├── .gitignore ├── 2d_lidar_slam ├── README.md ├── data │ ├── fr079.clf │ ├── input_INTEL_g2o.g2o │ ├── input_M3500b_g2o.g2o │ ├── input_MITb_g2o.g2o │ ├── intel.clf │ ├── mit-csail.clf │ └── mit-killian.clf ├── literature │ ├── g2o_format.pdf │ └── graphSLAM_formulation.pdf ├── requirements.txt ├── res ├── results │ ├── After_INTEL.png │ ├── Before_INTEL.png │ ├── custom-frontend │ │ ├── After_intel_once.png │ │ └── Before_intel_once.png │ ├── graph_optimization │ │ ├── After_INTEL.png │ │ ├── After_MITb.png │ │ ├── After_intel_3700.png │ │ ├── After_intel_3800.png │ │ ├── Before_INTEL.png │ │ └── Before_MITb.png │ ├── slam_intel_3700.gif │ └── slam_intel_3800.gif └── src │ ├── chi2_grad_hess.py │ ├── edge_odometry.py │ ├── frontend.py │ ├── graph.py │ ├── icp.py │ ├── load.py │ ├── loop_closure.py │ ├── main_clf.py │ ├── main_g2o.py │ ├── pose_se2.py │ ├── util.py │ └── vertex.py ├── Graph_SLAM_Report.pdf ├── README.md └── visual_slam ├── =1.18.3 ├── README.md ├── bash_utils.sh ├── core ├── dataset.py ├── display2D.py ├── display3D.py ├── geocom │ ├── __init__.py │ └── features.py ├── loop_closure.py ├── model.py ├── optimizer.py └── utils.py ├── data ├── 00Gt.npy ├── 00Poses.npy ├── 00Raw.npy ├── 05Gt.npy ├── 05Poses.npy ├── 05Raw.npy ├── 06Gt.npy ├── 06Poses.npy ├── 06Raw.npy ├── 07Gt.npy ├── 07Poses.npy ├── 07Raw.npy ├── out.g2o ├── s00.png ├── s05.png ├── s06.png ├── s07.png ├── sequence00.gif ├── sequence05.gif ├── sequence06.gif └── sequence07.gif ├── install_all.sh ├── install_basic.sh ├── install_pip3_packages.sh ├── install_system_packages.sh ├── install_thirdparty.sh ├── plot.py ├── run_slam.py └── thirdparty ├── g2opy_changes ├── python_CMakeLists.txt ├── sparse_optimizer.h └── types_six_dof_expmap.h └── pangolin_changes └── python_CMakeLists.txt /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HobbySingh/Graph-SLAM/HEAD/.gitignore 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