├── .gitignore ├── LICENSE ├── README.md ├── docs └── img │ ├── gapslam_approach.png │ ├── obj_final_traj.png │ ├── obj_step216.png │ ├── ro_step21.png │ └── ro_step777.png ├── env.yaml ├── example └── slam │ ├── objectBasedSLAM │ ├── realworld_office_gapslam.py │ └── realworld_office_gapslam_visual.py │ └── rangeOnlySLAM │ ├── RangeOnlyDataset │ └── Plaza1EFG │ │ ├── factor_graph.fg │ │ └── factor_graph_earlySteps.fg │ ├── run_gapslam.py │ ├── run_gapslam_visual.py │ ├── run_nsfg.py │ ├── run_sog_rbpf.py │ └── run_sog_rbpf_visual.py ├── gapslam ├── __init__.py ├── adaptive_inference │ ├── AdaptiveInference.py │ ├── GAPSLAM.py │ ├── GTSAM_help.py │ ├── GaussianSolverWrapper.py │ ├── __init__.py │ ├── objslam_utils.py │ └── utils.py ├── factors │ ├── Factors.py │ ├── __init__.py │ └── utils.py ├── geometry │ ├── ThreeDimension.py │ ├── TwoDimension.py │ ├── __init__.py │ └── utils.py ├── sampler │ ├── NestedSampling.py │ ├── RBPFSOG.py │ ├── __init__.py │ └── sampler_utils.py ├── slam │ ├── FactorGraph.py │ ├── FactorGraphSimulator.py │ ├── RunBatch.py │ ├── Variables.py │ └── __init__.py ├── stats │ ├── Distributions.py │ ├── Likelihoods.py │ └── __init__.py └── utils │ ├── Functions.py │ ├── LinAlg.py │ ├── Statistics.py │ ├── Units.py │ ├── Visualization.py │ └── __init__.py ├── requirements.txt ├── setup.py └── tests ├── test_2d_geometry_classes.py ├── test_GTSAM_help.py ├── test_GTSAM_wrapper.py └── test_adaptive_inference.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/doublestrong/gapslam/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/doublestrong/gapslam/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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