├── DCS-ceres ├── CMakeLists.txt ├── data │ ├── CSAIL.g2o │ ├── FR079.g2o │ ├── FRH.g2o │ ├── INTEL.g2o │ ├── M10000.g2o │ └── M3500.g2o ├── do_build.sh ├── docs │ ├── CSAIL │ │ ├── CSAIL_200_ON_Try1.png │ │ ├── CSAIL_2_OFF.png │ │ ├── CSAIL_50_OFF.png │ │ ├── CSAIL_50_ON_Try1.png │ │ ├── CSAIL_5_OFF.png │ │ ├── CSAIL_NO_Outlier.png │ │ └── info.txt │ ├── INTEL │ │ ├── INTEL_100_OFF.png │ │ ├── INTEL_100_ON_Try1.png │ │ ├── INTEL_100_ON_Try2.png │ │ ├── INTEL_200_OFF_Try1.png │ │ ├── INTEL_200_ON_Try1.png │ │ ├── INTEL_200_ON_Try2.png │ │ ├── INTEL_50_OFF.png │ │ ├── INTEL_50_ON_Try1.png │ │ ├── INTEL_50_ON_Try2.png │ │ ├── INTEL_5_OFF.png │ │ ├── INTEL_5_ON_Try1.png │ │ ├── INTEL_NO_Outlier.png │ │ └── info.txt │ ├── code_Ex.png │ └── report.png ├── drawer │ ├── do_plot.sh │ └── plot_results.py ├── include │ ├── ceres_error.h │ ├── g2o_util.h │ └── graph.h ├── main.cpp ├── save │ ├── init_edges.txt │ └── init_nodes.txt └── src │ ├── ceres_error.cpp │ ├── g2o_util.cpp │ └── graph.cpp 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