├── CMakeLists.txt ├── README.md ├── app ├── compareSignatures.cpp ├── computeLoopClosureStats.cpp ├── extractSkip.cpp └── testGlarot.cpp ├── cmake_modules ├── FindEigen3.cmake └── grdConfig.cmake ├── data ├── maps_with_gt │ ├── fr-clinic.log │ ├── fr079.log │ ├── intel-lab.log │ ├── mit-csail.log │ └── victoria-park.log └── params_indoor.cfg ├── include └── grd │ ├── BBOptimizer1d.h │ ├── CarmenV2Reader.h │ ├── CorrespondenceGraph.h │ ├── DistributionSignature.h │ ├── GlarotSignature.h │ ├── GnuplotVisualizer.h │ ├── KernelSignature.h │ ├── LaserScan.h │ ├── ParamMap.h │ ├── Point.h │ ├── Profiler.h │ ├── Rate.h │ ├── SkipExtractor.h │ ├── TfUtils.h │ ├── fileutils.h │ ├── functions.h │ └── thirdparty │ ├── gnuplot-iostream.h │ └── mcqd.h └── src ├── BBOptimizer1d.cpp ├── CorrespondenceGraph.cpp ├── DistributionSignature.cpp ├── GlarotSignature.cpp ├── GnuplotVisualizer.cpp ├── KernelSignature.cpp ├── ParamMap.cpp ├── Profiler.cpp ├── SkipExtractor.cpp ├── TfUtils.cpp ├── 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