├── CMakeLists.txt ├── README.md ├── cmake ├── FindCholmod.cmake ├── FindEigen3.cmake ├── isam.cmake ├── libhandler_eigen3.cmake ├── libhandler_isam.cmake ├── libhandler_opengl.cmake ├── libhandler_suitesparse.cmake └── opencv.cmake ├── do_build.sh ├── docs ├── figs │ ├── p0.png │ ├── p1.png │ ├── p2n.png │ ├── p3.png │ └── p4n.png ├── multirobot.odp ├── multirobot.pdf ├── robot1.png ├── robot2.png └── robot3.png ├── include └── isam │ ├── Anchor.h │ ├── Cholesky.h │ ├── ChowLiuTree.h │ ├── Covariances.h │ ├── Element.h │ ├── Factor.h │ ├── GLCReparam.h │ ├── Graph.h │ ├── Jacobian.h │ ├── Node.h │ ├── Noise.h │ ├── OptimizationInterface.h │ ├── Optimizer.h │ ├── OrderedSparseMatrix.h │ ├── Point2d.h │ ├── Point3d.h │ ├── Point3dh.h │ ├── Pose2d.h │ ├── Pose3d.h │ ├── Properties.h │ ├── Rot3d.h │ ├── Slam.h │ ├── SparseMatrix.h │ ├── SparseSystem.h │ ├── SparseVector.h │ ├── covariance.h │ ├── glc.h │ ├── isam.h │ ├── numericalDiff.h │ ├── robust.h │ ├── slam2d.h │ ├── slam3d.h │ ├── 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