├── .clang-format ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── LICENSE.txt ├── apps ├── CMakeLists.txt ├── cost_matrix_based_matching │ ├── CMakeLists.txt │ ├── config_cost_matrix.yaml │ ├── cost_matrix_based_matching.cpp │ └── readme.md ├── create_cost_matrix │ ├── CMakeLists.txt │ ├── config.yaml │ ├── create_cost_matrix.cpp │ └── readme.md ├── estimate_non_match_cost │ ├── CMakeLists.txt │ ├── estimate_non_match_cost.cpp │ ├── match_example.txt │ ├── nonMatch_example.txt │ ├── non_match_cost_estimator.cpp │ ├── non_match_cost_estimator.h │ └── readme.md └── feature_based_matching │ ├── CMakeLists.txt │ ├── feature_based_matching.cpp │ └── readme.md ├── doc └── online_place_recognition.conf ├── examples ├── download_sample_data.sh ├── match_bonn_example.sh ├── match_freiburg_example.sh ├── matched_path.txt └── readme.md ├── gtest ├── CMakeLists.txt ├── DownloadProject.cmake └── gtest.CMakeLists.cmake.in ├── online_place_recognition.sublime-project ├── readme.md ├── src ├── CMakeLists.txt ├── database │ ├── CMakeLists.txt │ ├── cost_matrix_database.cpp │ ├── cost_matrix_database.h │ ├── idatabase.h │ ├── list_dir.h │ ├── online_database.cpp │ └── online_database.h ├── features │ ├── CMakeLists.txt │ ├── feature.cpp │ ├── feature.h │ ├── feature_buffer.cpp │ ├── feature_buffer.h │ ├── feature_factory.cpp │ ├── feature_factory.h │ ├── ifeature.h │ └── readme.md ├── online_localizer │ ├── CMakeLists.txt │ ├── ilocvisualizer.h │ ├── online_localizer.cpp │ ├── online_localizer.h │ ├── path_element.cpp │ ├── path_element.h │ ├── priority_queue.cpp │ └── priority_queue.h ├── successor_manager │ ├── CMakeLists.txt │ ├── node.cpp │ ├── node.h │ ├── successor_manager.cpp │ └── successor_manager.h ├── tools │ ├── CMakeLists.txt │ ├── config_parser │ │ ├── CMakeLists.txt │ │ ├── config_parser.cpp │ │ └── config_parser.h │ └── timer │ │ ├── CMakeLists.txt │ │ ├── timer.cpp │ │ └── timer.h └── visualizer │ ├── CMakeLists.txt │ ├── full_matrix_visualizer.cpp │ ├── full_matrix_visualizer.h │ ├── localization_screen.png │ ├── localization_viewer.cpp │ ├── localization_viewer.h │ ├── match_viewer.cpp │ ├── match_viewer.h │ ├── visualizer.cpp │ └── visualizer.h └── test ├── database_test.cpp ├── feature_buffer_test.cpp ├── online_localizer_test.cpp ├── successor_manager_test.cpp └── test_data ├── cost_matrix.txt ├── cost_matrix_3_5.txt ├── query_features ├── image_0-feature.txt ├── image_1-feature.txt ├── image_2-feature.txt └── image_3-feature.txt ├── query_images ├── image_0.jpg ├── image_1.jpg ├── image_2.jpg └── image_3.jpg ├── ref_features ├── image_0-feature.txt ├── image_1-feature.txt ├── image_2-feature.txt └── image_3-feature.txt └── ref_images ├── image_0.jpg ├── image_1.jpg ├── image_2.jpg └── image_3.jpg /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PRBonn/online_place_recognition/HEAD/.clang-format 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