├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── DEPENDENCIES.md ├── LICENSE ├── NOTICE ├── README.md ├── experiments ├── CMakeLists.txt ├── README.md ├── datasets │ ├── README.md │ ├── city10000 │ │ ├── README.md │ │ └── city10000.g2o │ ├── csail │ │ ├── README.md │ │ ├── csail.g2o │ │ └── csail.toro │ ├── cubicle │ │ ├── README.md │ │ └── cubicle.g2o │ ├── garage │ │ ├── README.md │ │ └── parking-garage.g2o │ ├── intel │ │ ├── README.md │ │ └── intel.g2o │ ├── manhattan │ │ ├── README.md │ │ └── manhattanOlson3500.g2o │ ├── manhattan_noisy │ │ ├── README.md │ │ └── manhattan_noisy.irl │ ├── rim │ │ ├── README.md │ │ └── rim.g2o │ ├── sphere2500 │ │ ├── README.md │ │ └── sphere2500.g2o │ └── sphere_a │ │ ├── README.md │ │ └── sphere_a.g2o ├── exp_runner │ ├── CMakeLists.txt │ ├── README.md │ └── include │ │ └── exp_runner │ │ ├── DCRunner-inl.h │ │ ├── DCRunner.h │ │ ├── Factory.h │ │ ├── GNCBatchRunner-inl.h │ │ ├── GNCBatchRunner.h │ │ ├── MEstRunner-inl.h │ │ ├── MEstRunner.h │ │ ├── MaxMixRunner-inl.h │ │ ├── MaxMixRunner.h │ │ ├── ModeDetermination.h │ │ ├── PCMRunner-inl.h │ │ ├── PCMRunner.h │ │ ├── PseudoGtRunner-inl.h │ │ ├── PseudoGtRunner.h │ │ ├── RiSAM2Runner-inl.h │ │ ├── RiSAM2Runner.h │ │ ├── Runner-inl.h │ │ └── Runner.h ├── irl │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── irl │ │ │ ├── irl.h │ │ │ ├── irl_types-inl.h │ │ │ └── irl_types.h │ └── python │ │ ├── irl_parsing.py │ │ └── irl_types.py ├── run-experiment.cpp ├── scripts │ ├── README.md │ ├── animate-traj │ ├── comparisons.py │ ├── g2o-2-irl │ ├── gtg2o-2-values │ ├── make-gridworld-dataset │ ├── multi-plot │ ├── plot-timing │ ├── plot-traj │ ├── plot.py │ ├── precision-recall │ ├── run-batch-g2o │ ├── run-dataset-parallel │ └── toro-2-g2o └── thirdparty │ └── CMakeLists.txt ├── media └── figure.png └── risam ├── .clang-format ├── CMakeLists.txt ├── README.md ├── include └── risam │ ├── DoglegLineSearch.h │ ├── GraduatedFactor.h │ ├── GraduatedKernel.h │ └── RISAM2.h └── src ├── GraduatedFactor.cpp ├── GraduatedKernel.cpp └── RISAM2.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | .vscode/ 3 | *.so 4 | __pycache__/ -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/.gitmodules -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /DEPENDENCIES.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/DEPENDENCIES.md -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/LICENSE -------------------------------------------------------------------------------- /NOTICE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/NOTICE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/README.md -------------------------------------------------------------------------------- /experiments/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/CMakeLists.txt -------------------------------------------------------------------------------- /experiments/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/README.md -------------------------------------------------------------------------------- /experiments/datasets/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/README.md -------------------------------------------------------------------------------- /experiments/datasets/city10000/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/city10000/README.md -------------------------------------------------------------------------------- /experiments/datasets/city10000/city10000.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/city10000/city10000.g2o -------------------------------------------------------------------------------- /experiments/datasets/csail/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/csail/README.md -------------------------------------------------------------------------------- /experiments/datasets/csail/csail.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/csail/csail.g2o -------------------------------------------------------------------------------- /experiments/datasets/csail/csail.toro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/csail/csail.toro -------------------------------------------------------------------------------- /experiments/datasets/cubicle/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/cubicle/README.md -------------------------------------------------------------------------------- /experiments/datasets/cubicle/cubicle.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/cubicle/cubicle.g2o -------------------------------------------------------------------------------- /experiments/datasets/garage/README.md: -------------------------------------------------------------------------------- 1 | LOOPS: 4615 2 | 3 | origin: https://lucacarlone.mit.edu/datasets/ -------------------------------------------------------------------------------- /experiments/datasets/garage/parking-garage.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/garage/parking-garage.g2o -------------------------------------------------------------------------------- /experiments/datasets/intel/README.md: -------------------------------------------------------------------------------- 1 | TOTAL LOOPS: 1340 2 | -------------------------------------------------------------------------------- /experiments/datasets/intel/intel.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/intel/intel.g2o -------------------------------------------------------------------------------- /experiments/datasets/manhattan/README.md: -------------------------------------------------------------------------------- 1 | LOOPS: 2099 2 | 3 | -------------------------------------------------------------------------------- /experiments/datasets/manhattan/manhattanOlson3500.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/manhattan/manhattanOlson3500.g2o -------------------------------------------------------------------------------- /experiments/datasets/manhattan_noisy/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/manhattan_noisy/README.md -------------------------------------------------------------------------------- /experiments/datasets/manhattan_noisy/manhattan_noisy.irl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/manhattan_noisy/manhattan_noisy.irl -------------------------------------------------------------------------------- /experiments/datasets/rim/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/rim/README.md -------------------------------------------------------------------------------- /experiments/datasets/rim/rim.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/rim/rim.g2o -------------------------------------------------------------------------------- /experiments/datasets/sphere2500/README.md: -------------------------------------------------------------------------------- 1 | LOOPS: 2 | 3 | -------------------------------------------------------------------------------- /experiments/datasets/sphere2500/sphere2500.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/sphere2500/sphere2500.g2o -------------------------------------------------------------------------------- /experiments/datasets/sphere_a/README.md: -------------------------------------------------------------------------------- 1 | LOOPS: 6448 2 | 3 | Source: https://lucacarlone.mit.edu/datasets/ -------------------------------------------------------------------------------- /experiments/datasets/sphere_a/sphere_a.g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/datasets/sphere_a/sphere_a.g2o -------------------------------------------------------------------------------- /experiments/exp_runner/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/CMakeLists.txt -------------------------------------------------------------------------------- /experiments/exp_runner/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/README.md -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/DCRunner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/DCRunner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/DCRunner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/DCRunner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/Factory.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/Factory.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/GNCBatchRunner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/GNCBatchRunner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/GNCBatchRunner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/GNCBatchRunner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/MEstRunner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/MEstRunner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/MEstRunner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/MEstRunner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/MaxMixRunner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/MaxMixRunner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/MaxMixRunner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/MaxMixRunner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/ModeDetermination.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/ModeDetermination.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/PCMRunner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/PCMRunner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/PCMRunner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/PCMRunner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/PseudoGtRunner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/PseudoGtRunner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/PseudoGtRunner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/PseudoGtRunner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/RiSAM2Runner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/RiSAM2Runner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/RiSAM2Runner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/RiSAM2Runner.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/Runner-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/Runner-inl.h -------------------------------------------------------------------------------- /experiments/exp_runner/include/exp_runner/Runner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/exp_runner/include/exp_runner/Runner.h -------------------------------------------------------------------------------- /experiments/irl/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/CMakeLists.txt -------------------------------------------------------------------------------- /experiments/irl/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/README.md -------------------------------------------------------------------------------- /experiments/irl/include/irl/irl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/include/irl/irl.h -------------------------------------------------------------------------------- /experiments/irl/include/irl/irl_types-inl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/include/irl/irl_types-inl.h -------------------------------------------------------------------------------- /experiments/irl/include/irl/irl_types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/include/irl/irl_types.h -------------------------------------------------------------------------------- /experiments/irl/python/irl_parsing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/python/irl_parsing.py -------------------------------------------------------------------------------- /experiments/irl/python/irl_types.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/irl/python/irl_types.py -------------------------------------------------------------------------------- /experiments/run-experiment.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/run-experiment.cpp -------------------------------------------------------------------------------- /experiments/scripts/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/README.md -------------------------------------------------------------------------------- /experiments/scripts/animate-traj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/animate-traj -------------------------------------------------------------------------------- /experiments/scripts/comparisons.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/comparisons.py -------------------------------------------------------------------------------- /experiments/scripts/g2o-2-irl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/g2o-2-irl -------------------------------------------------------------------------------- /experiments/scripts/gtg2o-2-values: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/gtg2o-2-values -------------------------------------------------------------------------------- /experiments/scripts/make-gridworld-dataset: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/make-gridworld-dataset -------------------------------------------------------------------------------- /experiments/scripts/multi-plot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/multi-plot -------------------------------------------------------------------------------- /experiments/scripts/plot-timing: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/plot-timing -------------------------------------------------------------------------------- /experiments/scripts/plot-traj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/plot-traj -------------------------------------------------------------------------------- /experiments/scripts/plot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/plot.py -------------------------------------------------------------------------------- /experiments/scripts/precision-recall: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/precision-recall -------------------------------------------------------------------------------- /experiments/scripts/run-batch-g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/run-batch-g2o -------------------------------------------------------------------------------- /experiments/scripts/run-dataset-parallel: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/run-dataset-parallel -------------------------------------------------------------------------------- /experiments/scripts/toro-2-g2o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/scripts/toro-2-g2o -------------------------------------------------------------------------------- /experiments/thirdparty/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/experiments/thirdparty/CMakeLists.txt -------------------------------------------------------------------------------- /media/figure.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/media/figure.png -------------------------------------------------------------------------------- /risam/.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | BasedOnStyle: Google 3 | ColumnLimit: 120 -------------------------------------------------------------------------------- /risam/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/CMakeLists.txt -------------------------------------------------------------------------------- /risam/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/README.md -------------------------------------------------------------------------------- /risam/include/risam/DoglegLineSearch.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/include/risam/DoglegLineSearch.h -------------------------------------------------------------------------------- /risam/include/risam/GraduatedFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/include/risam/GraduatedFactor.h -------------------------------------------------------------------------------- /risam/include/risam/GraduatedKernel.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/include/risam/GraduatedKernel.h -------------------------------------------------------------------------------- /risam/include/risam/RISAM2.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/include/risam/RISAM2.h -------------------------------------------------------------------------------- /risam/src/GraduatedFactor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/src/GraduatedFactor.cpp -------------------------------------------------------------------------------- /risam/src/GraduatedKernel.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/src/GraduatedKernel.cpp -------------------------------------------------------------------------------- /risam/src/RISAM2.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SNU-DLLAB/AGNC-PGO/HEAD/risam/src/RISAM2.cpp --------------------------------------------------------------------------------