├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── _config.yml ├── cpp ├── CMakeLists.txt ├── examples │ └── robust_distributed_optimization_example_2robots.cpp ├── include │ ├── distributed_mapper │ │ ├── between_chordal_factor.h │ │ ├── distributed_mapper.h │ │ ├── distributed_mapper_utils.h │ │ ├── evaluation_utils.h │ │ └── run_distributed_mapper.h │ └── pairwise_consistency_maximization │ │ ├── distributed_pcm │ │ └── distributed_pcm.h │ │ ├── global_map │ │ └── global_map.h │ │ ├── graph_utils │ │ ├── graph_types.h │ │ └── graph_utils_functions.h │ │ ├── pairwise_consistency │ │ └── pairwise_consistency.h │ │ └── robot_measurements │ │ ├── interrobot_measurements.h │ │ ├── robot_local_map.h │ │ └── robot_measurements.h ├── src │ ├── distributed_mapper │ │ ├── distributed_mapper.cpp │ │ ├── distributed_mapper_utils.cpp │ │ ├── evaluation_utils.cpp │ │ └── run_distributed_mapper.cpp │ └── pairwise_consistency_maximization │ │ ├── distributed_pcm │ │ └── distributed_pcm.cpp │ │ ├── global_map │ │ └── global_map.cpp │ │ ├── graph_utils │ │ └── graph_utils_functions.cpp │ │ ├── pairwise_consistency │ │ └── pairwise_consistency.cpp │ │ ├── robot_measurements │ │ ├── interrobot_measurements.cpp │ │ ├── robot_local_map.cpp │ │ └── robot_measurements.cpp │ │ └── third_parties │ │ └── fast_max-clique_finder │ │ ├── COPYRIGHT │ │ ├── README.md │ │ └── src │ │ ├── findClique.cpp │ │ ├── findClique.h │ │ ├── findCliqueHeu.cpp │ │ ├── graphIO.cpp │ │ ├── graphIO.h │ │ └── utils.cpp └── tests │ ├── CMakeLists.txt │ ├── test_between_chordal_factor.cpp │ ├── test_decentralization.cpp │ ├── test_distributed_mapper.cpp │ └── test_robust_distributed_mapper.cpp ├── docker └── distributed_mapper │ ├── Dockerfile │ └── README.md ├── docs ├── _between_chordal_factor_8h.html ├── _between_chordal_factor_8h__dep__incl.map ├── _between_chordal_factor_8h__dep__incl.md5 ├── _between_chordal_factor_8h__dep__incl.png ├── _between_chordal_factor_8h__incl.map ├── _between_chordal_factor_8h__incl.md5 ├── _between_chordal_factor_8h__incl.png ├── _between_chordal_factor_8h_source.html ├── _c_make_c_compiler_id_8c.html ├── _c_make_c_x_x_compiler_id_8cpp.html ├── _distributed_mapper_8cpp.html ├── _distributed_mapper_8cpp__incl.map ├── _distributed_mapper_8cpp__incl.md5 ├── _distributed_mapper_8cpp__incl.png ├── _distributed_mapper_8h.html ├── _distributed_mapper_8h__dep__incl.map ├── _distributed_mapper_8h__dep__incl.md5 ├── _distributed_mapper_8h__dep__incl.png ├── _distributed_mapper_8h__incl.map ├── _distributed_mapper_8h__incl.md5 ├── _distributed_mapper_8h__incl.png ├── _distributed_mapper_8h_source.html ├── _distributed_mapper_utils_8h.html ├── _distributed_mapper_utils_8h__dep__incl.map ├── _distributed_mapper_utils_8h__dep__incl.md5 ├── _distributed_mapper_utils_8h__dep__incl.png ├── _distributed_mapper_utils_8h__incl.map ├── _distributed_mapper_utils_8h__incl.md5 ├── _distributed_mapper_utils_8h__incl.png ├── _distributed_mapper_utils_8h_source.html ├── _multi_robot_utils_8cpp.html ├── _multi_robot_utils_8cpp__incl.map ├── _multi_robot_utils_8cpp__incl.md5 ├── _multi_robot_utils_8cpp__incl.png ├── _multi_robot_utils_8h.html ├── _multi_robot_utils_8h__dep__incl.map ├── _multi_robot_utils_8h__dep__incl.md5 ├── _multi_robot_utils_8h__dep__incl.png ├── _multi_robot_utils_8h__incl.map ├── _multi_robot_utils_8h__incl.md5 ├── _multi_robot_utils_8h__incl.png ├── _multi_robot_utils_8h_source.html ├── _r_e_a_d_m_e_8md.html ├── annotated.html ├── arrowdown.png ├── arrowright.png ├── bc_s.png ├── bdwn.png ├── class_f_m_c_1_1_c_graph_i_o-members.html ├── class_f_m_c_1_1_c_graph_i_o.html ├── classdistributed__mapper_1_1_distributed_mapper-members.html ├── classdistributed__mapper_1_1_distributed_mapper.html ├── classdistributed__pcm_1_1_distributed_p_c_m-members.html ├── classdistributed__pcm_1_1_distributed_p_c_m.html ├── classes.html ├── classglobal__map_1_1_global_map-members.html ├── classglobal__map_1_1_global_map.html ├── classglobal__map_1_1_global_map__coll__graph.map ├── classglobal__map_1_1_global_map__coll__graph.md5 ├── classglobal__map_1_1_global_map__coll__graph.png ├── classgtsam_1_1_between_chordal_factor-members.html ├── classgtsam_1_1_between_chordal_factor.html ├── classgtsam_1_1_between_chordal_factor__coll__graph.map ├── classgtsam_1_1_between_chordal_factor__coll__graph.md5 ├── classgtsam_1_1_between_chordal_factor__coll__graph.png ├── classgtsam_1_1_between_chordal_factor__inherit__graph.map ├── classgtsam_1_1_between_chordal_factor__inherit__graph.md5 ├── classgtsam_1_1_between_chordal_factor__inherit__graph.png ├── classpairwise__consistency_1_1_pairwise_consistency-members.html ├── classpairwise__consistency_1_1_pairwise_consistency.html ├── classpairwise__consistency_1_1_pairwise_consistency__coll__graph.map ├── classpairwise__consistency_1_1_pairwise_consistency__coll__graph.md5 ├── classpairwise__consistency_1_1_pairwise_consistency__coll__graph.png ├── classrobot__local__map_1_1_robot_local_map-members.html ├── classrobot__local__map_1_1_robot_local_map.html ├── classrobot__local__map_1_1_robot_local_map__coll__graph.map ├── classrobot__local__map_1_1_robot_local_map__coll__graph.md5 ├── classrobot__local__map_1_1_robot_local_map__coll__graph.png ├── classrobot__local__map_1_1_robot_local_map__inherit__graph.map ├── classrobot__local__map_1_1_robot_local_map__inherit__graph.md5 ├── classrobot__local__map_1_1_robot_local_map__inherit__graph.png ├── classrobot__local__map_1_1_robot_measurements-members.html ├── classrobot__local__map_1_1_robot_measurements.html ├── classrobot__local__map_1_1_robot_measurements__coll__graph.map ├── classrobot__local__map_1_1_robot_measurements__coll__graph.md5 ├── classrobot__local__map_1_1_robot_measurements__coll__graph.png ├── classrobot__local__map_1_1_robot_measurements__inherit__graph.map ├── classrobot__local__map_1_1_robot_measurements__inherit__graph.md5 ├── classrobot__local__map_1_1_robot_measurements__inherit__graph.png ├── closed.png ├── dir_000006_000007.html ├── dir_000008_000009.html ├── dir_000010_000011.html ├── dir_000010_000012.html ├── dir_000010_000013.html ├── dir_000011_000010.html ├── dir_000012_000010.html ├── dir_000012_000011.html ├── dir_000012_000013.html ├── dir_000012_000014.html ├── dir_000012_000016.html ├── dir_000013_000011.html ├── dir_000013_000015.html ├── dir_000013_000016.html ├── dir_000014_000007.html ├── dir_000015_000007.html ├── dir_000015_000014.html ├── dir_000016_000007.html ├── dir_000016_000014.html ├── dir_000017_000007.html ├── dir_000017_000009.html ├── dir_000017_000021.html ├── dir_000018_000007.html ├── dir_000018_000009.html ├── dir_000019_000007.html ├── dir_000019_000009.html ├── dir_000020_000007.html ├── dir_000020_000009.html ├── dir_000021_000009.html ├── dir_000021_000025.html ├── dir_000022_000009.html ├── dir_000023_000009.html ├── dir_000024_000007.html ├── dir_000024_000009.html ├── dir_000028_000009.html ├── dir_00d27264440ce8f75f1ff275a8051a81.html ├── dir_00d27264440ce8f75f1ff275a8051a81_dep.map ├── dir_00d27264440ce8f75f1ff275a8051a81_dep.md5 ├── dir_00d27264440ce8f75f1ff275a8051a81_dep.png ├── dir_07375d9725fbec81553a73c2a86dcf2b.html ├── dir_07f37e320deb3031a60f4b23b9c60eb5.html ├── dir_07f37e320deb3031a60f4b23b9c60eb5_dep.map ├── dir_07f37e320deb3031a60f4b23b9c60eb5_dep.md5 ├── dir_07f37e320deb3031a60f4b23b9c60eb5_dep.png ├── dir_0889940190a3d7aeaf60b4fab82d00ba.html ├── dir_14e667d7bfb304d9c1ac786e165bf5f5.html ├── dir_1f1f3d667cff5bf408ade01a20e1ee2e.html ├── dir_1f47a0ab8684a251fa8b6393cf981802.html ├── dir_1f47a0ab8684a251fa8b6393cf981802_dep.map ├── dir_1f47a0ab8684a251fa8b6393cf981802_dep.md5 ├── dir_1f47a0ab8684a251fa8b6393cf981802_dep.png ├── dir_2630124b4aa9133a9768e46ad08808e2.html ├── dir_2630124b4aa9133a9768e46ad08808e2_dep.map ├── dir_2630124b4aa9133a9768e46ad08808e2_dep.md5 ├── dir_2630124b4aa9133a9768e46ad08808e2_dep.png ├── dir_2afddc3ffd9ebbc06d3f87589b8c6e4c.html ├── dir_2afddc3ffd9ebbc06d3f87589b8c6e4c_dep.map ├── dir_2afddc3ffd9ebbc06d3f87589b8c6e4c_dep.md5 ├── dir_2afddc3ffd9ebbc06d3f87589b8c6e4c_dep.png ├── dir_2b443d09e98a33a7c41b214d5cd3a57c.html ├── dir_33c258859d39cc0a5e0bb1db512ceaff.html ├── dir_33c258859d39cc0a5e0bb1db512ceaff_dep.map ├── dir_33c258859d39cc0a5e0bb1db512ceaff_dep.md5 ├── dir_33c258859d39cc0a5e0bb1db512ceaff_dep.png ├── dir_3850648d1af38c806ad8da0a05beecd5.html ├── dir_3850648d1af38c806ad8da0a05beecd5_dep.map ├── dir_3850648d1af38c806ad8da0a05beecd5_dep.md5 ├── dir_3850648d1af38c806ad8da0a05beecd5_dep.png ├── dir_4c2c1409001772fbde7f30d5f36c4b8b.html ├── dir_4c2c1409001772fbde7f30d5f36c4b8b_dep.map ├── dir_4c2c1409001772fbde7f30d5f36c4b8b_dep.md5 ├── dir_4c2c1409001772fbde7f30d5f36c4b8b_dep.png ├── dir_4ec39803b9e03d95d56a2f6f6c5aaa43.html ├── dir_4ec39803b9e03d95d56a2f6f6c5aaa43_dep.map ├── dir_4ec39803b9e03d95d56a2f6f6c5aaa43_dep.md5 ├── dir_4ec39803b9e03d95d56a2f6f6c5aaa43_dep.png ├── dir_554c4c9155b5a1aa2cff8e248abf679f.html ├── dir_554c4c9155b5a1aa2cff8e248abf679f_dep.map ├── dir_554c4c9155b5a1aa2cff8e248abf679f_dep.md5 ├── dir_554c4c9155b5a1aa2cff8e248abf679f_dep.png ├── dir_58821b2c7e26e58093b272f8deb93574.html ├── dir_58821b2c7e26e58093b272f8deb93574_dep.map ├── dir_58821b2c7e26e58093b272f8deb93574_dep.md5 ├── dir_58821b2c7e26e58093b272f8deb93574_dep.png ├── dir_5c6b26e77ba5ee38b32afc5eb4140b2b.html ├── dir_5c6b26e77ba5ee38b32afc5eb4140b2b_dep.map ├── dir_5c6b26e77ba5ee38b32afc5eb4140b2b_dep.md5 ├── dir_5c6b26e77ba5ee38b32afc5eb4140b2b_dep.png ├── dir_63c48d19d5f6a81c6e479dec4d0a6e16.html ├── dir_63c48d19d5f6a81c6e479dec4d0a6e16_dep.map ├── dir_63c48d19d5f6a81c6e479dec4d0a6e16_dep.md5 ├── dir_63c48d19d5f6a81c6e479dec4d0a6e16_dep.png ├── dir_658a331bc97de4a1d7cdf7392efae1fb.html ├── dir_69fbdebed4d1a6788a2f8a000eca82a3.html ├── dir_69fbdebed4d1a6788a2f8a000eca82a3_dep.map ├── dir_69fbdebed4d1a6788a2f8a000eca82a3_dep.md5 ├── dir_69fbdebed4d1a6788a2f8a000eca82a3_dep.png ├── dir_6f57bb5b343b8ef79279106a40428f4c.html ├── dir_6f57bb5b343b8ef79279106a40428f4c_dep.map ├── dir_6f57bb5b343b8ef79279106a40428f4c_dep.md5 ├── dir_6f57bb5b343b8ef79279106a40428f4c_dep.png ├── dir_726b5189a83cd5cdb2af39fb92e1f084.html ├── dir_726b5189a83cd5cdb2af39fb92e1f084_dep.map ├── dir_726b5189a83cd5cdb2af39fb92e1f084_dep.md5 ├── dir_726b5189a83cd5cdb2af39fb92e1f084_dep.png ├── dir_7bd1a504c8d9b09621887af994d702dd.html ├── dir_7bd1a504c8d9b09621887af994d702dd_dep.map ├── dir_7bd1a504c8d9b09621887af994d702dd_dep.md5 ├── dir_7bd1a504c8d9b09621887af994d702dd_dep.png ├── dir_7dbb93a497e10b63972e72cadb796e9c.html ├── dir_7dbb93a497e10b63972e72cadb796e9c_dep.map ├── dir_7dbb93a497e10b63972e72cadb796e9c_dep.md5 ├── dir_7dbb93a497e10b63972e72cadb796e9c_dep.png ├── dir_7e72c7cf48e3493f8206cd364e6bc9f6.html ├── dir_7e72c7cf48e3493f8206cd364e6bc9f6_dep.map ├── dir_7e72c7cf48e3493f8206cd364e6bc9f6_dep.md5 ├── dir_7e72c7cf48e3493f8206cd364e6bc9f6_dep.png ├── dir_7f18cf4778e9dac9f89aecafdf431fea.html ├── dir_8730054cbd8b8f92e1b9a4751676bcdf.html ├── dir_8730054cbd8b8f92e1b9a4751676bcdf_dep.map ├── dir_8730054cbd8b8f92e1b9a4751676bcdf_dep.md5 ├── dir_8730054cbd8b8f92e1b9a4751676bcdf_dep.png ├── dir_89f01355666daccaffaac239a711be4d.html ├── dir_89f01355666daccaffaac239a711be4d_dep.map ├── dir_89f01355666daccaffaac239a711be4d_dep.md5 ├── dir_89f01355666daccaffaac239a711be4d_dep.png ├── dir_8b4b1ccf80ead3462ce0899fcd370003.html ├── dir_8b4b1ccf80ead3462ce0899fcd370003_dep.map ├── dir_8b4b1ccf80ead3462ce0899fcd370003_dep.md5 ├── dir_8b4b1ccf80ead3462ce0899fcd370003_dep.png ├── dir_8fe995191ccc1a63d5b55c613c8835c2.html ├── dir_8fe995191ccc1a63d5b55c613c8835c2_dep.map ├── dir_8fe995191ccc1a63d5b55c613c8835c2_dep.md5 ├── dir_8fe995191ccc1a63d5b55c613c8835c2_dep.png ├── dir_94158f70e7ff42f33148ac834bf777a3.html ├── dir_95eebdbaebd9c1bcd7abaf8e61da77ac.html ├── dir_95eebdbaebd9c1bcd7abaf8e61da77ac_dep.map ├── dir_95eebdbaebd9c1bcd7abaf8e61da77ac_dep.md5 ├── dir_95eebdbaebd9c1bcd7abaf8e61da77ac_dep.png ├── dir_9702de0aa33a593b77f0c69b8d76b3fc.html ├── dir_9b46a35701c8db5e6767f7ba1821f388.html ├── dir_9b46a35701c8db5e6767f7ba1821f388_dep.map ├── dir_9b46a35701c8db5e6767f7ba1821f388_dep.md5 ├── dir_9b46a35701c8db5e6767f7ba1821f388_dep.png ├── dir_9e11372bc4cfd2eeb3dcae5fc26c92a1.html ├── dir_9e11372bc4cfd2eeb3dcae5fc26c92a1_dep.map ├── dir_9e11372bc4cfd2eeb3dcae5fc26c92a1_dep.md5 ├── dir_9e11372bc4cfd2eeb3dcae5fc26c92a1_dep.png ├── dir_9e1fe1b40c16803e7413af394ef74b18.html ├── dir_9e1fe1b40c16803e7413af394ef74b18_dep.map ├── dir_9e1fe1b40c16803e7413af394ef74b18_dep.md5 ├── dir_9e1fe1b40c16803e7413af394ef74b18_dep.png ├── dir_a06190f9ebbf14b881cd537a7e083730.html ├── dir_a06190f9ebbf14b881cd537a7e083730_dep.map ├── dir_a06190f9ebbf14b881cd537a7e083730_dep.md5 ├── dir_a06190f9ebbf14b881cd537a7e083730_dep.png ├── dir_b3c610879dcc7e4b87e7c71c17d87515.html ├── dir_b3f9cd470cc050a96cccc729091a2910.html ├── dir_b41d8ca734d5b0189c1f4917df51fe0c.html ├── dir_b6e4b635a71ff02fb965f26b15b26819.html ├── dir_b6e4b635a71ff02fb965f26b15b26819_dep.map ├── dir_b6e4b635a71ff02fb965f26b15b26819_dep.md5 ├── dir_b6e4b635a71ff02fb965f26b15b26819_dep.png ├── dir_c10c808a985753779b50a76e813f0d41.html ├── dir_c10c808a985753779b50a76e813f0d41_dep.map ├── dir_c10c808a985753779b50a76e813f0d41_dep.md5 ├── dir_c10c808a985753779b50a76e813f0d41_dep.png ├── dir_cf00442536e3c04e3bcec2d620e7f942.html ├── dir_d0a0a74dd6e2e376e067e43ce5f875a9.html ├── dir_d0a0a74dd6e2e376e067e43ce5f875a9_dep.map ├── dir_d0a0a74dd6e2e376e067e43ce5f875a9_dep.md5 ├── dir_d0a0a74dd6e2e376e067e43ce5f875a9_dep.png ├── dir_d1eb7f32592100b226cc7f73f9055757.html ├── dir_d1eb7f32592100b226cc7f73f9055757_dep.map ├── dir_d1eb7f32592100b226cc7f73f9055757_dep.md5 ├── dir_d1eb7f32592100b226cc7f73f9055757_dep.png ├── dir_d369abaaa08889dc8544b0b5e96bdcbb.html ├── dir_d6cc9a8406d2196eaebd57734588b945.html ├── dir_df1a9c6051cd05ae902c33421547028c.html ├── dir_df511e5bd85cec96854b39d5e1c27aa8.html ├── dir_df511e5bd85cec96854b39d5e1c27aa8_dep.map ├── dir_df511e5bd85cec96854b39d5e1c27aa8_dep.md5 ├── dir_df511e5bd85cec96854b39d5e1c27aa8_dep.png ├── dir_ec2cb60be7fcfbd31a4bdbcbd6219915.html ├── dir_ec2cb60be7fcfbd31a4bdbcbd6219915_dep.map ├── dir_ec2cb60be7fcfbd31a4bdbcbd6219915_dep.md5 ├── dir_ec2cb60be7fcfbd31a4bdbcbd6219915_dep.png ├── dir_ee274a3ba47001f1ad4c6886742a4ae6.html ├── dir_ee274a3ba47001f1ad4c6886742a4ae6_dep.map ├── dir_ee274a3ba47001f1ad4c6886742a4ae6_dep.md5 ├── dir_ee274a3ba47001f1ad4c6886742a4ae6_dep.png ├── dir_f121aabed7c3edfb7fbdc11ae5c2f7fe.html ├── dir_f39c497fc3e8463578c8ad18d2ce613d.html ├── dir_ffdd843d7891fddd66688ca03a7bf273.html ├── dir_ffdd843d7891fddd66688ca03a7bf273_dep.map ├── dir_ffdd843d7891fddd66688ca03a7bf273_dep.md5 ├── dir_ffdd843d7891fddd66688ca03a7bf273_dep.png ├── distributed__mapper__core_2cpp_2src_2pairwise__consistency__maximization_2third__parties_2fast__c6f6012982348806d9d95b5a70d82b58.html ├── distributed__pcm_8cpp.html ├── distributed__pcm_8cpp__incl.map ├── distributed__pcm_8cpp__incl.md5 ├── distributed__pcm_8cpp__incl.png ├── distributed__pcm_8h.html ├── distributed__pcm_8h__dep__incl.map ├── distributed__pcm_8h__dep__incl.md5 ├── distributed__pcm_8h__dep__incl.png ├── distributed__pcm_8h__incl.map ├── distributed__pcm_8h__incl.md5 ├── distributed__pcm_8h__incl.png ├── distributed__pcm_8h_source.html ├── doc.png ├── doxygen.css ├── doxygen.png ├── dynsections.js ├── feature__tests_8c.html ├── feature__tests_8cxx.html ├── files.html ├── find_clique_8cpp.html ├── find_clique_8cpp__incl.map ├── find_clique_8cpp__incl.md5 ├── find_clique_8cpp__incl.png ├── find_clique_8h.html ├── find_clique_8h__dep__incl.map ├── find_clique_8h__dep__incl.md5 ├── find_clique_8h__dep__incl.png ├── find_clique_8h__incl.map ├── find_clique_8h__incl.md5 ├── find_clique_8h__incl.png ├── find_clique_8h_source.html ├── find_clique_heu_8cpp.html ├── find_clique_heu_8cpp__incl.map ├── find_clique_heu_8cpp__incl.md5 ├── find_clique_heu_8cpp__incl.png ├── folderclosed.png ├── folderopen.png ├── functions.html ├── functions_enum.html ├── functions_eval.html ├── functions_func.html ├── functions_rela.html ├── functions_type.html ├── functions_vars.html ├── global__map_8cpp.html ├── global__map_8cpp__incl.map ├── global__map_8cpp__incl.md5 ├── global__map_8cpp__incl.png ├── global__map_8h.html ├── global__map_8h__dep__incl.map ├── global__map_8h__dep__incl.md5 ├── global__map_8h__dep__incl.png ├── global__map_8h__incl.map ├── global__map_8h__incl.md5 ├── global__map_8h__incl.png ├── global__map_8h_source.html ├── globals.html ├── globals_defs.html ├── globals_func.html ├── globals_type.html ├── globals_vars.html ├── graph__types_8h.html ├── graph__types_8h__dep__incl.map ├── graph__types_8h__dep__incl.md5 ├── graph__types_8h__dep__incl.png ├── graph__types_8h__incl.map ├── graph__types_8h__incl.md5 ├── graph__types_8h__incl.png ├── graph__types_8h_source.html ├── graph__utils__functions_8cpp.html ├── graph__utils__functions_8cpp__incl.map ├── graph__utils__functions_8cpp__incl.md5 ├── graph__utils__functions_8cpp__incl.png ├── graph__utils__functions_8h.html ├── graph__utils__functions_8h__dep__incl.map ├── graph__utils__functions_8h__dep__incl.md5 ├── graph__utils__functions_8h__dep__incl.png ├── graph__utils__functions_8h__incl.map ├── graph__utils__functions_8h__incl.md5 ├── graph__utils__functions_8h__incl.png ├── graph__utils__functions_8h_source.html ├── graph_i_o_8cpp.html ├── graph_i_o_8cpp__incl.map ├── graph_i_o_8cpp__incl.md5 ├── graph_i_o_8cpp__incl.png ├── graph_i_o_8h.html ├── graph_i_o_8h__dep__incl.map ├── graph_i_o_8h__dep__incl.md5 ├── graph_i_o_8h__dep__incl.png ├── graph_i_o_8h__incl.map ├── graph_i_o_8h__incl.md5 ├── graph_i_o_8h__incl.png ├── graph_i_o_8h_source.html ├── graph_legend.html ├── graph_legend.md5 ├── graph_legend.png ├── group___g_t_s_a_m___e_x_t_e_n_s_i_o_n.html ├── group___p_a_i_r_w_i_s_e___c_o_n_s_i_s_t_e_n_c_y___m_a_x_i_m_i_z_a_t_i_o_n.html ├── group___s_l_a_m.html ├── group__gtsam__extension.html ├── hierarchy.html ├── index.html ├── inherit_graph_0.map ├── inherit_graph_0.md5 ├── inherit_graph_0.png ├── inherit_graph_1.map ├── inherit_graph_1.md5 ├── inherit_graph_1.png ├── inherit_graph_10.map ├── inherit_graph_10.md5 ├── inherit_graph_10.png ├── inherit_graph_11.map ├── inherit_graph_11.md5 ├── inherit_graph_11.png ├── inherit_graph_2.map ├── inherit_graph_2.md5 ├── inherit_graph_2.png ├── inherit_graph_3.map ├── inherit_graph_3.md5 ├── inherit_graph_3.png ├── inherit_graph_4.map ├── inherit_graph_4.md5 ├── inherit_graph_4.png ├── inherit_graph_5.map ├── inherit_graph_5.md5 ├── inherit_graph_5.png ├── inherit_graph_6.map ├── inherit_graph_6.md5 ├── inherit_graph_6.png ├── inherit_graph_7.map ├── inherit_graph_7.md5 ├── inherit_graph_7.png ├── inherit_graph_8.map ├── inherit_graph_8.md5 ├── inherit_graph_8.png ├── inherit_graph_9.map ├── inherit_graph_9.md5 ├── inherit_graph_9.png ├── inherits.html ├── jquery.js ├── md__home_lajoiepy_Documents_master_mit_decentralized_slam_datasets_testbench_distributed-mapper_distributed_mapper_core_cpp_src_pairwise_consistency_maximization_third_parties_fast_max-clique_finder_README.html ├── md_cpp_src_pairwise_consistency_maximization_third_parties_fast_max-clique_finder_README.html ├── modules.html ├── namespace_f_m_c.html ├── namespacedistributed__mapper.html ├── namespacedistributed__mapper_1_1multirobot__util.html ├── namespacedistributed__pcm.html ├── namespaceglobal__map.html ├── namespacegraph__utils.html ├── namespacegtsam.html ├── namespacemembers.html ├── namespacemembers_func.html ├── namespacemembers_type.html ├── namespacemembers_vars.html ├── namespacepairwise__consistency.html ├── namespacerobot__local__map.html ├── namespaces.html ├── nav_f.png ├── nav_g.png ├── nav_h.png ├── open.png ├── pages.html ├── pairwise__consistency_8cpp.html ├── pairwise__consistency_8cpp__incl.map ├── pairwise__consistency_8cpp__incl.md5 ├── pairwise__consistency_8cpp__incl.png ├── pairwise__consistency_8h.html ├── pairwise__consistency_8h__dep__incl.map ├── pairwise__consistency_8h__dep__incl.md5 ├── pairwise__consistency_8h__dep__incl.png ├── pairwise__consistency_8h__incl.map ├── pairwise__consistency_8h__incl.md5 ├── pairwise__consistency_8h__incl.png ├── pairwise__consistency_8h_source.html ├── robot__local__map_8cpp.html ├── robot__local__map_8cpp__incl.map ├── robot__local__map_8cpp__incl.md5 ├── robot__local__map_8cpp__incl.png ├── robot__local__map_8h.html ├── robot__local__map_8h__dep__incl.map ├── robot__local__map_8h__dep__incl.md5 ├── robot__local__map_8h__dep__incl.png ├── robot__local__map_8h__incl.map ├── robot__local__map_8h__incl.md5 ├── robot__local__map_8h__incl.png ├── robot__local__map_8h_source.html ├── robot__measurements_8cpp.html ├── robot__measurements_8cpp__incl.map ├── robot__measurements_8cpp__incl.md5 ├── robot__measurements_8cpp__incl.png ├── robot__measurements_8h.html ├── robot__measurements_8h__dep__incl.map ├── robot__measurements_8h__dep__incl.md5 ├── robot__measurements_8h__dep__incl.png ├── robot__measurements_8h__incl.map ├── robot__measurements_8h__incl.md5 ├── robot__measurements_8h__incl.png ├── robot__measurements_8h_source.html ├── robust__distributed__optimization__example_8cpp.html ├── robust__distributed__optimization__example_8cpp__incl.map ├── robust__distributed__optimization__example_8cpp__incl.md5 ├── robust__distributed__optimization__example_8cpp__incl.png ├── run_distributed_mapper_8cpp.html ├── run_distributed_mapper_8cpp__incl.map ├── run_distributed_mapper_8cpp__incl.md5 ├── run_distributed_mapper_8cpp__incl.png ├── run_distributed_mapper_8h.html ├── run_distributed_mapper_8h__dep__incl.map ├── run_distributed_mapper_8h__dep__incl.md5 ├── run_distributed_mapper_8h__dep__incl.png ├── run_distributed_mapper_8h__incl.map ├── run_distributed_mapper_8h__incl.md5 ├── run_distributed_mapper_8h__incl.png ├── run_distributed_mapper_8h_source.html ├── search │ ├── all_0.html │ ├── all_0.js │ ├── all_1.html │ ├── all_1.js │ ├── all_10.html │ ├── all_10.js │ ├── all_11.html │ ├── all_11.js │ ├── all_12.html │ ├── all_12.js │ ├── all_13.html │ ├── all_13.js │ ├── all_14.html │ ├── all_14.js │ ├── all_15.html │ ├── all_15.js │ ├── all_16.html │ ├── all_16.js │ ├── all_17.html │ ├── all_17.js │ ├── all_2.html │ ├── all_2.js │ ├── all_3.html │ ├── all_3.js │ ├── all_4.html │ ├── all_4.js │ ├── all_5.html │ ├── all_5.js │ ├── all_6.html │ ├── all_6.js │ ├── all_7.html │ ├── all_7.js │ ├── all_8.html │ ├── all_8.js │ ├── all_9.html │ ├── all_9.js │ ├── all_a.html │ ├── all_a.js │ ├── all_b.html │ ├── all_b.js │ ├── all_c.html │ ├── all_c.js │ ├── all_d.html │ ├── all_d.js │ ├── all_e.html │ ├── all_e.js │ ├── all_f.html │ ├── all_f.js │ ├── classes_0.html │ ├── classes_0.js │ ├── classes_1.html │ ├── classes_1.js │ ├── classes_2.html │ ├── classes_2.js │ ├── classes_3.html │ ├── classes_3.js │ ├── classes_4.html │ ├── classes_4.js │ ├── classes_5.html │ ├── classes_5.js │ ├── classes_6.html │ ├── classes_6.js │ ├── close.png │ ├── defines_0.html │ ├── defines_0.js │ ├── defines_1.html │ ├── defines_1.js │ ├── defines_2.html │ ├── defines_2.js │ ├── defines_3.html │ ├── defines_3.js │ ├── defines_4.html │ ├── defines_4.js │ ├── defines_5.html │ ├── defines_5.js │ ├── defines_6.html │ ├── defines_6.js │ ├── defines_7.html │ ├── defines_7.js │ ├── enums_0.html │ ├── enums_0.js │ ├── enums_1.html │ ├── enums_1.js │ ├── enumvalues_0.html │ ├── enumvalues_0.js │ ├── enumvalues_1.html │ ├── enumvalues_1.js │ ├── enumvalues_2.html │ ├── enumvalues_2.js │ ├── enumvalues_3.html │ ├── enumvalues_3.js │ ├── enumvalues_4.html │ ├── enumvalues_4.js │ ├── files_0.html │ ├── files_0.js │ ├── files_1.html │ ├── files_1.js │ ├── files_2.html │ ├── files_2.js │ ├── files_3.html │ ├── files_3.js │ ├── files_4.html │ ├── files_4.js │ ├── files_5.html │ ├── files_5.js │ ├── files_6.html │ ├── files_6.js │ ├── files_7.html │ ├── files_7.js │ ├── files_8.html │ ├── files_8.js │ ├── files_9.html │ ├── files_9.js │ ├── functions_0.html │ ├── functions_0.js │ ├── functions_1.html │ ├── functions_1.js │ ├── functions_10.html │ ├── functions_10.js │ ├── functions_11.html │ ├── functions_11.js │ ├── functions_12.html │ ├── functions_12.js │ ├── functions_2.html │ ├── functions_2.js │ ├── functions_3.html │ ├── functions_3.js │ ├── functions_4.html │ ├── functions_4.js │ ├── functions_5.html │ ├── functions_5.js │ ├── functions_6.html │ ├── functions_6.js │ ├── functions_7.html │ ├── functions_7.js │ ├── functions_8.html │ ├── functions_8.js │ ├── functions_9.html │ ├── functions_9.js │ ├── functions_a.html │ ├── functions_a.js │ ├── functions_b.html │ ├── functions_b.js │ ├── functions_c.html │ ├── functions_c.js │ ├── functions_d.html │ ├── functions_d.js │ ├── functions_e.html │ ├── functions_e.js │ ├── functions_f.html │ ├── functions_f.js │ ├── groups_0.html │ ├── groups_0.js │ ├── groups_1.html │ ├── groups_1.js │ ├── mag_sel.png │ ├── namespaces_0.html │ ├── namespaces_0.js │ ├── namespaces_1.html │ ├── namespaces_1.js │ ├── namespaces_2.html │ ├── namespaces_2.js │ ├── namespaces_3.html │ ├── namespaces_3.js │ ├── namespaces_4.html │ ├── namespaces_4.js │ ├── nomatches.html │ ├── pages_0.html │ ├── pages_0.js │ ├── pages_1.html │ ├── pages_1.js │ ├── related_0.html │ ├── related_0.js │ ├── search.css │ ├── search.js │ ├── search_l.png │ ├── search_m.png │ ├── search_r.png │ ├── searchdata.js │ ├── typedefs_0.html │ ├── typedefs_0.js │ ├── typedefs_1.html │ ├── typedefs_1.js │ ├── typedefs_2.html │ ├── typedefs_2.js │ ├── typedefs_3.html │ ├── typedefs_3.js │ ├── typedefs_4.html │ ├── typedefs_4.js │ ├── typedefs_5.html │ ├── typedefs_5.js │ ├── typedefs_6.html │ ├── typedefs_6.js │ ├── typedefs_7.html │ ├── typedefs_7.js │ ├── variables_0.html │ ├── variables_0.js │ ├── variables_1.html │ ├── variables_1.js │ ├── variables_10.html │ ├── variables_10.js │ ├── variables_11.html │ ├── variables_11.js │ ├── variables_2.html │ ├── variables_2.js │ ├── variables_3.html │ ├── variables_3.js │ ├── variables_4.html │ ├── variables_4.js │ ├── variables_5.html │ ├── variables_5.js │ ├── variables_6.html │ ├── variables_6.js │ ├── variables_7.html │ ├── variables_7.js │ ├── variables_8.html │ ├── variables_8.js │ ├── variables_9.html │ ├── variables_9.js │ ├── variables_a.html │ ├── variables_a.js │ ├── variables_b.html │ ├── variables_b.js │ ├── variables_c.html │ ├── variables_c.js │ ├── variables_d.html │ ├── variables_d.js │ ├── variables_e.html │ ├── variables_e.js │ ├── variables_f.html │ └── variables_f.js ├── splitbar.png ├── structgraph__utils_1_1_pose_with_covariance-members.html ├── structgraph__utils_1_1_pose_with_covariance.html ├── structgraph__utils_1_1_trajectory-members.html ├── structgraph__utils_1_1_trajectory.html ├── structgraph__utils_1_1_trajectory_pose-members.html ├── structgraph__utils_1_1_trajectory_pose.html ├── structgraph__utils_1_1_trajectory_pose__coll__graph.map ├── structgraph__utils_1_1_trajectory_pose__coll__graph.md5 ├── structgraph__utils_1_1_trajectory_pose__coll__graph.png ├── structgraph__utils_1_1_transform-members.html ├── structgraph__utils_1_1_transform.html ├── structgraph__utils_1_1_transform__coll__graph.map ├── structgraph__utils_1_1_transform__coll__graph.md5 ├── structgraph__utils_1_1_transform__coll__graph.png ├── structgraph__utils_1_1_transforms-members.html ├── structgraph__utils_1_1_transforms.html ├── sync_off.png ├── sync_on.png ├── tab_a.png ├── tab_b.png ├── tab_h.png ├── tab_s.png ├── tabs.css ├── test_between_chordal_factor_8cpp.html ├── test_between_chordal_factor_8cpp__incl.map ├── test_between_chordal_factor_8cpp__incl.md5 ├── test_between_chordal_factor_8cpp__incl.png ├── test_distributed_mapper_8cpp.html ├── test_distributed_mapper_8cpp__incl.map ├── test_distributed_mapper_8cpp__incl.md5 ├── test_distributed_mapper_8cpp__incl.png ├── test_robust_distributed_mapper_8cpp.html ├── test_robust_distributed_mapper_8cpp__incl.map ├── test_robust_distributed_mapper_8cpp__incl.md5 ├── test_robust_distributed_mapper_8cpp__incl.png ├── utils_8cpp.html ├── utils_8cpp__incl.map ├── utils_8cpp__incl.md5 └── utils_8cpp__incl.png ├── imgs ├── ARL_logo.png ├── irim.jpg └── mit_logo.png ├── log └── .gitignore ├── octave ├── generateSimulationDataset.m ├── octave-workspace ├── plotFullGraph.m ├── plotG2oGraph.m ├── plotTrace.m └── posegraph_utils │ ├── axis_angle_to_mat.m │ ├── gaussian_noise.m │ ├── generateOutliers.m │ ├── generateSeparators.m │ ├── generateTrajectory.m │ ├── isrot.m │ ├── poseAdd3D.m │ ├── poseSubNoisy3D.m │ ├── quat2rot.m │ ├── readG2oDataset3D.m │ ├── rot2quat.m │ ├── rot_mat_x.m │ ├── rot_mat_y.m │ ├── rot_mat_z.m │ ├── unitize.m │ └── writeG2oDataset3D.m └── test_data ├── argos_simulation ├── clean │ ├── example_10robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── 9.g2o │ ├── example_2robots │ │ ├── 0.g2o │ │ └── 1.g2o │ └── example_4robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ └── 3.g2o └── spoiled │ ├── example_10robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 2.g2o │ ├── 3.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ ├── 8.g2o │ └── 9.g2o │ ├── example_2robots │ ├── 0.g2o │ └── 1.g2o │ └── example_4robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 2.g2o │ └── 3.g2o ├── distributed_mapper ├── blocks_world │ ├── 16robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ ├── 9.g2o │ │ └── fullGraph.g2o │ ├── 25robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ ├── 9.g2o │ │ └── fullGraph.g2o │ ├── 2robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ └── fullGraph.g2o │ ├── 36robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 25.g2o │ │ ├── 26.g2o │ │ ├── 27.g2o │ │ ├── 28.g2o │ │ ├── 29.g2o │ │ ├── 3.g2o │ │ ├── 30.g2o │ │ ├── 31.g2o │ │ ├── 32.g2o │ │ ├── 33.g2o │ │ ├── 34.g2o │ │ ├── 35.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ ├── 9.g2o │ │ └── fullGraph.g2o │ ├── 49robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 10.g2o │ │ ├── 11.g2o │ │ ├── 12.g2o │ │ ├── 13.g2o │ │ ├── 14.g2o │ │ ├── 15.g2o │ │ ├── 16.g2o │ │ ├── 17.g2o │ │ ├── 18.g2o │ │ ├── 19.g2o │ │ ├── 2.g2o │ │ ├── 20.g2o │ │ ├── 21.g2o │ │ ├── 22.g2o │ │ ├── 23.g2o │ │ ├── 24.g2o │ │ ├── 25.g2o │ │ ├── 26.g2o │ │ ├── 27.g2o │ │ ├── 28.g2o │ │ ├── 29.g2o │ │ ├── 3.g2o │ │ ├── 30.g2o │ │ ├── 31.g2o │ │ ├── 32.g2o │ │ ├── 33.g2o │ │ ├── 34.g2o │ │ ├── 35.g2o │ │ ├── 36.g2o │ │ ├── 37.g2o │ │ ├── 38.g2o │ │ ├── 39.g2o │ │ ├── 4.g2o │ │ ├── 40.g2o │ │ ├── 41.g2o │ │ ├── 42.g2o │ │ ├── 43.g2o │ │ ├── 44.g2o │ │ ├── 45.g2o │ │ ├── 46.g2o │ │ ├── 47.g2o │ │ ├── 48.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ ├── 9.g2o │ │ └── fullGraph.g2o │ ├── 4robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ └── fullGraph.g2o │ └── 9robots │ │ ├── 0.g2o │ │ ├── 1.g2o │ │ ├── 2.g2o │ │ ├── 3.g2o │ │ ├── 4.g2o │ │ ├── 5.g2o │ │ ├── 6.g2o │ │ ├── 7.g2o │ │ ├── 8.g2o │ │ └── fullGraph.g2o ├── example_16robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 10.g2o │ ├── 11.g2o │ ├── 12.g2o │ ├── 13.g2o │ ├── 14.g2o │ ├── 15.g2o │ ├── 2.g2o │ ├── 3.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ ├── 8.g2o │ └── 9.g2o ├── example_25robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 10.g2o │ ├── 11.g2o │ ├── 12.g2o │ ├── 13.g2o │ ├── 14.g2o │ ├── 15.g2o │ ├── 16.g2o │ ├── 17.g2o │ ├── 18.g2o │ ├── 19.g2o │ ├── 2.g2o │ ├── 20.g2o │ ├── 21.g2o │ ├── 22.g2o │ ├── 23.g2o │ ├── 24.g2o │ ├── 3.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ ├── 8.g2o │ └── 9.g2o ├── example_2robots │ ├── 0.g2o │ └── 1.g2o ├── example_36robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 10.g2o │ ├── 11.g2o │ ├── 12.g2o │ ├── 13.g2o │ ├── 14.g2o │ ├── 15.g2o │ ├── 16.g2o │ ├── 17.g2o │ ├── 18.g2o │ ├── 19.g2o │ ├── 2.g2o │ ├── 20.g2o │ ├── 21.g2o │ ├── 22.g2o │ ├── 23.g2o │ ├── 24.g2o │ ├── 25.g2o │ ├── 26.g2o │ ├── 27.g2o │ ├── 28.g2o │ ├── 29.g2o │ ├── 3.g2o │ ├── 30.g2o │ ├── 31.g2o │ ├── 32.g2o │ ├── 33.g2o │ ├── 34.g2o │ ├── 35.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ ├── 8.g2o │ └── 9.g2o ├── example_49robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 10.g2o │ ├── 11.g2o │ ├── 12.g2o │ ├── 13.g2o │ ├── 14.g2o │ ├── 15.g2o │ ├── 16.g2o │ ├── 17.g2o │ ├── 18.g2o │ ├── 19.g2o │ ├── 2.g2o │ ├── 20.g2o │ ├── 21.g2o │ ├── 22.g2o │ ├── 23.g2o │ ├── 24.g2o │ ├── 25.g2o │ ├── 26.g2o │ ├── 27.g2o │ ├── 28.g2o │ ├── 29.g2o │ ├── 3.g2o │ ├── 30.g2o │ ├── 31.g2o │ ├── 32.g2o │ ├── 33.g2o │ ├── 34.g2o │ ├── 35.g2o │ ├── 36.g2o │ ├── 37.g2o │ ├── 38.g2o │ ├── 39.g2o │ ├── 4.g2o │ ├── 40.g2o │ ├── 41.g2o │ ├── 42.g2o │ ├── 43.g2o │ ├── 44.g2o │ ├── 45.g2o │ ├── 46.g2o │ ├── 47.g2o │ ├── 48.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ ├── 8.g2o │ └── 9.g2o ├── example_4robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 2.g2o │ └── 3.g2o └── example_9robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 2.g2o │ ├── 3.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ └── 8.g2o └── pairwise_consistency_maximization ├── clean └── simulation │ └── example_2robots │ ├── 0.g2o │ └── 1.g2o └── spoiled ├── simulation ├── example_16robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 10.g2o │ ├── 11.g2o │ ├── 12.g2o │ ├── 13.g2o │ ├── 14.g2o │ ├── 15.g2o │ ├── 2.g2o │ ├── 3.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ ├── 7.g2o │ ├── 8.g2o │ └── 9.g2o ├── example_2robots │ ├── 0.g2o │ └── 1.g2o ├── example_4robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 2.g2o │ └── 3.g2o └── example_8robots │ ├── 0.g2o │ ├── 1.g2o │ ├── 2.g2o │ ├── 3.g2o │ ├── 4.g2o │ ├── 5.g2o │ ├── 6.g2o │ └── 7.g2o └── simulation_not_in_order └── example_2robots ├── 0.g2o └── 1.g2o /.gitattributes: -------------------------------------------------------------------------------- 1 | docs/* linguist-vendored 2 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *_optimized.g2o 2 | *.user* 3 | *.swp 4 | results/ 5 | build 6 | .cproject 7 | .project 8 | data/example_2robots/fullGraph.g2o 9 | data/example_4robots/fullGraph.g2o 10 | data/example_9robots/fullGraph.g2o 11 | data/example_16robots/fullGraph.g2o 12 | data/example_25robots/fullGraph.g2o 13 | data/example_36robots/fullGraph.g2o 14 | data/example_49robots/fullGraph.g2o 15 | .vscode 16 | *.idea/ 17 | *cmake-build-debug/ 18 | ./*_data/*/*/*/*optimized* 19 | ./log/test* 20 | ./octave/octave-workspace 21 | -------------------------------------------------------------------------------- /_config.yml: -------------------------------------------------------------------------------- 1 | theme: jekyll-theme-dinky -------------------------------------------------------------------------------- /cpp/src/pairwise_consistency_maximization/third_parties/fast_max-clique_finder/README.md: -------------------------------------------------------------------------------- 1 | You should have received this Fast Max-Clique Finder version along with robust\_multirobot\_map\_merging (https://github.com/lajoiepy/robust\_multirobot\_map\_merging). 2 | See the original Fast Max-Clique Finder library at: http://cucis.ece.northwestern.edu/projects/MAXCLIQUE/ 3 | -------------------------------------------------------------------------------- /cpp/tests/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | gtsamAddTestsGlob(base "test*.cpp" "" "distributed_mapper") 2 | 3 | -------------------------------------------------------------------------------- /docker/distributed_mapper/README.md: -------------------------------------------------------------------------------- 1 | # Distributed Mapper Docker README 2 | 3 | This is a docker container for distributed_mapper. 4 | 5 | The latest docker container can be pulled from DockerHub by running: 6 | 7 | ``` 8 | docker pull awilby/distributed_mapper:latest 9 | ``` 10 | 11 | Then, run Distributed Mapper in the docker container by running: 12 | 13 | ``` 14 | docker run distributed_mapper --nrRobots --dataDir 15 | ``` 16 | 17 | For example, to run Distributed Mapper on example data using 4 robots, run: 18 | 19 | ``` 20 | docker run distributed_mapper --nrRobots 4 --dataDir ../../data/example_4robots/ 21 | ``` 22 | -------------------------------------------------------------------------------- /docs/_between_chordal_factor_8h__dep__incl.md5: -------------------------------------------------------------------------------- 1 | ec6a90eaf86cb432fc580e54c0828935 -------------------------------------------------------------------------------- /docs/_between_chordal_factor_8h__dep__incl.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lajoiepy/robust_distributed_mapper/991a13f368a1d7cbc5dc370ae6f3d3a7f6c01243/docs/_between_chordal_factor_8h__dep__incl.png 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https://raw.githubusercontent.com/lajoiepy/robust_distributed_mapper/991a13f368a1d7cbc5dc370ae6f3d3a7f6c01243/imgs/mit_logo.png -------------------------------------------------------------------------------- /log/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore everything in this directory 2 | * 3 | # Except this file 4 | !.gitignore 5 | -------------------------------------------------------------------------------- /octave/octave-workspace: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lajoiepy/robust_distributed_mapper/991a13f368a1d7cbc5dc370ae6f3d3a7f6c01243/octave/octave-workspace -------------------------------------------------------------------------------- /octave/plotFullGraph.m: -------------------------------------------------------------------------------- 1 | %% Author: Pierre-Yves Lajoie (lajoie.py@gmail.com) 2 | 3 | %% Global initialization 4 | clear all 5 | close all 6 | clc 7 | 8 | % Add graph utils to path 9 | addpath(genpath('./posegraph_utils')); 10 | 11 | % Constant 12 | number_of_robots = 10 13 | dataset_folder = '../../../argos_simulation/log/datasets/'; 14 | file_extension = '_optimized.g2o'; 15 | colors = {[0.5 0.5 0], [0.5 0 0.5], [0 1 1], [0.5 0 0], [0 1 0], [0 0 1], [0 0 0], [0 0.5 1], [0.5 1 0], [0.5 0 1]}; 16 | 17 | % Initialize figure 18 | figure 19 | axis equal 20 | hold on 21 | 22 | for robot = 0:number_of_robots-1 23 | 24 | file_name = [dataset_folder, num2str(robot), file_extension] 25 | is_exist = exist(file_name, 'file'); 26 | if (is_exist == 2) 27 | % Read g2o file 28 | [~, ~, poses, ~, ~, ~, ~, ~, ~, ~] = readG2oDataset3D(file_name); 29 | 30 | for i = 1:size(poses,2) 31 | poses_2d(i, 1:2) = [poses(i).t(1), poses(i).t(2)]; 32 | end 33 | 34 | plot(poses_2d(:,1), poses_2d(:,2), 'Color', colors{robot+1}) 35 | end 36 | 37 | end -------------------------------------------------------------------------------- /octave/plotG2oGraph.m: -------------------------------------------------------------------------------- 1 | %% Author: Pierre-Yves Lajoie (lajoie.py@gmail.com) 2 | 3 | %% Global initialization 4 | clear all 5 | close all 6 | clc 7 | 8 | % Add graph utils to path 9 | addpath(genpath('./posegraph_utils')); 10 | 11 | % Constant 12 | file_name = '7.g2o'; 13 | 14 | % Read g2o file 15 | [measurements, edges_id, ~, ~, ~, ~, ~, ~, ~, ~] = readG2oDataset3D(file_name); 16 | 17 | poses_2d = [0 0]; 18 | previous_pose.t = [0;0;0]; 19 | previous_pose.R = eye(3); 20 | number_of_poses = 1 21 | for i = 1:size(measurements.between,2) 22 | if (abs(edges_id(i,1)-edges_id(i,2)) <= 1) 23 | [current_pose.t current_pose.R] = poseAdd3D(previous_pose, measurements.between(i)) ; 24 | previous_pose = current_pose; 25 | poses_2d(number_of_poses+1, 1:2) = [current_pose.t(1), current_pose.t(2)]; 26 | number_of_poses = number_of_poses + 1; 27 | end 28 | end 29 | 30 | figure 31 | plot(poses_2d(:,1), poses_2d(:,2)) 32 | axis equal -------------------------------------------------------------------------------- /octave/posegraph_utils/axis_angle_to_mat.m: -------------------------------------------------------------------------------- 1 | function [R] = axis_angle_to_mat(r) 2 | 3 | u = r(1:3); 4 | theta = r(4); 5 | R = [ cos(theta)+(1-cos(theta))*u(1)^2, u(1)*u(2)*(1-cos(theta))-u(3)*sin(theta), u(1)*u(3)*(1-cos(theta))+u(2)*sin(theta); 6 | u(2)*u(1)*(1-cos(theta))+u(3)*sin(theta), cos(theta)+(u(2)^2)*(1-cos(theta)), u(2)*u(3)*(1-cos(theta))-u(1)*sin(theta); 7 | u(3)*u(1)*(1-cos(theta))-u(2)*sin(theta), u(3)*u(2)*(1-cos(theta))+u(1)*sin(theta), cos(theta)+(u(3)^2)*(1-cos(theta)) 8 | ]; 9 | 10 | end -------------------------------------------------------------------------------- /octave/posegraph_utils/gaussian_noise.m: -------------------------------------------------------------------------------- 1 | function x = gaussian_noise(P) 2 | %------------------------------------------------------- 3 | % University of Zaragoza 4 | % Centro Politecnico Superior 5 | % Robotics and Real Time Group 6 | % Authors: J. Neira, J. Tardos 7 | % Date : 7-2002 8 | %------------------------------------------------------- 9 | % function x = gaussian_noise(P) 10 | % 11 | % Generate a Gaussian noise x following N(0,P). 12 | %-------------------------------------------------------% 13 | [V,D] = eig(P); 14 | x = V*(randn(size(D,1),1).*sqrt(diag(D))); -------------------------------------------------------------------------------- /octave/posegraph_utils/generateSeparators.m: -------------------------------------------------------------------------------- 1 | function [measurements, edges_id] = generateloopclosures(robot_poses, robot1, robot2, node_offset_robot1, node_offset_robot2, number_of_loopclosures, trajectory_size, sigma_R, sigma_t, information_matrix) 2 | 3 | measurements.between(1).R = eye(3); 4 | measurements.between(1).t = [0; 0; 0]; 5 | measurements.between(1).Info = information_matrix; 6 | edges_id = uint64([]); 7 | for i=1:number_of_loopclosures 8 | robot1_id = ceil(rand*(trajectory_size-1)); 9 | robot2_id = ceil(rand*(trajectory_size-1)); 10 | [loopclosure.t, loopclosure.R] = poseSubNoisy3D(robot_poses{robot1}(robot1_id), robot_poses{robot2}(robot2_id), sigma_t, sigma_R); 11 | measurements.between(i).R = loopclosure.R; 12 | measurements.between(i).t = loopclosure.t; 13 | measurements.between(i).Info = information_matrix; 14 | edges_id(end+1,:) = [node_offset_robot1+robot1_id, node_offset_robot2+robot2_id]; 15 | end 16 | 17 | end 18 | 19 | -------------------------------------------------------------------------------- /octave/posegraph_utils/isrot.m: -------------------------------------------------------------------------------- 1 | function x = isrot (a, tol) 2 | 3 | % Uso: isrot(R) 4 | % verifica che la matrice R sia una matrice di rotazione 5 | % isrot(R)==0 matrice di rotazione 6 | % isrot(R)~=0 errore 7 | % 8 | 9 | [r c] = size(a); 10 | x = 1; 11 | if r ~= 3 12 | disp ('Matrix has not 3 rows') 13 | elseif c ~= 3 14 | disp ('Matrix has not 3 columns') 15 | elseif norm ( a * a' - eye(3) ) > tol 16 | disp ('Matrix is not orthonormal, i.e. ||(R''R-I)|| > 1E-10') 17 | disp(norm ( a * a' - eye(3) )) 18 | disp('-----------------------') 19 | elseif det (a) < 0 20 | disp ('Matrix determinant is -1') 21 | else x = 0; 22 | end 23 | -------------------------------------------------------------------------------- /octave/posegraph_utils/poseAdd3D.m: -------------------------------------------------------------------------------- 1 | function [tj, Rj] = poseAdd3D(p_i , delta_ij) 2 | % Luca Carlone 3 | % pose_add = (p_j , p_i) the second is the delta pose to be added 4 | % returns the planar roto-translation that compose pj and pi 5 | 6 | Rj = p_i.R * delta_ij.R; 7 | tj = p_i.t + p_i.R * delta_ij.t; -------------------------------------------------------------------------------- /octave/posegraph_utils/poseSubNoisy3D.m: -------------------------------------------------------------------------------- 1 | function [tij,Rij] = poseSubNoisy3D(pose_i , pose_j, sigmaT, sigmaR) 2 | % Luca Carlone 3 | % pose_sub = (p_j , p_i) = inv(p_i) * p_j * p_noise 4 | % returns the planar roto-translation that tranform pj in pi 5 | % plus noise (sigmaT is the std of the noise on the cartesian components, 6 | % sigmaR is the std of the noise added to the angle before wrapping) 7 | 8 | % GT measurements 9 | Ri = pose_i.R; 10 | Rj = pose_j.R; 11 | Rij = Ri' * Rj; 12 | ti = pose_i.t; 13 | tj = pose_j.t; 14 | tij = Ri' * (tj - ti); 15 | 16 | % Nominal noise 17 | eRotVec = gaussian_noise(sigmaR^2 * eye(3)); 18 | eTranVec = gaussian_noise(sigmaT^2 * eye(3)); 19 | 20 | % Add noise to measurements 21 | if(norm(eRotVec)>1e-7) 22 | eRot = axis_angle_to_mat([eRotVec'/norm(eRotVec) norm(eRotVec)]); 23 | Rij = Rij * eRot; % perturb the rotation measurement 24 | end 25 | tij = tij + eTranVec; 26 | 27 | end 28 | -------------------------------------------------------------------------------- /octave/posegraph_utils/quat2rot.m: -------------------------------------------------------------------------------- 1 | function R = quat2rot( q ) 2 | % function R = Quat2Rot( q ) 3 | % 4 | % Input: q is a quaternion [w; x; y; z] 5 | % 6 | % Quat2Rot returns a rotation matrix using the conversion from 7 | % http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Conversion_to_and_from_the_matrix_representation 8 | 9 | % Normalize the quaternion(s) 10 | q = unitize(q, 1); 11 | 12 | a = permute(q(1, :), [3, 1, 2]); 13 | b = permute(q(2, :), [3, 1, 2]); 14 | c = permute(q(3, :), [3, 1, 2]); 15 | d = permute(q(4, :), [3, 1, 2]); 16 | 17 | % And determine the rotation matrix 18 | R = [... 19 | a.^2 + b.^2 - c.^2 - d.^2, 2.*b.*c - 2.*a.*d, 2.*b.*d + 2.*a.*c; 20 | 2.*b.*c + 2.*a.*d, a.^2 - b.^2 + c.^2 - d.^2, 2.*c.*d - 2.*a.*b; 21 | 2.*b.*d - 2.*a.*c, 2.*c.*d + 2.*a.*b, a.^2 - b.^2 - c.^2 + d.^2]; 22 | 23 | end -------------------------------------------------------------------------------- /octave/posegraph_utils/rot2quat.m: -------------------------------------------------------------------------------- 1 | function x = rot2quat (R, tol) 2 | 3 | % Uso: Angles = rot2quat(R) 4 | % 5 | % Calcola il quaternione corrispondente a partire dalla matrice di rotazione R 6 | if nargin < 2 7 | tol = 1.0e-5; 8 | end 9 | 10 | if isrot(R, tol) == 0 11 | s(4) = .5 * sqrt( 1 + R(1,1) + R(2,2) + R(3,3) ); 12 | if norm(s(4)) <= tol 13 | disp ('rotation = 180 degrees!') 14 | abort(); 15 | %[u,teta]=rot2uth(R); 16 | s(1)=u(1); 17 | s(2)=u(2); 18 | s(3)=u(3); 19 | elseif norm(s(4)-1) <= tol 20 | % disp ('rotation = 0 degrees') 21 | s(1) = 0; 22 | s(2) = 0; 23 | s(3) = 0; 24 | else 25 | s(1) = (R(3,2) - R(2,3))/(4 * s(4)); 26 | s(2) = (R(1,3) - R(3,1))/(4 * s(4)); 27 | s(3) = (R(2,1) - R(1,2))/(4 * s(4)); 28 | end 29 | x(1) = s(4); 30 | x(2) = s(1); 31 | x(3) = s(2); 32 | x(4) = s(3); 33 | else 34 | disp ('Error in input matrix') 35 | x=[1 0 0 0]'; 36 | end 37 | -------------------------------------------------------------------------------- /octave/posegraph_utils/rot_mat_x.m: -------------------------------------------------------------------------------- 1 | function [matrix3] = rot_mat_x(angle_degre) 2 | 3 | angle_radian = angle_degre/180*pi; 4 | matrix4 = createRotationOx(angle_radian); 5 | matrix3 = matrix4(1:3,1:3); 6 | 7 | end -------------------------------------------------------------------------------- /octave/posegraph_utils/rot_mat_y.m: -------------------------------------------------------------------------------- 1 | function [matrix3] = rot_mat_y(angle_degre) 2 | 3 | angle_radian = angle_degre/180*pi; 4 | matrix4 = createRotationOy(angle_radian); 5 | matrix3 = matrix4(1:3,1:3); 6 | 7 | end -------------------------------------------------------------------------------- /octave/posegraph_utils/rot_mat_z.m: -------------------------------------------------------------------------------- 1 | function [matrix3] = rot_mat_z(angle_degre) 2 | 3 | angle_radian = angle_degre/180*pi; 4 | matrix4 = createRotationOz(angle_radian); 5 | matrix3 = matrix4(1:3,1:3); 6 | 7 | end -------------------------------------------------------------------------------- /octave/posegraph_utils/unitize.m: -------------------------------------------------------------------------------- 1 | function units = unitize(matrix, dim) 2 | % units = unitize(matrix, dim) 3 | % 4 | % This takes an m by n matrix and unitizes the columns or rows based on the 5 | % specified dimension. dim = 1 means vectors are the columns and dim = 2 6 | % means the vectors are the rows. A vector of m by n is returned as units. 7 | 8 | if nargin < 2 9 | dim = 1; 10 | end 11 | 12 | norms = sqrt(sum(matrix.^2,dim)); 13 | 14 | switch dim 15 | 16 | % Unitize Columns 17 | case 1 18 | units = matrix ./ repmat(norms, [size(matrix,1), 1]); 19 | 20 | % Unitize Rows 21 | case 2 22 | units = matrix ./ repmat(norms, [1, size(matrix,2)]); 23 | 24 | end 25 | 26 | end --------------------------------------------------------------------------------