├── CMakeLists.txt ├── LICENSE ├── README.md ├── include └── fast_gicp │ ├── cuda │ ├── brute_force_knn.cuh │ ├── compute_derivatives.cuh │ ├── compute_mahalanobis.cuh │ ├── covariance_estimation.cuh │ ├── covariance_regularization.cuh │ ├── fast_vgicp_cuda.cuh │ ├── find_voxel_correspondences.cuh │ ├── gaussian_voxelmap.cuh │ ├── ndt_compute_derivatives.cuh │ ├── ndt_cuda.cuh │ └── vector3_hash.cuh │ ├── gicp │ ├── experimental │ │ ├── fast_gicp_mp.hpp │ │ └── fast_gicp_mp_impl.hpp │ ├── fast_apdgicp.hpp │ ├── fast_gicp.hpp │ ├── fast_gicp_st.hpp │ ├── fast_vgicp.hpp │ ├── fast_vgicp_cuda.hpp │ ├── fast_vgicp_voxel.hpp │ ├── gicp_settings.hpp │ ├── impl │ │ ├── fast_apdgicp_impl.hpp │ │ ├── fast_gicp_impl.hpp │ │ ├── fast_gicp_st_impl.hpp │ │ ├── fast_vgicp_cuda_impl.hpp │ │ ├── fast_vgicp_impl.hpp │ │ └── lsq_registration_impl.hpp │ └── lsq_registration.hpp │ ├── ndt │ ├── impl │ │ └── ndt_cuda_impl.hpp │ ├── ndt_cuda.hpp │ └── ndt_settings.hpp │ └── so3 │ └── so3.hpp ├── package.xml └── src ├── align.cpp ├── fast_gicp ├── cuda │ ├── brute_force_knn.cu │ ├── compute_derivatives.cu │ ├── compute_mahalanobis.cu │ ├── covariance_estimation.cu │ ├── covariance_estimation_rbf.cu │ ├── covariance_regularization.cu │ ├── fast_vgicp_cuda.cu │ ├── find_voxel_correspondences.cu │ ├── gaussian_voxelmap.cu │ ├── ndt_compute_derivatives.cu │ └── ndt_cuda.cu ├── gicp │ ├── experimental │ │ └── fast_gicp_mp.cpp │ ├── fast_apdgicp.cpp │ ├── fast_gicp.cpp │ ├── fast_gicp_st.cpp │ ├── fast_vgicp.cpp │ ├── fast_vgicp_cuda.cpp │ └── lsq_registration.cpp └── ndt │ └── ndt_cuda.cpp ├── kitti.cpp ├── kitti.py ├── python └── main.cpp └── test └── gicp_test.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhuge2333/fast_apdgicp/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: 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