├── CMakeLists.txt ├── README.md ├── assets └── SystemOverview.png ├── backward-cpp ├── BackwardConfig.cmake ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── backward.cpp ├── backward.hpp ├── builds.sh └── conanfile.py ├── cmake_modules └── FindEigen.cmake ├── lib ├── libSLIM.a ├── libScancontext.a ├── libbackward.a ├── libpmc_slim.a ├── libspmm.a └── libsvm.a ├── modules ├── clipper.cpp ├── clipper.h ├── dbscan │ ├── kdtree_cluster.h │ ├── precomp_cluster.h │ ├── simple_cluster.h │ └── surface_cluster.h ├── extractor.cpp ├── extractor.h ├── factor │ ├── graff_coordinate.h │ ├── laser_edge_factor.cpp │ ├── laser_edge_factor.h │ ├── laser_surf_factor.cpp │ ├── laser_surf_factor.h │ ├── line_info.h │ ├── local_param.cpp │ ├── local_param.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── math_utility.h │ ├── prior_pose_factor.cpp │ ├── prior_pose_factor.h │ ├── relative_pose_factor.cpp │ ├── relative_pose_factor.h │ └── surface_info.h ├── frame.cpp ├── frame.h ├── json.cpp ├── json.hpp ├── landmark.cpp ├── landmark.h ├── locator.cpp ├── locator.h ├── multi_map_merger.cpp ├── multi_map_merger.h ├── nfr_solver.cpp ├── nfr_solver.h ├── observation.cpp ├── observation.h ├── pcm_solver.cpp ├── pcm_solver.h ├── scene_graph.cpp ├── scene_graph.h ├── scene_graph_node.h ├── semantic_definition.h ├── spmm │ ├── CMakeLists.txt │ ├── device_buffer.h │ ├── macro.h │ ├── spmm.cpp │ └── spmm.h ├── transform.h ├── travel │ ├── aos.hpp │ └── tgs.hpp ├── utility.cpp ├── utility.h ├── vector_map.cpp ├── vector_map.h ├── viewer.cpp ├── viewer.h ├── voxel.cpp └── voxel.h ├── test ├── cloud_visualizer.cpp ├── map_merge.cpp ├── map_visualizer.cpp ├── offline_mapping.cpp └── relocalization.cpp └── thirdparty └── pmc ├── CMakeLists.txt ├── pmc.h ├── pmc_clique_utils.cpp ├── pmc_cores.cpp ├── pmc_driver.cpp ├── pmc_graph.cpp ├── pmc_graph.h ├── pmc_headers.h ├── pmc_heu.cpp ├── pmc_heu.h ├── pmc_input.h ├── pmc_lib.cpp ├── pmc_maxclique.cpp ├── pmc_maxclique.h ├── 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