├── .github └── workflows │ └── wheels.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── Makefile ├── README.md ├── __init__.py ├── benchmarks ├── M3500.txt ├── README.md ├── sphere.g2o ├── sphere_bignoise_vertex3.g2o └── sphere_gt.g2o ├── doc ├── README.md └── doxyfile.conf ├── make.bat ├── mrobpy ├── CMakeLists.txt ├── FGraphPy.cpp ├── PCPlanesPy.cpp ├── PCRegistrationPy.cpp ├── README.md ├── SE3py.cpp ├── examples │ ├── SE3_covariance_visualization_examples.py │ ├── SE3_second_vs_fourth_compounding_order.py │ ├── test_utils.py │ └── vis_utils.py ├── mrobPy.cpp └── tests │ ├── fgraph_test.py │ ├── point_cloud_test.py │ ├── se3_test.py │ └── se3cov_test.py ├── pyproject.toml ├── python_examples ├── FGraph_2d.py ├── FGraph_2d_anchor.py ├── FGraph_M3500.py ├── FGraph_landmark_2d_example.py ├── FGraph_landmark_3d_example.py ├── FGraph_plane4d_example.py ├── FGraph_point_plane_align.py ├── FGraph_sphere.py ├── PC_align.py ├── README.md ├── SE3_examples.ipynb └── SE3_examples.py ├── scripts ├── build-wheel-linux.sh ├── build-wheel-macOS.sh └── build-wheels-windows.cmd ├── setup.cfg ├── setup.py ├── source ├── conf.py └── index.rst └── src ├── EigenFactors ├── CMakeLists.txt ├── README.md ├── examples │ ├── CMakeLists.txt │ ├── example_solve_1_poses.cpp │ └── test_EF_Hessian.cpp ├── mrob │ ├── factor_graph_ef.hpp │ └── plane_factor.hpp └── plane_factor.cpp ├── FGraph ├── CMakeLists.txt ├── README.md ├── examples │ ├── CMakeLists.txt │ ├── example_solver_2d.cpp │ ├── example_solver_3d.cpp │ ├── example_solver_3d_landmarks.cpp │ └── example_solver_dense_3d.cpp ├── factor.cpp ├── factor_graph.cpp ├── factor_graph_solve.cpp ├── factor_graph_solve_dense.cpp ├── factors │ ├── factor1Pose1Landmark2d.cpp │ ├── factor1Pose1Landmark3d.cpp │ ├── factor1Pose1Plane4d.cpp │ ├── factor1Pose2d.cpp │ ├── factor1Pose3d.cpp │ ├── factor2Poses2d.cpp │ ├── factor2Poses3d.cpp │ ├── nodeLandmark2d.cpp │ ├── nodeLandmark3d.cpp │ ├── nodePlane4d.cpp │ ├── nodePose2d.cpp │ └── nodePose3d.cpp ├── mrob │ ├── factor.hpp │ ├── factor_graph.hpp │ ├── factor_graph_solve.hpp │ ├── factor_graph_solve_dense.hpp │ ├── factors │ │ ├── factor1Pose1Landmark2d.hpp │ │ ├── factor1Pose1Landmark3d.hpp │ │ ├── factor1Pose1Plane4d.hpp │ │ ├── factor1Pose2d.hpp │ │ ├── factor1Pose3d.hpp │ │ ├── factor2Poses2d.hpp │ │ ├── factor2Poses3d.hpp │ │ ├── nodeLandmark2d.hpp │ │ ├── nodeLandmark3d.hpp │ │ ├── nodePlane4d.hpp │ │ ├── nodePose2d.hpp │ │ └── nodePose3d.hpp │ └── node.hpp ├── node.cpp └── tests │ └── CMakeLists.txt ├── PCRegistration ├── CMakeLists.txt ├── README.md ├── arun.cpp ├── create_points.cpp ├── estimate_plane.cpp ├── examples │ ├── CMakeLists.txt │ ├── example_align_mth.cpp │ ├── example_fgraph_align.cpp │ └── example_synthetic_plane_traj.cpp ├── factors │ ├── factor1PosePoint2Plane.cpp │ └── factor1PosePoint2Point.cpp ├── gicp.cpp ├── mrob │ ├── create_points.hpp │ ├── estimate_plane.hpp │ ├── factors │ │ ├── factor1PosePoint2Plane.hpp │ │ └── 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