├── .clang-format ├── .gitignore ├── LICENSE ├── README.md └── srrg2_slam_interfaces ├── CMakeLists.txt ├── README.md ├── doc └── Doxygen ├── package.xml ├── src ├── CMakeLists.txt └── srrg2_slam_interfaces │ ├── CMakeLists.txt │ ├── initializers │ ├── initializer.h │ └── initializer_camera.h │ ├── instances.cpp │ ├── instances.h │ ├── mapping │ ├── local_map.cpp │ ├── local_map.h │ ├── local_map_splitting_criterions │ │ ├── local_map_splitting_criterion_base.hpp │ │ ├── local_map_splitting_criterion_rotation.hpp │ │ ├── local_map_splitting_criterion_translation.hpp │ │ ├── local_map_splitting_criterion_viewpoint.hpp │ │ └── local_map_splitting_criterion_visibility.hpp │ ├── merger.h │ ├── merger_correspondence_homo.h │ ├── merger_correspondence_homo_impl.cpp │ └── scene_clipper.h │ ├── motion_models │ ├── motion_model_base.hpp │ └── motion_model_constant_velocity.hpp │ ├── raw_data_preprocessors │ ├── raw_data_preprocessor.h │ ├── raw_data_preprocessor_odom.cpp │ ├── raw_data_preprocessor_odom.h │ └── raw_data_preprocessor_tracker_estimate.hpp │ ├── registration │ ├── aligners │ │ ├── aligner.h │ │ ├── aligner_slice_motion_model.hpp │ │ ├── aligner_slice_odometry_prior.cpp │ │ ├── aligner_slice_odometry_prior.h │ │ ├── aligner_slice_processor.h │ │ ├── aligner_slice_processor_base.h │ │ ├── aligner_slice_processor_base_impl.cpp │ │ ├── aligner_slice_processor_impl.cpp │ │ ├── aligner_slice_processor_prior.h │ │ ├── aligner_slice_processor_prior_impl.cpp │ │ ├── aligner_termination_criteria.h │ │ ├── aligner_termination_criteria_impl.cpp │ │ ├── multi_aligner.h │ │ └── multi_aligner_impl.cpp │ ├── correspondence_finder.h │ ├── local_map_selectors │ │ ├── local_map_selector.h │ │ ├── local_map_selector_breadth_first.h │ │ ├── local_map_selector_breadth_first_impl.cpp │ │ ├── local_map_selector_user_defined.h │ │ └── local_map_selector_user_defined_impl.cpp │ ├── loop_closure.h │ ├── loop_detector │ │ ├── loop_detector.h │ │ ├── multi_loop_detector_brute_force.h │ │ ├── multi_loop_detector_brute_force_impl.cpp │ │ ├── multi_loop_detector_hbst.h │ │ └── multi_loop_detector_hbst_impl.cpp │ └── relocalization │ │ ├── multi_relocalizer.h │ │ ├── multi_relocalizer_impl.cpp │ │ └── relocalizer.h │ ├── system │ ├── multi_graph_slam.h │ └── multi_graph_slam_impl.cpp │ └── trackers │ ├── multi_tracker.h │ ├── multi_tracker_impl.cpp │ ├── tracker.cpp │ ├── tracker.h │ ├── tracker_slice_processor.h │ ├── tracker_slice_processor_base.h │ ├── tracker_slice_processor_base_impl.cpp │ ├── tracker_slice_processor_estimation_buffer.hpp │ ├── tracker_slice_processor_impl.cpp │ ├── tracker_slice_processor_odom.h │ └── tracker_slice_processor_prior.h └── tests ├── CMakeLists.txt ├── test_local_map_splitting_criterion.cpp ├── test_motion_model.cpp └── test_motion_model_slice.cpp /.clang-format: -------------------------------------------------------------------------------- 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