├── .gitignore ├── README.md ├── distributed_mapper_core ├── LICENSE ├── _config.yml ├── cpp │ ├── CMakeLists.txt │ ├── DistributedMapperConfig.cmake.in │ ├── scripts │ │ └── runDistributedMapper.cpp │ ├── src │ │ ├── BetweenChordalFactor.h │ │ ├── DistributedMapper.cpp │ │ ├── DistributedMapper.h │ │ ├── DistributedMapperUtils.h │ │ ├── MultiRobotUtils.cpp │ │ └── MultiRobotUtils.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── testBetweenChordalFactor.cpp │ │ └── testDistributedMapper.cpp ├── data │ ├── blocks_world │ │ ├── 16robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 2.g2o │ │ │ ├── 3.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 25robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 16.g2o │ │ │ ├── 17.g2o │ │ │ ├── 18.g2o │ │ │ ├── 19.g2o │ │ │ ├── 2.g2o │ │ │ ├── 20.g2o │ │ │ ├── 21.g2o │ │ │ ├── 22.g2o │ │ │ ├── 23.g2o │ │ │ ├── 24.g2o │ │ │ ├── 3.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 2robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ └── fullGraph.g2o │ │ ├── 36robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 16.g2o │ │ │ ├── 17.g2o │ │ │ ├── 18.g2o │ │ │ ├── 19.g2o │ │ │ ├── 2.g2o │ │ │ ├── 20.g2o │ │ │ ├── 21.g2o │ │ │ ├── 22.g2o │ │ │ ├── 23.g2o │ │ │ ├── 24.g2o │ │ │ ├── 25.g2o │ │ │ ├── 26.g2o │ │ │ ├── 27.g2o │ │ │ ├── 28.g2o │ │ │ ├── 29.g2o │ │ │ ├── 3.g2o │ │ │ ├── 30.g2o │ │ │ ├── 31.g2o │ │ │ ├── 32.g2o │ │ │ ├── 33.g2o │ │ │ ├── 34.g2o │ │ │ ├── 35.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 49robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 10.g2o │ │ │ ├── 11.g2o │ │ │ ├── 12.g2o │ │ │ ├── 13.g2o │ │ │ ├── 14.g2o │ │ │ ├── 15.g2o │ │ │ ├── 16.g2o │ │ │ ├── 17.g2o │ │ │ ├── 18.g2o │ │ │ ├── 19.g2o │ │ │ ├── 2.g2o │ │ │ ├── 20.g2o │ │ │ ├── 21.g2o │ │ │ ├── 22.g2o │ │ │ ├── 23.g2o │ │ │ ├── 24.g2o │ │ │ ├── 25.g2o │ │ │ ├── 26.g2o │ │ │ ├── 27.g2o │ │ │ ├── 28.g2o │ │ │ ├── 29.g2o │ │ │ ├── 3.g2o │ │ │ ├── 30.g2o │ │ │ ├── 31.g2o │ │ │ ├── 32.g2o │ │ │ ├── 33.g2o │ │ │ ├── 34.g2o │ │ │ ├── 35.g2o │ │ │ ├── 36.g2o │ │ │ ├── 37.g2o │ │ │ ├── 38.g2o │ │ │ ├── 39.g2o │ │ │ ├── 4.g2o │ │ │ ├── 40.g2o │ │ │ ├── 41.g2o │ │ │ ├── 42.g2o │ │ │ ├── 43.g2o │ │ │ ├── 44.g2o │ │ │ ├── 45.g2o │ │ │ ├── 46.g2o │ │ │ ├── 47.g2o │ │ │ ├── 48.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ ├── 9.g2o │ │ │ └── fullGraph.g2o │ │ ├── 4robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 2.g2o │ │ │ ├── 3.g2o │ │ │ └── fullGraph.g2o │ │ └── 9robots │ │ │ ├── 0.g2o │ │ │ ├── 1.g2o │ │ │ ├── 2.g2o │ │ │ ├── 3.g2o │ │ │ ├── 4.g2o │ │ │ ├── 5.g2o │ │ │ ├── 6.g2o │ │ │ ├── 7.g2o │ │ │ ├── 8.g2o │ │ │ └── fullGraph.g2o │ ├── example_16robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_25robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_2robots │ │ ├── 0.g2o │ │ └── 1.g2o │ ├── example_36robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 25.g2o │ │ ├── 26.g2o │ │ ├── 27.g2o │ │ ├── 28.g2o │ │ ├── 29.g2o │ │ ├── 3.g2o │ │ ├── 30.g2o │ │ ├── 31.g2o │ │ ├── 32.g2o │ │ ├── 33.g2o │ │ ├── 34.g2o │ │ ├── 35.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_49robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 25.g2o │ │ ├── 26.g2o │ │ ├── 27.g2o │ │ ├── 28.g2o │ │ ├── 29.g2o │ │ ├── 3.g2o │ │ ├── 30.g2o │ │ ├── 31.g2o │ │ ├── 32.g2o │ │ ├── 33.g2o │ │ ├── 34.g2o │ │ ├── 35.g2o │ │ ├── 36.g2o │ │ ├── 37.g2o │ │ ├── 38.g2o │ │ ├── 39.g2o │ │ ├── 4.g2o │ │ ├── 40.g2o │ │ ├── 41.g2o │ │ ├── 42.g2o │ │ ├── 43.g2o │ │ ├── 44.g2o │ │ ├── 45.g2o │ │ ├── 46.g2o │ │ ├── 47.g2o │ │ ├── 48.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_4robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ └── 3.g2o │ └── example_9robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ └── 8.g2o ├── docker │ └── distributed_mapper │ │ ├── Dockerfile │ │ └── README.md ├── imgs │ ├── ARL_logo.png │ ├── irim.jpg │ └── mit_logo.png └── matlab │ └── plotTrace.m └── distributed_mapper_msgs ├── CMakeLists.txt ├── msg ├── FinishedStage.msg ├── Indices.msg ├── InterRobotEstimate.msg ├── Keyframe.msg ├── Keyframes.msg ├── Keypoint.msg ├── LinearizedEstimate.msg ├── Measurement.msg ├── StampedPointCloud.msg └── StartOptimization.msg └── package.xml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CogRob/distributed-mapper/HEAD/.gitignore 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