├── .gitignore ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── cmake ├── FindEigen3.cmake └── FindFFTW3.cmake ├── configs ├── config_HD.yaml ├── config_geekplus.yaml └── config_ntu.yaml ├── figures ├── data_association.jpg ├── loop_error.jpg ├── loop_trajectory.jpg ├── pipeline.png ├── rmse_curve.jpg ├── sample_images.jpg ├── trajectory.jpg └── video.png ├── include ├── camera.h ├── circ_shift.h ├── correlation_flow.h ├── dataset.h ├── edge.h ├── frame.h ├── loop_closure.h ├── map.h ├── map_builder.h ├── map_stitcher.h ├── optimization_2d │ ├── angle_local_parameterization.h │ ├── normalize_angle.h │ ├── pose_graph_2d.h │ ├── pose_graph_2d_error_term.h │ └── types.h ├── read_configs.h ├── thread_publisher.h ├── timer.h ├── utils.h └── visualization.h ├── main.cpp ├── package.xml └── src ├── camera.cc ├── correlation_flow.cc ├── dataset.cc ├── edge.cc ├── frame.cc ├── loop_closure.cc ├── map.cc ├── map_builder.cc ├── map_stitcher.cc ├── optimization_2d └── pose_graph_2d.cc ├── 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