├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── DPGOConfig.cmake.in ├── FindBLAS.cmake ├── FindCholmod.cmake ├── FindEigen.cmake ├── FindEigen3.cmake ├── FindGlog.cmake ├── FindSPQR.cmake ├── cmake_uninstall.cmake.in ├── gtest.cmake └── roptlib.cmake ├── data ├── CSAIL.g2o ├── ais2klinik.g2o ├── city10000.g2o ├── cubicle.g2o ├── g2o100k.g2o ├── g2o50k.g2o ├── grid3D.g2o ├── input_INTEL_g2o.g2o ├── input_M3500_g2o.g2o ├── input_MITb_g2o.g2o ├── kitti_00.g2o ├── kitti_02.g2o ├── kitti_05.g2o ├── kitti_06.g2o ├── kitti_07.g2o ├── kitti_08.g2o ├── kitti_09.g2o ├── parking-garage.g2o ├── rim.g2o ├── smallGrid3D.g2o ├── sphere2500.g2o ├── sphere_bignoise_vertex3.g2o ├── tinyGrid3D.g2o └── torus3D.g2o ├── examples ├── ChordalInitializationExample.cpp ├── MultiRobotExample.cpp ├── SingleRobotExample.cpp └── SingleRobotGNCExample.cpp ├── include └── DPGO │ ├── DPGO_robust.h │ ├── DPGO_solver.h │ ├── DPGO_types.h │ ├── DPGO_utils.h │ ├── PGOAgent.h │ ├── PGOLogger.h │ 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