├── .gitmodules ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cui ├── CMakeLists.txt ├── FrameworkCustomizer.cpp ├── FrameworkCustomizer.h ├── MapDrawer.cpp ├── MapDrawer.h ├── SlamLauncher.cpp ├── SlamLauncher.h └── main.cpp ├── doc ├── customize.md ├── images │ ├── build.png │ ├── cmake-lnx.png │ ├── cmake.png │ ├── cmake1.png │ ├── command-lnx.png │ ├── command.png │ ├── exefile-lnx.png │ ├── exefile.png │ ├── folders-lnx.png │ ├── folders.png │ ├── result-lnx.png │ └── result.png ├── install-linux.md └── install-win.md ├── framework ├── CMakeLists.txt ├── CostFunction.h ├── CovarianceCalculator.cpp ├── CovarianceCalculator.h ├── DataAssociator.h ├── LPoint2D.h ├── LoopDetector.cpp ├── LoopDetector.h ├── MyUtil.cpp ├── MyUtil.h ├── NNFinder2D.cpp ├── NNFinder2D.h ├── NNGridTable.cpp ├── NNGridTable.h ├── P2oDriver2D.cpp ├── P2oDriver2D.h ├── PointCloudMap.h ├── Pose2D.cpp ├── Pose2D.h ├── PoseEstimatorICP.cpp ├── PoseEstimatorICP.h ├── PoseFuser.cpp ├── PoseFuser.h ├── PoseGraph.cpp ├── PoseGraph.h ├── PoseOptimizer.h ├── RefScanMaker.h ├── RobustP2oDriver2D.cpp ├── RobustP2oDriver2D.h ├── Scan2D.cpp ├── Scan2D.h ├── ScanMatcher2D.cpp ├── ScanMatcher2D.h ├── ScanMatcherRB.cpp ├── ScanMatcherRB.h ├── ScanPointAnalyser.cpp ├── ScanPointAnalyser.h ├── ScanPointResampler.cpp ├── ScanPointResampler.h ├── SensorDataReader.cpp ├── SensorDataReader.h ├── SlamBackEnd.cpp ├── SlamBackEnd.h ├── SlamFrontEnd.cpp └── SlamFrontEnd.h └── hook ├── CMakeLists.txt ├── CostFunctionED.cpp ├── CostFunctionED.h ├── CostFunctionPD.cpp ├── CostFunctionPD.h ├── DataAssociatorGT.cpp ├── DataAssociatorGT.h ├── DataAssociatorLS.cpp ├── DataAssociatorLS.h ├── DataAssociatorNN.cpp ├── DataAssociatorNN.h ├── LoopDetectorSS.cpp ├── LoopDetectorSS.h ├── PointCloudMapBS.cpp ├── PointCloudMapBS.h ├── PointCloudMapGT.cpp ├── PointCloudMapGT.h ├── PointCloudMapLP.cpp ├── PointCloudMapLP.h ├── PoseOptimizerGN.cpp ├── PoseOptimizerGN.h ├── PoseOptimizerMAP.cpp ├── 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