├── CMakeLists.txt ├── FindCUDA ├── CMake │ └── cuda │ │ ├── FindCUDA.cmake │ │ └── FindCUDA │ │ ├── make2cmake.cmake │ │ ├── parse_cubin.cmake │ │ └── run_nvcc.cmake ├── CMakeLists.txt ├── FindCuda.html ├── LICENSE.txt ├── jbigler-email.gif └── src │ ├── CMakeLists.txt │ ├── conflict-main.cpp │ ├── conflict.cpp │ ├── conflict.cu │ ├── cuda-driver-error.h │ ├── external_dependency.h │ ├── external_dependency3.h │ ├── main-ptx.cpp │ ├── main.cc │ ├── main_for_lib.cc │ ├── path with spaces │ ├── .svn │ │ ├── all-wcprops │ │ ├── entries │ │ ├── prop-base │ │ │ ├── conflict.cpp.svn-base │ │ │ ├── conflict.cu.svn-base │ │ │ ├── no-conflict.cpp.svn-base │ │ │ └── no-conflict.cu.svn-base │ │ └── text-base │ │ │ ├── conflict.cpp.svn-base │ │ │ ├── conflict.cu.svn-base │ │ │ ├── file with spaces.h.svn-base │ │ │ ├── no-conflict.cpp.svn-base │ │ │ └── no-conflict.cu.svn-base │ ├── conflict.cpp │ ├── conflict.cu │ ├── file with spaces.h │ ├── no-conflict.cpp │ └── no-conflict.cu │ ├── test_bin.cu │ ├── test_lib.cu │ ├── test_ptx.cu │ └── test_with_spaces.cpp ├── README.txt ├── data ├── .temp.swp ├── Amicelli_Box.vtk ├── RWTH-Aachen │ ├── model.wcup.vtk │ ├── scene4.vtk │ └── scene6.vtk ├── Rusk_Box.vtk ├── Soda_Club_Bottle.vtk └── table_scene.vtk ├── main.cpp ├── main_seg.cpp ├── main_test_pose.cpp ├── main_test_seg.cpp ├── package.xml ├── src ├── BasicTools │ ├── Aux │ │ ├── NumberUtils.cpp │ │ ├── NumberUtils.h │ │ ├── Stopwatch.cpp │ │ ├── Stopwatch.h │ │ ├── StringUtils.cpp │ │ └── StringUtils.h │ ├── CMakeLists.txt │ ├── ComputationalGeometry │ │ ├── Algorithms │ │ │ ├── AuxCompGeom.cpp │ │ │ ├── AuxCompGeom.h │ │ │ ├── OptimalTransformation.cpp │ │ │ ├── OptimalTransformation.h │ │ │ ├── PCA.cpp │ │ │ ├── PCA.h │ │ │ ├── PCANormalEstimator.cpp │ │ │ ├── PCANormalEstimator.h │ │ │ ├── RANSACPlaneDetector.cpp │ │ │ └── RANSACPlaneDetector.h │ │ └── DataStructures │ │ │ ├── BSPTree │ │ │ ├── BSPTree.cpp │ │ │ ├── BSPTree.h │ │ │ ├── BSPTreeNode.cpp │ │ │ ├── BSPTreeNode.h │ │ │ ├── BSPTreeNodeData.cpp │ │ │ └── BSPTreeNodeData.h │ │ │ ├── KdTree │ │ │ ├── KdTree.cpp │ │ │ ├── KdTree.h │ │ │ ├── KdTreeNode.cpp │ │ │ └── KdTreeNode.h │ │ │ └── Octree │ │ │ ├── Octree.cpp │ │ │ ├── Octree.h │ │ │ ├── OctreeNode.cpp │ │ │ ├── OctreeNode.h │ │ │ └── OctreeNodeData.h │ ├── DataStructures │ │ ├── Array2d.h │ │ ├── Array3d.h │ │ ├── Box.cpp │ │ ├── Box.h │ │ ├── BoxStructure3d.cpp │ │ ├── BoxStructure3d.h │ │ ├── EdgeStructure.h │ │ ├── LayeredPointSet.cpp │ │ ├── LayeredPointSet.h │ │ ├── NdBoxStructure.cpp │ │ ├── NdBoxStructure.h │ │ ├── PointSet.h │ │ ├── PointSetAdapter.h │ │ └── PtrArray2d.h │ ├── Graph │ │ ├── GraphNode.cpp │ │ ├── GraphNode.h │ │ ├── GraphNodeData.cpp │ │ ├── GraphNodeData.h │ │ ├── UndirectedGraph.cpp │ │ └── UndirectedGraph.h │ ├── LinearAlgebra │ │ ├── AnalyticGeometry.cpp │ │ ├── AnalyticGeometry.h │ │ ├── CoordinateSystem.cpp │ │ ├── CoordinateSystem.h │ │ ├── Matrix.cpp │ │ ├── Matrix.h │ │ └── Vector.h │ ├── Stochastics │ │ ├── Noise.cpp │ │ ├── Noise.h │ │ ├── PointSampler.cpp │ │ ├── PointSampler.h │ │ ├── RandomGenerator.cpp │ │ ├── RandomGenerator.h │ │ ├── RigidTransformSampler.cpp │ │ ├── RigidTransformSampler.h │ │ ├── SphericalBoxSampler.cpp │ │ ├── SphericalBoxSampler.h │ │ ├── SphericalPatchSampler.cpp │ │ └── SphericalPatchSampler.h │ └── Vtk │ │ ├── VtkConvexHull2d.cpp │ │ ├── VtkConvexHull2d.h │ │ ├── VtkCopy.cpp │ │ ├── VtkCopy.h │ │ ├── VtkMeshSampler.cpp │ │ ├── VtkMeshSampler.h │ │ ├── VtkRMS.cpp │ │ ├── VtkRMS.h │ │ ├── VtkTransform.cpp │ │ └── VtkTransform.h ├── BasicToolsL1 │ ├── CMakeLists.txt │ ├── Matrix.h │ ├── Vector.h │ └── eigen3x3 │ │ ├── dsyevc3.cpp │ │ ├── dsyevc3.h │ │ ├── dsyevh3.cpp │ │ ├── dsyevh3.h │ │ ├── dsyevq3.cpp │ │ ├── dsyevq3.h │ │ ├── dsytrd3.cpp │ │ └── dsytrd3.h ├── Greedy │ ├── seg.cpp │ ├── seg.h │ ├── utility.cpp │ └── utility.h ├── ObjRecRANSAC │ ├── AcceptHypothesisAlgo.c │ ├── AcceptHypothesisAlgo.cpp │ ├── AcceptHypothesisAlgo.cu │ ├── AcceptHypothesisAlgo.h │ ├── Algorithms │ │ ├── GeometryProcessor.h │ │ ├── HashTableKeyGenerator.h │ │ ├── ObjRecICP.cpp │ │ ├── ObjRecICP.h │ │ ├── OctreeModelBuilder.cpp │ │ └── OctreeModelBuilder.h │ ├── CMakeLists.txt │ ├── DataStructures │ │ ├── DatabaseModelEntry.cpp │ │ ├── DatabaseModelEntry.h │ │ ├── HashTableBoxStruct │ │ │ ├── HashTableBoxStruct.cpp │ │ │ ├── HashTableBoxStruct.h │ │ │ ├── HashTableCell.cpp │ │ │ └── HashTableCell.h │ │ ├── HashTableCellEntry.cpp │ │ ├── HashTableCellEntry.h │ │ ├── HashTableKdTree │ │ │ ├── CellEntry.cpp │ │ │ ├── CellEntry.h │ │ │ ├── HashTableCellKd.cpp │ │ │ ├── HashTableCellKd.h │ │ │ ├── HashTableKdTree.cpp │ │ │ └── HashTableKdTree.h │ │ ├── Hypothesis.h │ │ ├── ORRKdTree │ │ │ ├── ORRKdTree.cpp │ │ │ └── ORRKdTree.h │ │ ├── ORROctree │ │ │ ├── ORROctree.cpp │ │ │ ├── ORROctree.h │ │ │ ├── ORROctreeNodeData.cpp │ │ │ └── ORROctreeNodeData.h │ │ ├── RangeImage │ │ │ ├── ORRRangeImage2.cpp │ │ │ ├── ORRRangeImage2.h │ │ │ └── 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