├── README.md ├── SuiteSparse ├── .DS_Store ├── AMD │ ├── .DS_Store │ ├── AMD.xcodeproj │ │ ├── project.pbxproj │ │ ├── project.xcworkspace │ │ │ ├── contents.xcworkspacedata │ │ │ └── xcuserdata │ │ │ │ └── xinsun.xcuserdatad │ │ │ │ └── UserInterfaceState.xcuserstate │ │ └── xcuserdata │ │ │ └── xinsun.xcuserdatad │ │ │ └── xcschemes │ │ │ ├── AMD.xcscheme │ │ │ └── xcschememanagement.plist │ └── AMD │ │ ├── .DS_Store │ │ ├── Include │ │ ├── amd.h │ │ └── amd_internal.h │ │ ├── Lib │ │ └── Makefile │ │ ├── Makefile │ │ ├── README.txt │ │ ├── Source │ │ ├── amd.f │ │ ├── amd_1.c │ │ ├── amd_2.c │ │ ├── amd_aat.c │ │ ├── amd_control.c │ │ ├── amd_defaults.c │ │ ├── amd_dump.c │ │ ├── amd_global.c │ │ ├── amd_info.c │ │ ├── amd_order.c │ │ ├── amd_post_tree.c │ │ ├── amd_postorder.c │ │ ├── amd_preprocess.c │ │ ├── amd_valid.c │ │ └── amdbar.f │ │ └── SuiteSparse_config │ │ ├── Makefile │ │ ├── README.txt │ │ ├── SuiteSparse_config.c │ │ ├── SuiteSparse_config.h │ │ ├── SuiteSparse_config.mk │ │ ├── SuiteSparse_config_GPU_debug.mk │ │ ├── SuiteSparse_config_GPU_gcc.mk │ │ ├── SuiteSparse_config_GPU_icc.mk │ │ ├── SuiteSparse_config_GPU_icc10.mk │ │ ├── SuiteSparse_config_backslash.mk │ │ ├── SuiteSparse_config_linux.mk │ │ ├── libsuitesparseconfig.a │ │ └── xerbla │ │ ├── Makefile │ │ ├── xerbla.c │ │ ├── xerbla.f │ │ └── xerbla.h ├── CAMD │ ├── CAMD.xcodeproj │ │ ├── project.pbxproj │ │ ├── project.xcworkspace │ │ │ ├── contents.xcworkspacedata │ │ │ └── xcuserdata │ │ │ │ └── xinsun.xcuserdatad │ │ │ │ └── UserInterfaceState.xcuserstate │ │ └── xcuserdata │ │ │ └── xinsun.xcuserdatad │ │ │ └── xcschemes │ │ │ ├── CAMD.xcscheme │ │ │ └── xcschememanagement.plist │ └── CAMD │ │ ├── Include │ │ ├── camd.h │ │ └── camd_internal.h │ │ ├── Lib │ │ ├── GNUmakefile │ │ ├── Makefile │ │ ├── camd_i_1.o │ │ ├── camd_i_2.o │ │ ├── camd_i_aat.o │ │ ├── camd_i_control.o │ │ ├── camd_i_defaults.o │ │ ├── camd_i_dump.o │ │ ├── camd_i_info.o │ │ ├── camd_i_order.o │ │ ├── camd_i_postorder.o │ │ ├── camd_i_preprocess.o │ │ ├── camd_i_valid.o │ │ ├── camd_l_1.o │ │ ├── camd_l_2.o │ │ ├── camd_l_aat.o │ │ ├── camd_l_control.o │ │ ├── camd_l_defaults.o │ │ ├── camd_l_dump.o │ │ ├── camd_l_info.o │ │ ├── camd_l_order.o │ │ ├── camd_l_postorder.o │ │ ├── camd_l_preprocess.o │ │ ├── camd_l_valid.o │ │ ├── libcamd.a │ │ └── libcamd.def │ │ ├── Makefile │ │ ├── README.txt │ │ ├── Source │ │ ├── camd_1.c │ │ ├── camd_2.c │ │ ├── camd_aat.c │ │ ├── camd_control.c │ │ ├── camd_defaults.c │ │ ├── camd_dump.c │ │ ├── camd_global.c │ │ ├── camd_info.c │ │ ├── camd_order.c │ │ ├── camd_postorder.c │ │ ├── camd_preprocess.c │ │ └── camd_valid.c │ │ └── SuiteSparse_config │ │ ├── Makefile │ │ ├── README.txt │ │ ├── SuiteSparse_config.c │ │ ├── SuiteSparse_config.h │ │ ├── SuiteSparse_config.mk │ │ ├── SuiteSparse_config_GPU_debug.mk │ │ ├── SuiteSparse_config_GPU_gcc.mk │ │ ├── SuiteSparse_config_GPU_icc.mk │ │ ├── SuiteSparse_config_GPU_icc10.mk │ │ ├── SuiteSparse_config_backslash.mk │ │ ├── SuiteSparse_config_linux.mk │ │ ├── libsuitesparseconfig.a │ │ └── xerbla │ │ ├── Makefile │ │ ├── xerbla.c │ │ ├── xerbla.f │ │ └── xerbla.h ├── CCOLAMD │ ├── .DS_Store │ ├── CCOLAMD.xcodeproj │ │ ├── project.pbxproj │ │ ├── project.xcworkspace │ │ │ ├── contents.xcworkspacedata │ │ │ └── xcuserdata │ │ │ │ └── xinsun.xcuserdatad │ │ │ │ └── UserInterfaceState.xcuserstate │ │ └── xcuserdata │ │ │ └── xinsun.xcuserdatad │ │ │ └── xcschemes │ │ │ ├── CCOLAMD.xcscheme │ │ │ └── xcschememanagement.plist │ └── CCOLAMD │ │ ├── Include │ │ └── ccolamd.h │ │ ├── Lib │ │ ├── Makefile │ │ ├── ccolamd.o │ │ ├── ccolamd_l.o │ │ └── libccolamd.a │ │ ├── Makefile │ │ ├── README.txt │ │ ├── Source │ │ ├── ccolamd.c │ │ └── ccolamd_global.c │ │ └── SuiteSparse_config │ │ ├── Makefile │ │ ├── README.txt │ │ ├── SuiteSparse_config.c │ │ ├── SuiteSparse_config.h │ │ ├── SuiteSparse_config.mk │ │ ├── SuiteSparse_config_GPU_debug.mk │ │ ├── SuiteSparse_config_GPU_gcc.mk │ │ ├── SuiteSparse_config_GPU_icc.mk │ │ ├── SuiteSparse_config_GPU_icc10.mk │ │ ├── SuiteSparse_config_backslash.mk │ │ ├── SuiteSparse_config_linux.mk │ │ ├── libsuitesparseconfig.a │ │ └── xerbla │ │ ├── Makefile │ │ ├── xerbla.c │ │ ├── xerbla.f │ │ └── xerbla.h ├── CHOLMOD │ ├── CHOLMOD │ │ ├── .DS_Store │ │ ├── Check │ │ │ ├── License.txt │ │ │ ├── cholmod_check.c │ │ │ ├── cholmod_read.c │ │ │ ├── cholmod_write.c │ │ │ └── lesser.txt │ │ ├── Cholesky │ │ │ ├── License.txt │ │ │ ├── cholmod_amd.c │ │ │ ├── cholmod_analyze.c │ │ │ ├── cholmod_colamd.c │ │ │ ├── cholmod_etree.c │ │ │ ├── cholmod_factorize.c │ │ │ ├── cholmod_postorder.c │ │ │ ├── cholmod_rcond.c │ │ │ ├── cholmod_resymbol.c │ │ │ ├── cholmod_rowcolcounts.c │ │ │ ├── cholmod_rowfac.c │ │ │ ├── cholmod_solve.c │ │ │ ├── cholmod_spsolve.c │ │ │ ├── lesser.txt │ │ │ ├── t_cholmod_lsolve.c │ │ │ ├── t_cholmod_ltsolve.c │ │ │ ├── t_cholmod_rowfac.c │ │ │ └── t_cholmod_solve.c │ │ ├── Core │ │ │ ├── License.txt │ │ │ ├── cholmod_aat.c │ │ │ ├── cholmod_add.c │ │ │ ├── cholmod_band.c │ │ │ ├── cholmod_change_factor.c │ │ │ ├── cholmod_common.c │ │ │ ├── cholmod_complex.c │ │ │ ├── cholmod_copy.c │ │ │ ├── cholmod_dense.c │ │ │ ├── cholmod_error.c │ │ │ ├── cholmod_factor.c │ │ │ ├── cholmod_memory.c │ │ │ ├── cholmod_sparse.c │ │ │ ├── cholmod_transpose.c │ │ │ ├── cholmod_triplet.c │ │ │ ├── cholmod_version.c │ │ │ ├── lesser.txt │ │ │ ├── t_cholmod_change_factor.c │ │ │ ├── t_cholmod_dense.c │ │ │ ├── t_cholmod_transpose.c │ │ │ └── t_cholmod_triplet.c │ │ ├── Include │ │ │ ├── License.txt │ │ │ ├── README.txt │ │ │ ├── SuiteSparse_config.h │ │ │ ├── cholmod.h │ │ │ ├── cholmod_blas.h │ │ │ ├── cholmod_camd.h │ │ │ ├── cholmod_check.h │ │ │ ├── cholmod_cholesky.h │ │ │ ├── cholmod_complexity.h │ │ │ ├── cholmod_config.h │ │ │ ├── cholmod_core.h │ │ │ ├── cholmod_function.h │ │ │ ├── cholmod_gpu.h │ │ │ ├── cholmod_gpu_kernels.h │ │ │ ├── cholmod_internal.h │ │ │ ├── cholmod_io64.h │ │ │ ├── cholmod_matrixops.h │ │ │ ├── cholmod_modify.h │ │ │ ├── cholmod_partition.h │ │ │ ├── cholmod_supernodal.h │ │ │ └── cholmod_template.h │ │ ├── Lib │ │ │ ├── Makefile │ │ │ ├── libAMD.a │ │ │ ├── libCAMD.a │ │ │ ├── libCCOLAMD.a │ │ │ └── libCOLAMD.a │ │ ├── Makefile │ │ ├── MatrixOps │ │ │ ├── License.txt │ │ │ ├── cholmod_drop.c │ │ │ ├── cholmod_horzcat.c │ │ │ ├── cholmod_norm.c │ │ │ ├── cholmod_scale.c │ │ │ ├── cholmod_sdmult.c │ │ │ ├── cholmod_ssmult.c │ │ │ ├── cholmod_submatrix.c │ │ │ ├── cholmod_symmetry.c │ │ │ ├── cholmod_vertcat.c │ │ │ ├── gpl.txt │ │ │ └── t_cholmod_sdmult.c │ │ ├── Modify │ │ │ ├── License.txt │ │ │ ├── cholmod_rowadd.c │ │ │ ├── cholmod_rowdel.c │ │ │ ├── cholmod_updown.c │ │ │ ├── gpl.txt │ │ │ ├── t_cholmod_updown.c │ │ │ └── t_cholmod_updown_numkr.c │ │ ├── Partition │ │ │ ├── License.txt │ │ │ ├── cholmod_camd.c │ │ │ ├── cholmod_ccolamd.c │ │ │ ├── cholmod_csymamd.c │ │ │ ├── cholmod_metis.c │ │ │ ├── cholmod_nesdis.c │ │ │ └── lesser.txt │ │ ├── README.txt │ │ ├── SuiteSparse_config │ │ │ ├── Makefile │ │ │ ├── README.txt │ │ │ ├── SuiteSparse_config.c │ │ │ ├── SuiteSparse_config.h │ │ │ ├── SuiteSparse_config.mk │ │ │ ├── SuiteSparse_config_GPU_debug.mk │ │ │ ├── SuiteSparse_config_GPU_gcc.mk │ │ │ ├── SuiteSparse_config_GPU_icc.mk │ │ │ ├── SuiteSparse_config_GPU_icc10.mk │ │ │ ├── SuiteSparse_config_backslash.mk │ │ │ ├── SuiteSparse_config_linux.mk │ │ │ ├── libsuitesparseconfig.a │ │ │ └── xerbla │ │ │ │ ├── Makefile │ │ │ │ ├── libcerbla.a │ │ │ │ ├── xerbla.c │ │ │ │ ├── xerbla.f │ │ │ │ └── xerbla.h │ │ └── Supernodal │ │ │ ├── License.txt │ │ │ ├── cholmod_super_numeric.c │ │ │ ├── cholmod_super_solve.c │ │ │ ├── cholmod_super_symbolic.c │ │ │ ├── gpl.txt │ │ │ ├── t_cholmod_super_numeric.c │ │ │ └── t_cholmod_super_solve.c │ └── cholmod.xcodeproj │ │ ├── project.pbxproj │ │ ├── project.xcworkspace │ │ ├── contents.xcworkspacedata │ │ └── xcuserdata │ │ │ └── xinsun.xcuserdatad │ │ │ └── UserInterfaceState.xcuserstate │ │ └── xcuserdata │ │ └── xinsun.xcuserdatad │ │ └── xcschemes │ │ ├── cholmod.xcscheme │ │ └── xcschememanagement.plist ├── COLAMD │ ├── .DS_Store │ ├── COLAMD.xcodeproj │ │ ├── project.pbxproj │ │ ├── project.xcworkspace │ │ │ ├── contents.xcworkspacedata │ │ │ └── xcuserdata │ │ │ │ └── xinsun.xcuserdatad │ │ │ │ └── UserInterfaceState.xcuserstate │ │ └── xcuserdata │ │ │ └── xinsun.xcuserdatad │ │ │ └── xcschemes │ │ │ ├── COLAMD.xcscheme │ │ │ └── xcschememanagement.plist │ └── COLAMD │ │ ├── Include │ │ └── colamd.h │ │ ├── Lib │ │ ├── Makefile │ │ ├── colamd.o │ │ ├── colamd_l.o │ │ └── libcolamd.a │ │ ├── Makefile │ │ ├── README.txt │ │ ├── Source │ │ ├── colamd.c │ │ └── colamd_global.c │ │ └── SuiteSparse_config │ │ ├── Makefile │ │ ├── README.txt │ │ ├── SuiteSparse_config.c │ │ ├── SuiteSparse_config.h │ │ ├── SuiteSparse_config.mk │ │ ├── SuiteSparse_config_GPU_debug.mk │ │ ├── SuiteSparse_config_GPU_gcc.mk │ │ ├── SuiteSparse_config_GPU_icc.mk │ │ ├── SuiteSparse_config_GPU_icc10.mk │ │ ├── SuiteSparse_config_backslash.mk │ │ ├── SuiteSparse_config_linux.mk │ │ ├── libsuitesparseconfig.a │ │ └── xerbla │ │ ├── Makefile │ │ ├── xerbla.c │ │ ├── xerbla.f │ │ └── xerbla.h ├── README.md └── prebuild │ ├── libAMD.a │ ├── libCAMD.a │ ├── libCCOLAMD.a │ └── libCOLAMD.a └── g2o ├── .DS_Store ├── g2o.xcodeproj ├── project.pbxproj ├── project.xcworkspace │ ├── contents.xcworkspacedata │ └── xcuserdata │ │ └── xinsun.xcuserdatad │ │ └── UserInterfaceState.xcuserstate └── xcuserdata │ └── xinsun.xcuserdatad │ └── xcschemes │ ├── g2o.xcscheme │ └── xcschememanagement.plist └── g2o ├── CMakeLists.txt ├── Changes.txt ├── cmake_modules ├── FindBLAS.cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── FindG2O.cmake └── FindLAPACK.cmake ├── config.h ├── config.h.in ├── doc ├── g2o.pdf ├── license-bsd.txt ├── license-gpl.txt └── license-lgpl.txt ├── eigen └── Eigen │ ├── .DS_Store │ ├── Array │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigen2Support │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── LeastSquares │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ ├── .DS_Store │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CMakeLists.txt │ ├── LDLT.h │ ├── LLT.h │ └── LLT_MKL.h │ ├── CholmodSupport │ ├── CMakeLists.txt │ └── CholmodSupport.h │ ├── Core │ ├── .DS_Store │ ├── Array.h │ ├── ArrayBase.h │ ├── ArrayWrapper.h │ ├── Assign.h │ ├── Assign_MKL.h │ ├── BandMatrix.h │ ├── Block.h │ ├── BooleanRedux.h │ ├── CMakeLists.txt │ ├── CommaInitializer.h │ ├── CoreIterators.h │ ├── CwiseBinaryOp.h │ ├── CwiseNullaryOp.h │ ├── CwiseUnaryOp.h │ ├── CwiseUnaryView.h │ ├── DenseBase.h │ ├── DenseCoeffsBase.h │ ├── DenseStorage.h │ ├── Diagonal.h │ ├── DiagonalMatrix.h │ ├── DiagonalProduct.h │ ├── Dot.h │ ├── EigenBase.h │ ├── Flagged.h │ ├── ForceAlignedAccess.h │ ├── Functors.h │ ├── Fuzzy.h │ ├── GeneralProduct.h │ ├── GenericPacketMath.h │ ├── GlobalFunctions.h │ ├── IO.h │ ├── Map.h │ ├── MapBase.h │ ├── MathFunctions.h │ ├── Matrix.h │ ├── MatrixBase.h │ ├── NestByValue.h │ ├── NoAlias.h │ ├── NumTraits.h │ ├── PermutationMatrix.h │ ├── PlainObjectBase.h │ ├── ProductBase.h │ ├── Random.h │ ├── Redux.h │ ├── Ref.h │ ├── Replicate.h │ ├── ReturnByValue.h │ ├── Reverse.h │ ├── Select.h │ ├── SelfAdjointView.h │ ├── SelfCwiseBinaryOp.h │ ├── SolveTriangular.h │ ├── StableNorm.h │ ├── Stride.h │ ├── Swap.h │ ├── Transpose.h │ ├── Transpositions.h │ ├── TriangularMatrix.h │ ├── VectorBlock.h │ ├── VectorwiseOp.h │ ├── Visitor.h │ ├── arch │ │ ├── .DS_Store │ │ ├── AltiVec │ │ │ ├── CMakeLists.txt │ │ │ ├── Complex.h │ │ │ └── PacketMath.h │ │ ├── CMakeLists.txt │ │ ├── Default │ │ │ ├── CMakeLists.txt │ │ │ └── Settings.h │ │ ├── NEON │ │ │ ├── CMakeLists.txt │ │ │ ├── Complex.h │ │ │ └── PacketMath.h │ │ └── SSE │ │ │ ├── CMakeLists.txt │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ └── PacketMath.h │ ├── products │ │ ├── CMakeLists.txt │ │ ├── CoeffBasedProduct.h │ │ ├── GeneralBlockPanelKernel.h │ │ ├── GeneralMatrixMatrix.h │ │ ├── GeneralMatrixMatrixTriangular.h │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ ├── GeneralMatrixMatrix_MKL.h │ │ ├── GeneralMatrixVector.h │ │ ├── GeneralMatrixVector_MKL.h │ │ ├── Parallelizer.h │ │ ├── SelfadjointMatrixMatrix.h │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ ├── SelfadjointMatrixVector.h │ │ ├── SelfadjointMatrixVector_MKL.h │ │ ├── SelfadjointProduct.h │ │ ├── SelfadjointRank2Update.h │ │ ├── TriangularMatrixMatrix.h │ │ ├── TriangularMatrixMatrix_MKL.h │ │ ├── TriangularMatrixVector.h │ │ ├── TriangularMatrixVector_MKL.h │ │ ├── TriangularSolverMatrix.h │ │ ├── TriangularSolverMatrix_MKL.h │ │ └── TriangularSolverVector.h │ └── util │ │ ├── BlasUtil.h │ │ ├── CMakeLists.txt │ │ ├── Constants.h │ │ ├── DisableStupidWarnings.h │ │ ├── ForwardDeclarations.h │ │ ├── MKL_support.h │ │ ├── Macros.h │ │ ├── Memory.h │ │ ├── Meta.h │ │ ├── NonMPL2.h │ │ ├── ReenableStupidWarnings.h │ │ ├── StaticAssert.h │ │ └── XprHelper.h │ ├── Eigen2Support │ ├── .DS_Store │ ├── Block.h │ ├── CMakeLists.txt │ ├── Cwise.h │ ├── CwiseOperators.h │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── All.h │ │ ├── AngleAxis.h │ │ ├── CMakeLists.txt │ │ ├── Hyperplane.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ └── Translation.h │ ├── LU.h │ ├── Lazy.h │ ├── LeastSquares.h │ ├── Macros.h │ ├── MathFunctions.h │ ├── Memory.h │ ├── Meta.h │ ├── Minor.h │ ├── QR.h │ ├── SVD.h │ ├── TriangularSolver.h │ └── VectorBlock.h │ ├── Eigenvalues │ ├── CMakeLists.txt │ ├── ComplexEigenSolver.h │ ├── ComplexSchur.h │ ├── ComplexSchur_MKL.h │ ├── EigenSolver.h │ ├── GeneralizedEigenSolver.h │ ├── GeneralizedSelfAdjointEigenSolver.h │ ├── HessenbergDecomposition.h │ ├── MatrixBaseEigenvalues.h │ ├── RealQZ.h │ ├── RealSchur.h │ ├── RealSchur_MKL.h │ ├── SelfAdjointEigenSolver.h │ ├── SelfAdjointEigenSolver_MKL.h │ └── Tridiagonalization.h │ ├── Geometry │ ├── .DS_Store │ ├── AlignedBox.h │ ├── AngleAxis.h │ ├── CMakeLists.txt │ ├── EulerAngles.h │ ├── Homogeneous.h │ ├── Hyperplane.h │ ├── OrthoMethods.h │ ├── ParametrizedLine.h │ ├── Quaternion.h │ ├── Rotation2D.h │ ├── RotationBase.h │ ├── Scaling.h │ ├── Transform.h │ ├── Translation.h │ ├── Umeyama.h │ └── arch │ │ ├── CMakeLists.txt │ │ └── Geometry_SSE.h │ ├── Householder │ ├── BlockHouseholder.h │ ├── CMakeLists.txt │ ├── Householder.h │ └── HouseholderSequence.h │ ├── IterativeLinearSolvers │ ├── BasicPreconditioners.h │ ├── BiCGSTAB.h │ ├── CMakeLists.txt │ ├── ConjugateGradient.h │ ├── IncompleteLUT.h │ └── IterativeSolverBase.h │ ├── Jacobi │ ├── CMakeLists.txt │ └── Jacobi.h │ ├── LU │ ├── .DS_Store │ ├── CMakeLists.txt │ ├── Determinant.h │ ├── FullPivLU.h │ ├── Inverse.h │ ├── PartialPivLU.h │ ├── PartialPivLU_MKL.h │ └── arch │ │ ├── CMakeLists.txt │ │ └── Inverse_SSE.h │ ├── MetisSupport │ ├── CMakeLists.txt │ └── MetisSupport.h │ ├── OrderingMethods │ ├── Amd.h │ ├── CMakeLists.txt │ ├── Eigen_Colamd.h │ └── Ordering.h │ ├── PaStiXSupport │ ├── CMakeLists.txt │ └── PaStiXSupport.h │ ├── PardisoSupport │ ├── CMakeLists.txt │ └── PardisoSupport.h │ ├── QR │ ├── CMakeLists.txt │ ├── ColPivHouseholderQR.h │ ├── ColPivHouseholderQR_MKL.h │ ├── FullPivHouseholderQR.h │ ├── HouseholderQR.h │ └── HouseholderQR_MKL.h │ ├── SPQRSupport │ ├── CMakeLists.txt │ └── SuiteSparseQRSupport.h │ ├── SVD │ ├── CMakeLists.txt │ ├── JacobiSVD.h │ ├── JacobiSVD_MKL.h │ └── UpperBidiagonalization.h │ ├── SparseCholesky │ ├── CMakeLists.txt │ ├── SimplicialCholesky.h │ └── SimplicialCholesky_impl.h │ ├── SparseCore │ ├── AmbiVector.h │ ├── CMakeLists.txt │ ├── CompressedStorage.h │ ├── ConservativeSparseSparseProduct.h │ ├── MappedSparseMatrix.h │ ├── SparseBlock.h │ ├── SparseColEtree.h │ ├── SparseCwiseBinaryOp.h │ ├── SparseCwiseUnaryOp.h │ ├── SparseDenseProduct.h │ ├── SparseDiagonalProduct.h │ ├── SparseDot.h │ ├── SparseFuzzy.h │ ├── SparseMatrix.h │ ├── SparseMatrixBase.h │ ├── SparsePermutation.h │ ├── SparseProduct.h │ ├── SparseRedux.h │ ├── SparseSelfAdjointView.h │ ├── SparseSparseProductWithPruning.h │ ├── SparseTranspose.h │ ├── SparseTriangularView.h │ ├── SparseUtil.h │ ├── SparseVector.h │ ├── SparseView.h │ └── TriangularSolver.h │ ├── SparseLU │ ├── CMakeLists.txt │ ├── SparseLU.h │ ├── SparseLUImpl.h │ ├── SparseLU_Memory.h │ ├── SparseLU_Structs.h │ ├── SparseLU_SupernodalMatrix.h │ ├── SparseLU_Utils.h │ ├── SparseLU_column_bmod.h │ ├── SparseLU_column_dfs.h │ ├── SparseLU_copy_to_ucol.h │ ├── SparseLU_gemm_kernel.h │ ├── SparseLU_heap_relax_snode.h │ ├── SparseLU_kernel_bmod.h │ ├── SparseLU_panel_bmod.h │ ├── SparseLU_panel_dfs.h │ ├── SparseLU_pivotL.h │ ├── SparseLU_pruneL.h │ └── SparseLU_relax_snode.h │ ├── SparseQR │ ├── CMakeLists.txt │ └── SparseQR.h │ ├── StlSupport │ ├── CMakeLists.txt │ ├── StdDeque.h │ ├── StdList.h │ ├── StdVector.h │ └── details.h │ ├── SuperLUSupport │ ├── CMakeLists.txt │ └── SuperLUSupport.h │ ├── UmfPackSupport │ ├── CMakeLists.txt │ └── UmfPackSupport.h │ ├── misc │ ├── CMakeLists.txt │ ├── Image.h │ ├── Kernel.h │ ├── Solve.h │ ├── SparseSolve.h │ └── blas.h │ └── plugins │ ├── ArrayCwiseBinaryOps.h │ ├── ArrayCwiseUnaryOps.h │ ├── BlockMethods.h │ ├── CMakeLists.txt │ ├── CommonCwiseBinaryOps.h │ ├── CommonCwiseUnaryOps.h │ ├── MatrixCwiseBinaryOps.h │ └── MatrixCwiseUnaryOps.h ├── g2o ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── base_binary_edge.h │ ├── base_binary_edge.hpp │ ├── base_edge.h │ ├── base_multi_edge.h │ ├── base_multi_edge.hpp │ ├── base_unary_edge.h │ ├── base_unary_edge.hpp │ ├── base_vertex.h │ ├── base_vertex.hpp │ ├── batch_stats.cpp │ ├── batch_stats.h │ ├── block_solver.h │ ├── block_solver.hpp │ ├── cache.cpp │ ├── cache.h │ ├── creators.h │ ├── estimate_propagator.cpp │ ├── estimate_propagator.h │ ├── factory.cpp │ ├── factory.h │ ├── g2o_core_api.h │ ├── hyper_dijkstra.cpp │ ├── hyper_dijkstra.h │ ├── hyper_graph.cpp │ ├── hyper_graph.h │ ├── hyper_graph_action.cpp │ ├── hyper_graph_action.h │ ├── jacobian_workspace.cpp │ ├── jacobian_workspace.h │ ├── linear_solver.h │ ├── marginal_covariance_cholesky.cpp │ ├── marginal_covariance_cholesky.h │ ├── matrix_operations.h │ ├── matrix_structure.cpp │ ├── matrix_structure.h │ ├── openmp_mutex.h │ ├── optimizable_graph.cpp │ ├── optimizable_graph.h │ ├── optimization_algorithm.cpp │ ├── optimization_algorithm.h │ ├── optimization_algorithm_dogleg.cpp │ ├── optimization_algorithm_dogleg.h │ ├── optimization_algorithm_factory.cpp │ ├── optimization_algorithm_factory.h │ ├── optimization_algorithm_gauss_newton.cpp │ ├── optimization_algorithm_gauss_newton.h │ ├── optimization_algorithm_levenberg.cpp │ ├── optimization_algorithm_levenberg.h │ ├── optimization_algorithm_property.h │ ├── optimization_algorithm_with_hessian.cpp │ ├── optimization_algorithm_with_hessian.h │ ├── parameter.cpp │ ├── parameter.h │ ├── parameter_container.cpp │ ├── parameter_container.h │ ├── robust_kernel.cpp │ ├── robust_kernel.h │ ├── robust_kernel_factory.cpp │ ├── robust_kernel_factory.h │ ├── robust_kernel_impl.cpp │ ├── robust_kernel_impl.h │ ├── solver.cpp │ ├── solver.h │ ├── sparse_block_matrix.h │ ├── sparse_block_matrix.hpp │ ├── sparse_block_matrix_ccs.h │ ├── sparse_block_matrix_diagonal.h │ ├── sparse_optimizer.cpp │ ├── sparse_optimizer.h │ ├── sparse_optimizer_terminate_action.cpp │ └── sparse_optimizer_terminate_action.h ├── solvers │ ├── .DS_Store │ ├── CMakeLists.txt │ ├── cholmod │ │ ├── CMakeLists.txt │ │ ├── linear_solver_cholmod.h │ │ └── solver_cholmod.cpp │ └── dense │ │ ├── CMakeLists.txt │ │ ├── linear_solver_dense.h │ │ └── solver_dense.cpp ├── stuff │ ├── CMakeLists.txt │ ├── color_macros.h │ ├── command_args.cpp │ ├── command_args.h │ ├── filesys_tools.cpp │ ├── filesys_tools.h │ ├── g2o_stuff_api.h │ ├── macros.h │ ├── misc.h │ ├── os_specific.c │ ├── os_specific.h │ ├── property.cpp │ ├── property.h │ ├── sampler.cpp │ ├── sampler.h │ ├── scoped_pointer.h │ ├── sparse_helper.cpp │ ├── sparse_helper.h │ ├── string_tools.cpp │ ├── string_tools.h │ ├── tictoc.cpp │ ├── tictoc.h │ ├── timeutil.cpp │ ├── timeutil.h │ └── unscented.h └── types │ ├── CMakeLists.txt │ ├── sba │ ├── CMakeLists.txt │ ├── g2o_types_sba_api.h │ ├── sbacam.h │ ├── types_sba.cpp │ ├── types_sba.h │ ├── types_six_dof_expmap.cpp │ └── types_six_dof_expmap.h │ ├── sim3 │ ├── CMakeLists.txt │ ├── sim3.h │ ├── types_seven_dof_expmap.cpp │ └── types_seven_dof_expmap.h │ └── slam3d │ ├── CMakeLists.txt │ ├── 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