├── .gitignore ├── README.md ├── __between_error_codegen.py ├── baseline_gtsam.py ├── data ├── CSAIL_P_toro.graph ├── FR079_P_toro.graph ├── FRH_P_toro.graph ├── M10000_P_toro.graph ├── cubicle.g2o ├── grid3D.g2o ├── input_INTEL_g2o.g2o ├── input_M3500_g2o.g2o ├── input_M3500b_g2o.g2o ├── input_MITb_g2o.g2o ├── parking-garage.g2o ├── rim.g2o ├── sphere2500.g2o ├── sphere_bignoise_vertex3.g2o └── torus3D.g2o ├── docs ├── H │ ├── H_sparsity_CSAIL_P_toro.graph.png │ ├── H_sparsity_FR079_P_toro.graph.png │ ├── H_sparsity_FRH_P_toro.graph.png │ ├── H_sparsity_M10000_P_toro.graph.png │ ├── H_sparsity_cubicle.g2o.png │ ├── H_sparsity_grid3D.g2o.png │ ├── H_sparsity_input_INTEL_g2o.g2o.png │ ├── H_sparsity_input_M3500_g2o.g2o.png │ ├── H_sparsity_input_M3500b_g2o.g2o.png │ ├── H_sparsity_input_MITb_g2o.g2o.png │ ├── H_sparsity_parking-garage.g2o.png │ ├── H_sparsity_rim.g2o.png │ └── H_sparsity_sphere2500.g2o.png ├── chordal │ ├── exp1_easy.png │ ├── exp2_fast_converge.png │ ├── exp3_hard.png │ └── rot_init_process.png ├── comparison_jacobian_modes │ ├── M3500 │ │ ├── M3500-byhand.png │ │ ├── M3500-symbolic.png │ │ ├── byhand_jacobian_loss.txt │ │ └── symbolic_jacobian_loss.txt │ └── parking-garage │ │ ├── byhand_jacobian_loss.txt │ │ ├── parking-garage-view1-left-symbolic-right-byhand.png │ │ ├── parking-garage-view2-left-symbolic-right-byhand.png.png │ │ ├── summary.png │ │ └── symbolic_jacobian_loss.txt ├── overview │ ├── pipeline.odp │ └── pipeline.png ├── results │ ├── log │ │ ├── CSAIL_P_toro.txt │ │ ├── FR079_P_toro.txt │ │ ├── FRH_P_toro.txt │ │ ├── M10000_P_toro.txt │ │ ├── M10000_P_toro_with_chordal_initialization.txt │ │ ├── M3500.txt │ │ ├── cubicle.txt │ │ ├── cubicle_with_chordal_initialization.txt │ │ ├── intel.txt │ │ ├── parking-garage.txt │ │ └── sphere2500.txt │ └── visualization │ │ ├── CSAIL_P_toro.png │ │ ├── FR079_P_toro.png │ │ ├── FRH_P_toro.png │ │ ├── M10000_P_toro.png │ │ ├── M10000_P_toro_with_chordal_initialization.png │ │ ├── M3500.png │ │ ├── cubicle_top.png │ │ ├── cubicle_top_with_chordal_initialization.png │ │ ├── intel.png │ │ ├── parking-garage_side.png │ │ ├── parking-garage_topside.png │ │ ├── readme.png │ │ ├── sphere2500.gif │ │ └── sphere2500.png └── time_cost │ └── time_cost_using_codgen_symforce_jacobian.log └── nano_pgo.py /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gisbi-kim/nano-pgo/HEAD/README.md -------------------------------------------------------------------------------- /__between_error_codegen.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gisbi-kim/nano-pgo/HEAD/__between_error_codegen.py 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