├── .gitattributes ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── FindSPQR.cmake └── minisam-config.cmake.in ├── examples ├── README.md ├── cpp │ ├── CMakeLists.txt │ ├── bundle_adjustment_bal.cpp │ ├── gps_factor_example.cpp │ ├── optimize_custom_type.cpp │ ├── pose_graph_example.cpp │ ├── pose_graph_g2o.cpp │ └── robust_curve_fitting.cpp ├── data │ ├── exp_curve_fitting_data.txt │ ├── input_M3500_g2o.g2o │ └── problem-49-7776-pre.txt └── python │ ├── bundle_adjustment_bal.py │ ├── gps_factor_example.py │ ├── optimize_custom_type.py │ ├── pose_graph_example.py │ ├── pose_graph_g2o.py │ └── robust_curve_fitting.py ├── minisam ├── 3rdparty │ ├── Catch2 │ │ ├── LICENSE.txt │ │ └── catch.hpp │ └── eigen3 │ │ ├── COPYING.LGPL │ │ ├── OrderingMethods │ │ ├── README.txt │ │ └── src │ │ └── OrderingMethods │ │ ├── Amd.h │ │ └── Ordering.h ├── CMakeLists.txt ├── config.h.in ├── core │ ├── Eigen.h │ ├── Factor.cpp │ ├── Factor.h │ ├── FactorGraph.cpp │ ├── FactorGraph.h │ ├── Key.cpp │ ├── Key.h │ ├── LossFunction.cpp │ ├── LossFunction.h │ ├── Scalar.h │ ├── SchurComplement.cpp │ ├── SchurComplement.h │ ├── Traits.h │ ├── Variable.h │ ├── VariableOrdering.cpp │ ├── VariableOrdering.h │ ├── Variables.cpp │ └── Variables.h ├── geometry │ ├── CalibBundler.cpp │ ├── CalibBundler.h │ ├── CalibK.cpp │ ├── CalibK.h │ ├── CalibKD.cpp │ ├── CalibKD.h │ ├── CalibTraits.h │ ├── Sophus.h │ ├── projection.cpp │ └── projection.h ├── linear │ ├── AMDOrdering.h │ ├── ConjugateGradient.cpp │ ├── ConjugateGradient.h │ ├── Covariance.cpp │ ├── Covariance.h │ ├── DenseCholesky.cpp │ ├── DenseCholesky.h │ ├── LinearSolver.h │ ├── Ordering.h │ ├── SchurComplementDenseSolver.cpp │ ├── SchurComplementDenseSolver.h │ ├── SparseCholesky.cpp │ ├── SparseCholesky.h │ ├── SquareRoot.h │ ├── SquareRootCholesky.cpp │ ├── SquareRootCholesky.h │ ├── cholmod │ │ ├── Cholmod.cpp │ │ └── Cholmod.h │ ├── cuda │ │ ├── CUDASolver.cpp │ │ └── CUDASolver.h │ └── spqr │ │ ├── SPQR.cpp │ │ └── SPQR.h ├── nonlinear │ ├── DoglegOptimizer.cpp │ ├── DoglegOptimizer.h │ ├── GaussNewtonOptimizer.cpp │ ├── GaussNewtonOptimizer.h │ ├── LevenbergMarquardtOptimizer.cpp │ ├── LevenbergMarquardtOptimizer.h │ ├── MarginalCovariance.cpp │ ├── MarginalCovariance.h │ ├── NonlinearOptimizer.cpp │ ├── NonlinearOptimizer.h │ ├── NumericalFactor.cpp │ ├── NumericalFactor.h │ ├── SparsityPattern.cpp │ ├── SparsityPattern.h │ ├── linearization.cpp │ ├── linearization.h │ ├── numericalJacobian.h │ └── numericalJacobianImpl.h ├── slam │ ├── BALInterface.cpp │ ├── BALInterface.h │ ├── BetweenFactor.h │ ├── PriorFactor.h │ ├── ReprojectionFactor.cpp │ ├── ReprojectionFactor.h │ ├── g2oInterface.cpp │ └── g2oInterface.h └── utils │ ├── Timer.cpp │ ├── Timer.h │ ├── testAssertions.cpp │ └── testAssertions.h ├── python ├── CMakeLists.txt ├── minisam │ ├── .gitignore │ ├── __init__.py │ └── sophus │ │ ├── .gitignore │ │ └── __init__.py ├── minisam_wrapper │ ├── core.cpp │ ├── factor.cpp │ ├── geometry.cpp │ ├── loss_function.cpp │ ├── module.cpp │ ├── optimizer.cpp │ ├── print.h │ ├── pyobject_traits.h │ ├── slam.cpp │ ├── type_cast.h │ ├── utils.cpp │ └── variables.cpp ├── setup.py.in ├── setup_no_sophus.py.in └── sophus_wrapper │ └── sophus.cpp └── tests ├── CMakeLists.txt ├── catch_test_main.cpp ├── testCUDASolver.cpp ├── testCalibration.cpp ├── testCholmod.cpp ├── testConjugateGradient.cpp ├── testCovariance.cpp ├── testDenseCholesky.cpp ├── testDogleg.cpp ├── testEigen.cpp ├── testFactorGraph.cpp ├── testLevenbergMarquardt.cpp ├── testMarginalCovariance.cpp ├── testNumericalJacobian.cpp ├── testOrdering.cpp ├── testSPQR.cpp ├── testScalar.cpp ├── testSchurComplement.cpp ├── testSchurComplementDenseSolver.cpp ├── testSophus.cpp ├── testSparseCholesky.cpp ├── testSquareRootCholesky.cpp ├── testVariables.cpp ├── test_common_factors.h ├── test_common_linear_systems.h ├── testlinearization.cpp └── 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