├── .clang-format ├── .clangd ├── .github ├── assets │ └── readme.png └── workflows │ └── ci.yml ├── .gitignore ├── .python-version ├── CITATION.bib ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── 25.10.03_full.yaml ├── 25.10.03_short_verify.yaml ├── 25.10.03_verify_works.yaml └── 25.10.08_short_verify.yaml ├── experiments ├── ablations.py ├── area_under_curve.py ├── baseline_tables.py ├── baseline_tables_speed.py ├── env.py ├── features_viz.py ├── header_viz.py ├── readme_viz.py ├── readme_viz.tex └── window_size.py ├── form ├── feature │ ├── extraction.hpp │ ├── extraction.tpp │ ├── factor.cpp │ ├── factor.hpp │ └── features.hpp ├── form.cpp ├── form.hpp ├── mapping │ ├── keyscanner.cpp │ ├── keyscanner.hpp │ ├── map.hpp │ └── map.tpp ├── optimization │ ├── constraints.cpp │ ├── constraints.hpp │ ├── gtsam.hpp │ └── matcher.hpp └── utils.hpp ├── justfile ├── pyproject.toml ├── python ├── CMakeLists.txt ├── bindings.cpp └── form │ └── __init__.py ├── scripts ├── feature_param_tuning.py └── rerun_map.py ├── tests ├── CMakeLists.txt └── test_SeparateFactor.cpp └── uv.lock /.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | ColumnLimit: 85 -------------------------------------------------------------------------------- /.clangd: -------------------------------------------------------------------------------- 1 | CompileFlags: 2 | Add: [-Wno-c++20-extensions] -------------------------------------------------------------------------------- /.github/assets/readme.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpl-cmu/form/HEAD/.github/assets/readme.png -------------------------------------------------------------------------------- /.github/workflows/ci.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpl-cmu/form/HEAD/.github/workflows/ci.yml 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