├── CMakeLists.txt ├── README.md ├── cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── FindG2O.cmake ├── FindISAM.cmake └── FindLBFGS.cmake ├── datasets ├── duderstadt.g2o ├── eecs.g2o ├── flat_duderstadt.g2o ├── flat_eecs.g2o ├── intel.g2o ├── killian.g2o ├── manhattan.g2o ├── parking.g2o ├── parking_fixed.g2o └── sphere.g2o ├── scripts ├── checkcomplete.py ├── db_values_chi2.sql ├── db_values_kld.sql ├── dbscheduler.py ├── inputgenerator.sh ├── randsplit.py └── stillrunning.py └── src ├── auto_delete_map.h ├── compute_substitute_edge.cpp ├── compute_substitute_edge.h ├── decimation.cpp ├── decimation.h ├── edge_info.h ├── edge_types.cpp ├── evaluate.cpp ├── evaluate.h ├── flameprofiler.h ├── glc_edge.cpp ├── glc_edge.h ├── glc_reparam.h ├── glc_reparam_binary.h ├── glc_reparam_binary.hpp ├── glc_reparam_se2.h ├── glc_reparam_se3.h ├── graph_wrapper.h ├── graph_wrapper_g2o.cpp ├── graph_wrapper_g2o.h ├── graph_wrapper_isam.cpp ├── graph_wrapper_isam.h ├── info_block_solver.h ├── isometryxd.cpp ├── isometryxd.h ├── kld_compare.cpp ├── logdet_function.cpp ├── logdet_function.h ├── main.cpp ├── multi_edge_correlated.h ├── multi_edge_correlated.hpp ├── optimizer.cpp ├── optimizer.h ├── pqn ├── function.h ├── line_search.cpp ├── line_search.h ├── pqn_general.cpp ├── pqn_general.h ├── pqn_optimizer.cpp ├── pqn_optimizer.h └── pqn_optimizer_options.h ├── pseudo_chow_liu.cpp ├── pseudo_chow_liu.h ├── se2_compatibility.h ├── se3_compatibility.h ├── sparsity_options.h ├── stopwatch.h ├── test_glc_kld.cpp ├── test_isam_glc.cpp ├── test_logdet.cpp ├── test_marginalize_se3.cpp ├── test_marginalize_within_window.cpp ├── test_multi_edge.cpp ├── topology_provider.h ├── topology_provider_base.h ├── topology_provider_binary.h ├── topology_provider_binary.hpp ├── topology_provider_glc.cpp ├── topology_provider_glc.h ├── topology_provider_se2.h ├── topology_provider_se3.h ├── type_info.cpp ├── type_info.h ├── types.h ├── utils.cpp ├── utils.h ├── vertex_info.h ├── 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