ ├── LineSetFactory.cpp │ │ ├── MeshBase.cpp │ │ ├── MeshBase.h │ │ ├── Octree.cpp │ │ ├── Octree.h │ │ ├── PointCloud.cpp │ │ ├── PointCloud.h │ │ ├── PointCloudCluster.cpp │ │ ├── PointCloudFactory.cpp │ │ ├── PointCloudSegmentation.cpp │ │ ├── Qhull.cpp │ │ ├── Qhull.h │ │ ├── RGBDImage.cpp │ │ ├── RGBDImage.h │ │ ├── RGBDImageFactory.cpp │ │ ├── SurfaceReconstructionAlphaShape.cpp │ │ ├── SurfaceReconstructionBallPivoting.cpp │ │ ├── SurfaceReconstructionPoisson.cpp │ │ ├── TetraMesh.cpp │ │ ├── TetraMesh.h │ │ ├── TetraMeshFactory.cpp │ │ ├── TriangleMesh.cpp │ │ ├── TriangleMesh.h │ │ ├── TriangleMeshDeformation.cpp │ │ ├── TriangleMeshFactory.cpp │ │ ├── TriangleMeshSimplification.cpp │ │ ├── TriangleMeshSubdivide.cpp │ │ ├── VoxelGrid.cpp │ │ ├── VoxelGrid.h │ │ └── VoxelGridFactory.cpp │ ├── IO │ │ ├── CMakeLists.txt │ │ ├── ClassIO │ │ │ ├── FeatureIO.cpp │ │ │ ├── FeatureIO.h │ │ │ ├── IJsonConvertibleIO.cpp │ │ │ ├── IJsonConvertibleIO.h │ │ │ ├── ImageIO.cpp │ │ │ ├── ImageIO.h │ │ │ ├── ImageWarpingFieldIO.cpp │ │ │ ├── ImageWarpingFieldIO.h │ │ │ ├── LineSetIO.cpp │ │ │ ├── LineSetIO.h │ │ │ ├── OctreeIO.cpp │ │ │ ├── OctreeIO.h │ │ │ ├── PinholeCameraTrajectoryIO.cpp │ │ │ ├── PinholeCameraTrajectoryIO.h │ │ │ ├── PointCloudIO.cpp │ │ │ ├── PointCloudIO.h │ │ │ ├── PoseGraphIO.cpp │ │ │ ├── PoseGraphIO.h │ │ │ ├── TriangleMeshIO.cpp │ │ │ ├── TriangleMeshIO.h │ │ │ ├── VoxelGridIO.cpp │ │ │ └── VoxelGridIO.h │ │ ├── FileFormat │ │ │ ├── FileBIN.cpp │ │ │ ├── FileGLTF.cpp │ │ │ ├── FileJPG.cpp │ │ │ ├── FileJSON.cpp │ │ │ ├── FileLOG.cpp │ │ │ ├── FileOBJ.cpp │ │ │ ├── FileOFF.cpp │ │ │ ├── FilePCD.cpp │ │ │ ├── FilePLY.cpp │ │ │ ├── FilePNG.cpp │ │ │ ├── FilePTS.cpp │ │ │ ├── FileSTL.cpp │ │ │ ├── FileTUM.cpp │ │ │ ├── FileXYZ.cpp │ │ │ ├── FileXYZN.cpp │ │ │ └── FileXYZRGB.cpp │ │ └── Sensor │ │ │ ├── AzureKinect │ │ │ ├── AzureKinectRecorder.cpp │ │ │ ├── AzureKinectRecorder.h │ │ │ ├── AzureKinectSensor.cpp │ │ │ ├── AzureKinectSensor.h │ │ │ ├── AzureKinectSensorConfig.cpp │ │ │ ├── AzureKinectSensorConfig.h │ │ │ ├── K4aPlugin.cpp │ │ │ ├── K4aPlugin.h │ │ │ ├── MKVMetadata.cpp │ │ │ ├── MKVMetadata.h │ │ │ ├── MKVReader.cpp │ │ │ ├── MKVReader.h │ │ │ ├── MKVWriter.cpp │ │ │ ├── MKVWriter.h │ │ │ └── PluginMacros.h │ │ │ ├── RGBDRecorder.h │ │ │ ├── RGBDSensor.h │ │ │ └── RGBDSensorConfig.h │ ├── Integration │ │ ├── CMakeLists.txt │ │ ├── MarchingCubesConst.h │ │ ├── ScalableTSDFVolume.cpp │ │ ├── ScalableTSDFVolume.h │ │ ├── TSDFVolume.h │ │ ├── UniformTSDFVolume.cpp │ │ └── UniformTSDFVolume.h │ ├── ML │ │ └── Misc │ │ │ └── Detail │ │ │ └── ReduceSubarraysSumCPU.h │ ├── Macro.h │ ├── Odometry │ │ ├── CMakeLists.txt │ │ ├── Odometry.cpp │ │ ├── Odometry.h │ │ ├── OdometryOption.h │ │ ├── RGBDOdometryJacobian.cpp │ │ └── RGBDOdometryJacobian.h │ ├── Open3D.h.in │ ├── Open3DConfig.cpp │ ├── Open3DConfig.h.in │ ├── Registration │ │ ├── CMakeLists.txt │ │ ├── ColoredICP.cpp │ │ ├── ColoredICP.h │ │ ├── CorrespondenceChecker.cpp │ │ ├── CorrespondenceChecker.h │ │ ├── FastGlobalRegistration.cpp │ │ ├── FastGlobalRegistration.h │ │ ├── Feature.cpp │ │ ├── Feature.h │ │ ├── GlobalOptimization.cpp │ │ ├── GlobalOptimization.h │ │ ├── GlobalOptimizationConvergenceCriteria.h │ │ ├── GlobalOptimizationMethod.h │ │ ├── PoseGraph.cpp │ │ ├── PoseGraph.h │ │ ├── Registration.cpp │ │ ├── Registration.h │ │ ├── TransformationEstimation.cpp │ │ └── TransformationEstimation.h │ ├── Utility │ │ ├── CMakeLists.txt │ │ ├── Console.cpp │ │ ├── Console.h │ │ ├── Eigen.cpp │ │ ├── Eigen.h │ │ ├── FileSystem.cpp │ │ ├── FileSystem.h │ │ ├── Helper.cpp │ │ ├── Helper.h │ │ ├── IJsonConvertible.cpp │ │ ├── IJsonConvertible.h │ │ ├── Timer.cpp │ │ └── Timer.h │ ├── Visualization │ │ ├── CMakeLists.txt │ │ ├── Shader │ │ │ ├── GLSL │ │ │ │ ├── ImageFragmentShader.glsl │ │ │ │ ├── ImageMaskFragmentShader.glsl │ │ │ │ ├── ImageMaskVertexShader.glsl │ │ │ │ ├── ImageVertexShader.glsl │ │ │ │ ├── NormalFragmentShader.glsl │ │ │ │ ├── NormalVertexShader.glsl │ │ │ │ ├── PhongFragmentShader.glsl │ │ │ │ ├── PhongVertexShader.glsl │ │ │ │ ├── PickingFragmentShader.glsl │ │ │ │ ├── PickingVertexShader.glsl │ │ │ │ ├── RGBDImageFragmentShader.glsl │ │ │ │ ├── Simple2DFragmentShader.glsl │ │ │ │ ├── Simple2DVertexShader.glsl │ │ │ │ ├── SimpleBlackFragmentShader.glsl │ │ │ │ ├── SimpleBlackVertexShader.glsl │ │ │ │ ├── SimpleFragmentShader.glsl │ │ │ │ ├── SimpleVertexShader.glsl │ │ │ │ ├── TexturePhongFragmentShader.glsl │ │ │ │ ├── TexturePhongVertexShader.glsl │ │ │ │ ├── TextureSimpleFragmentShader.glsl │ │ │ │ └── TextureSimpleVertexShader.glsl │ │ │ ├── GeometryRenderer.cpp │ │ │ ├── GeometryRenderer.h │ │ │ ├── ImageMaskShader.cpp │ │ │ ├── ImageMaskShader.h │ │ │ ├── ImageShader.cpp │ │ │ ├── ImageShader.h │ │ │ ├── NormalShader.cpp │ │ │ ├── NormalShader.h │ │ │ ├── PhongShader.cpp │ │ │ ├── PhongShader.h │ │ │ ├── PickingShader.cpp │ │ │ ├── PickingShader.h │ │ │ ├── RGBDImageShader.cpp │ │ │ ├── RGBDImageShader.h │ │ │ ├── ShaderWrapper.cpp │ │ │ ├── ShaderWrapper.h │ │ │ ├── Simple2DShader.cpp │ │ │ ├── Simple2DShader.h │ │ │ ├── SimpleBlackShader.cpp │ │ │ ├── SimpleBlackShader.h │ │ │ ├── SimpleShader.cpp │ │ │ ├── SimpleShader.h │ │ │ ├── TexturePhongShader.cpp │ │ │ ├── TexturePhongShader.h │ │ │ ├── TextureSimpleShader.cpp │ │ │ └── TextureSimpleShader.h │ │ ├── Utility │ │ │ ├── ColorMap.cpp │ │ │ ├── ColorMap.h │ │ │ ├── DrawGeometry.cpp │ │ │ ├── DrawGeometry.h │ │ │ ├── GLHelper.cpp │ │ │ ├── GLHelper.h │ │ │ ├── PointCloudPicker.cpp │ │ │ ├── PointCloudPicker.h │ │ │ ├── SelectionPolygon.cpp │ │ │ ├── SelectionPolygon.h │ │ │ ├── SelectionPolygonVolume.cpp │ │ │ └── SelectionPolygonVolume.h │ │ └── Visualizer │ │ │ ├── RenderOption.cpp │ │ │ ├── RenderOption.h │ │ │ ├── RenderOptionWithEditing.cpp │ │ │ ├── RenderOptionWithEditing.h │ │ │ ├── ViewControl.cpp │ │ │ ├── ViewControl.h │ │ │ ├── ViewControlWithCustomAnimation.cpp │ │ │ ├── ViewControlWithCustomAnimation.h │ │ │ ├── ViewControlWithEditing.cpp │ │ │ ├── ViewControlWithEditing.h │ │ │ ├── ViewParameters.cpp │ │ │ ├── ViewParameters.h │ │ │ ├── ViewTrajectory.cpp │ │ │ ├── ViewTrajectory.h │ │ │ ├── Visualizer.cpp │ │ │ ├── Visualizer.h │ │ │ ├── VisualizerCallback.cpp │ │ │ ├── VisualizerRender.cpp │ │ │ ├── VisualizerWithCustomAnimation.cpp │ │ │ ├── VisualizerWithCustomAnimation.h │ │ │ ├── VisualizerWithEditing.cpp │ │ │ ├── VisualizerWithEditing.h │ │ │ ├── VisualizerWithKeyCallback.cpp │ │ │ ├── VisualizerWithKeyCallback.h │ │ │ ├── VisualizerWithVertexSelection.cpp │ │ │ └── VisualizerWithVertexSelection.h │ ├── cmake_uninstall.cmake.in │ └── version.txt ├── Open3DConfig.cmake.in ├── Open3DConfig.h ├── Python │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── MANIFEST.in │ ├── README.rst │ ├── check_and_install_conda_deps.cmake │ ├── conda_meta │ │ ├── bld.bat │ │ ├── build.sh │ │ ├── conda_build_config.yaml │ │ ├── meta.yaml │ │ └── test_import.py │ ├── enable_jupyter_extension.json │ ├── js │ │ ├── .npmignore │ │ ├── LICENSE │ │ ├── assets │ │ │ └── disc.png │ │ ├── embed.js │ │ ├── extension.js │ │ ├── index.js │ │ ├── j_visualizer.js │ │ ├── package.json │ │ └── webpack.config.js │ ├── make_install_pip_package.cmake │ ├── make_python_package.cmake │ ├── open3d │ │ ├── __init__.py │ │ ├── core.py │ │ ├── j_visualizer.py │ │ └── ml │ │ │ └── tf │ │ │ ├── __init__.py │ │ │ ├── ops │ │ │ └── __init__.py │ │ │ └── python │ │ │ └── ops │ │ │ └── lib.py │ ├── open3d_pybind │ │ ├── camera │ │ │ ├── camera.cpp │ │ │ └── camera.h │ │ ├── color_map │ │ │ ├── color_map.cpp │ │ │ └── color_map.h │ │ ├── core │ │ │ ├── blob.cpp │ │ │ ├── container.cpp │ │ │ ├── container.h │ │ │ ├── cuda_utils.cpp │ │ │ ├── device.cpp │ │ │ ├── dtype.cpp │ │ │ ├── size_vector.cpp │ │ │ ├── tensor.cpp │ │ │ ├── tensor_key.cpp │ │ │ └── tensorlist.cpp │ │ ├── docstring.cpp │ │ ├── docstring.h │ │ ├── geometry │ │ │ ├── boundingvolume.cpp │ │ │ ├── geometry.cpp │ │ │ ├── geometry.h │ │ │ ├── geometry_trampoline.h │ │ │ ├── halfedgetrianglemesh.cpp │ │ │ ├── image.cpp │ │ │ ├── kdtreeflann.cpp │ │ │ ├── lineset.cpp │ │ │ ├── meshbase.cpp │ │ │ ├── octree.cpp │ │ │ ├── octree.h │ │ │ ├── pointcloud.cpp │ │ │ ├── tetramesh.cpp │ │ │ ├── trianglemesh.cpp │ │ │ └── voxelgrid.cpp │ │ ├── integration │ │ │ ├── integration.cpp │ │ │ └── integration.h │ │ ├── io │ │ │ ├── class_io.cpp │ │ │ ├── io.cpp │ │ │ ├── io.h │ │ │ └── sensor.cpp │ │ ├── odometry │ │ │ ├── odometry.cpp │ │ │ └── odometry.h │ │ ├── open3d_pybind.cpp │ │ ├── open3d_pybind.h │ │ ├── pybind_utils.cpp │ │ ├── pybind_utils.h │ │ ├── registration │ │ │ ├── feature.cpp │ │ │ ├── global_optimization.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 │ ├── requirements.txt │ ├── setup.cfg │ └── setup.py ├── TensorflowOps │ ├── CMakeLists.txt │ └── Misc │ │ ├── ReduceSubarraysSumKernelCPU.cpp │ │ └── ReduceSubarraysSumOps.cpp ├── Tools │ ├── CMakeLists.txt │ ├── ConvertPointCloud.cpp │ ├── EncodeShader.cpp │ ├── GLInfo.cpp │ ├── ManuallyAlignPointCloud │ │ ├── AlignmentSession.cpp │ │ ├── AlignmentSession.h │ │ ├── CMakeLists.txt │ │ ├── ManuallyAlignPointCloud.cpp │ │ ├── VisualizerForAlignment.cpp │ │ └── VisualizerForAlignment.h │ ├── ManuallyCropGeometry.cpp │ ├── MergeMesh.cpp │ └── ViewGeometry.cpp └── UnitTest │ ├── CMakeLists.txt │ ├── Camera │ ├── PinholeCameraIntrinsic.cpp │ ├── PinholeCameraParameters.cpp │ └── PinholeCameraTrajectory.cpp │ ├── ColorMap │ ├── ColorMapOptimization.cpp │ ├── ColorMapOptimizationOption.cpp │ └── ImageWarpingField.cpp │ ├── Core │ ├── Blob.cpp │ ├── CUDAState.cpp │ ├── CoreTest.h │ ├── DLPack │ │ └── DLPackConverter.cpp │ ├── Device.cpp │ ├── Indexer.cpp │ ├── MemoryManager.cpp │ ├── ShapeUtil.cpp │ ├── Tensor.cpp │ └── TensorList.cpp │ ├── Cuda │ ├── CMakeLists.txt │ ├── Container │ │ ├── CMakeLists.txt │ │ ├── TestArrayCuda.cpp │ │ ├── TestHashTableCuda.cpp │ │ ├── TestLinearAlgebraCuda.cpp │ │ ├── TestLinkedListCuda.cpp │ │ ├── TestMatrixCuda.cpp │ │ └── TestTransformCuda.cpp │ ├── Geometry │ │ ├── CMakeLists.txt │ │ ├── TestImageCuda.cpp │ │ ├── TestNNCuda.cpp │ │ ├── TestPointCloudCuda.cpp │ │ ├── TestRGBDImageCuda.cpp │ │ └── TestTriangleMeshCuda.cpp │ ├── Integration │ │ ├── CMakeLists.txt │ │ ├── TestScalableTSDFVolumeCuda.cpp │ │ └── TestUniformTSDFVolumeCuda.cpp │ ├── Odometry │ │ ├── CMakeLists.txt │ │ └── TestReduction2DCuda.cpp │ └── Registration │ │ ├── CMakeLists.txt │ │ ├── TestColoredICPCuda.cpp │ │ └── TestCorrespondenceSetCuda.cpp │ ├── Geometry │ ├── AccumulatedPoint.cpp │ ├── EstimateNormals.cpp │ ├── HalfEdgeTriangleMesh.cpp │ ├── Image.cpp │ ├── IntersectionTest.cpp │ ├── KDTreeFlann.cpp │ ├── LineSet.cpp │ ├── Octree.cpp │ ├── PointCloud.cpp │ ├── RGBDImage.cpp │ ├── TetraMesh.cpp │ ├── TriangleMesh.cpp │ └── VoxelGrid.cpp │ ├── IO │ ├── ClassIO │ │ ├── FeatureIO.cpp │ │ ├── IJsonConvertibleIO.cpp │ │ ├── ImageIO.cpp │ │ ├── OctreeIO.cpp │ │ ├── PinholeCameraTrajectoryIO.cpp │ │ ├── PointCloudIO.cpp │ │ ├── PoseGraphIO.cpp │ │ ├── TriangleMeshIO.cpp │ │ └── VoxelGridIO.cpp │ ├── FileFormat │ │ ├── FileBIN.cpp │ │ ├── FileGLTF.cpp │ │ ├── FileJPG.cpp │ │ ├── FileJSON.cpp │ │ ├── FileLOG.cpp │ │ ├── FilePCD.cpp │ │ ├── FilePLY.cpp │ │ ├── FilePNG.cpp │ │ ├── FilePTS.cpp │ │ ├── FileSTL.cpp │ │ ├── FileXYZ.cpp │ │ ├── FileXYZN.cpp │ │ └── FileXYZRGB.cpp │ └── Sensor │ │ └── AzureKinect │ │ └── AzureKinectSensorConfig.cpp │ ├── Integration │ ├── ScalableTSDFVolume.cpp │ └── UniformTSDFVolume.cpp │ ├── Odometry │ ├── Odometry.cpp │ ├── OdometryOption.cpp │ ├── OdometryTools.cpp │ ├── OdometryTools.h │ ├── RGBDOdometryJacobianFromColorTerm.cpp │ └── RGBDOdometryJacobianFromHybridTerm.cpp │ ├── Python │ ├── __init__.py │ ├── readme.md │ ├── test_core.py │ ├── test_octree.py │ ├── test_open3d_eigen.py │ └── test_tf_op_library.py │ ├── Registration │ ├── ColoredICP.cpp │ ├── CorrespondenceChecker.cpp │ ├── FastGlobalRegistration.cpp │ ├── Feature.cpp │ ├── GlobalOptimization.cpp │ ├── GlobalOptimizationConvergenceCriteria.cpp │ ├── PoseGraph.cpp │ ├── Registration.cpp │ └── TransformationEstimation.cpp │ ├── TestUtility │ ├── Print.cpp │ ├── Print.h │ ├── Rand.cpp │ ├── Rand.h │ ├── Raw.cpp │ ├── Raw.h │ ├── Sort.cpp │ ├── Sort.h │ ├── UnitTest.cpp │ └── UnitTest.h │ ├── Utility │ ├── Console.cpp │ ├── Eigen.cpp │ ├── FileSystem.cpp │ ├── Helper.cpp │ ├── IJsonConvertible.cpp │ └── Timer.cpp │ └── main.cpp └── util ├── docker ├── open3d-test │ ├── Dockerfiles │ │ ├── Dockerfile-base │ │ ├── Dockerfile-deps │ │ ├── Dockerfile-mc │ │ └── Dockerfile-py │ ├── setup │ │ ├── .bashrc │ │ ├── install-gtest.sh │ │ ├── setup-base.sh │ │ ├── setup-deps.sh │ │ ├── setup-mc.sh │ │ ├── setup-py.sh │ │ └── test.sh │ └── tools │ │ ├── arguments.sh │ │ ├── build-all.sh │ │ ├── build.sh │ │ ├── cleanup.sh │ │ ├── name.sh │ │ ├── prune.sh │ │ ├── run.sh │ │ ├── set_variables.sh │ │ ├── stop-all.sh │ │ ├── stop.sh │ │ ├── test-all.sh │ │ ├── test.sh │ │ ├── upload-all.sh │ │ └── upload.sh └── open3d-xvfb │ ├── Dockerfile │ ├── setup │ ├── .xinitrc │ ├── docker_sample.sh │ └── entrypoint.sh │ └── tools │ ├── attach.sh │ 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