├── .gitignore ├── LICENCE ├── README.md ├── docker ├── docker-compose.yml └── open_lmm.Dockerfile ├── open_lmm ├── .clang-format ├── CMakeLists.txt ├── cmake │ ├── CompilerOptions.cmake │ └── open_lmm-config.cmake.in ├── common │ ├── CMakeLists.txt │ ├── data_types.hpp │ ├── pointcloud_utils.cpp │ ├── pointcloud_utils.hpp │ ├── pose_conversion.cpp │ ├── pose_conversion.hpp │ ├── registration.cpp │ ├── registration.hpp │ └── shared_data.hpp ├── config │ ├── config.json │ ├── core │ │ ├── backend_optimizer │ │ │ └── incremental.json │ │ ├── data_loader │ │ │ └── file_based.json │ │ ├── dynamic_remover │ │ │ ├── dufomap.json │ │ │ ├── erasor.json │ │ │ └── hmm_mos.json │ │ └── loop_detector │ │ │ ├── scan_context.json │ │ │ ├── solid.json │ │ │ └── std.json │ └── server │ │ └── config_map_server.json ├── core │ ├── CMakeLists.txt │ ├── backend_optimizer │ │ ├── BetweenFactorWithAnchoring.h │ │ ├── CMakeLists.txt │ │ ├── backend_optimizer_base.cpp │ │ ├── backend_optimizer_base.hpp │ │ ├── backend_optimizer_incremental.cpp │ │ └── backend_optimizer_incremental.hpp │ ├── data_loader │ │ ├── CMakeLists.txt │ │ ├── data_loader_base.cpp │ │ ├── data_loader_base.hpp │ │ ├── data_loader_file.cpp │ │ └── data_loader_file.hpp │ ├── dynamic_remover │ │ ├── CMakeLists.txt │ │ ├── dynamic_remover_base.cpp │ │ ├── dynamic_remover_base.hpp │ │ ├── dynamic_remover_offline.cpp │ │ ├── dynamic_remover_offline.hpp │ │ ├── dynamic_remover_online.cpp │ │ ├── dynamic_remover_online.hpp │ │ └── remover_factory │ │ │ ├── CMakeLists.txt │ │ │ ├── offline │ │ │ ├── CMakeLists.txt │ │ │ ├── erasor │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── LICENCE │ │ │ │ ├── create_erasor.cpp │ │ │ │ ├── erasor.cpp │ │ │ │ ├── erasor.hpp │ │ │ │ ├── erasor_core.cpp │ │ │ │ ├── erasor_core.hpp │ │ │ │ ├── utils.cpp │ │ │ │ └── utils.hpp │ │ │ └── interface_offline_plugin.hpp │ │ │ └── online │ │ │ ├── CMakeLists.txt │ │ │ ├── dufomap │ │ │ ├── CMakeLists.txt │ │ │ ├── create_dufomap.cpp │ │ │ ├── dufomap.cpp │ │ │ ├── dufomap.hpp │ │ │ ├── params.cpp │ │ │ └── params.hpp │ │ │ ├── hmm_mos │ │ │ ├── CMakeLists.txt │ │ │ ├── Map.cpp │ │ │ ├── Map.hpp │ │ │ ├── Scan.cpp │ │ │ ├── Scan.hpp │ │ │ ├── VoxelHash.hpp │ │ │ ├── create_hmm_mos.cpp │ │ │ ├── hmm_mos.cpp │ │ │ ├── hmm_mos.hpp │ │ │ ├── nanoflannUtils.hpp │ │ │ ├── params.cpp │ │ │ ├── params.hpp │ │ │ ├── pcl_eigen_converter.hpp │ │ │ ├── utils.cpp │ │ │ └── utils.hpp │ │ │ └── interface_online_plugin.hpp │ └── loop_detector │ │ ├── CMakeLists.txt │ │ ├── descriptor_factory │ │ ├── CMakeLists.txt │ │ └── kdtree │ │ │ ├── CMakeLists.txt │ │ │ ├── database_base.hpp │ │ │ ├── database_kdtree.cpp │ │ │ ├── database_kdtree.h │ │ │ ├── interface_descriptor_kdtree.hpp │ │ │ ├── scan_context │ │ │ ├── CMakeLists.txt │ │ │ ├── create_scan_context.cpp │ │ │ ├── scan_context.cpp │ │ │ └── scan_context.h │ │ │ └── solid │ │ │ ├── CMakeLists.txt │ │ │ ├── create_solid.cpp │ │ │ ├── solid.cpp │ │ │ └── solid.h │ │ ├── loop_detector_base.cpp │ │ ├── loop_detector_base.hpp │ │ ├── loop_detector_kdtree.cpp │ │ └── loop_detector_kdtree.hpp ├── main.cpp ├── package.xml ├── server │ ├── CMakeLists.txt │ ├── map_aligner │ │ ├── CMakeLists.txt │ │ ├── map_aligner.cpp │ │ └── map_aligner.hpp │ ├── map_server.cpp │ ├── map_server.hpp │ └── map_updater │ │ ├── CMakeLists.txt │ │ ├── map_updater.cpp │ │ └── map_updater.hpp ├── thirdparty │ ├── eigen │ │ ├── LICENSE │ │ ├── eigen.cmake │ │ └── eigen.patch │ ├── find_dependencies.cmake │ ├── gtsam │ │ ├── FindGTSAM.cmake │ │ ├── LICENSE │ │ └── gtsam.cmake │ ├── kiss_matcher │ │ ├── LICENSE │ │ ├── kiss_matcher.cmake │ │ └── kiss_matcher.patch │ ├── nanoflann │ │ ├── LICENSE │ │ └── nanoflann.cmake │ ├── nlohmann_json │ │ ├── LICENSE │ │ └── nlohmann_json.cmake │ ├── pcl │ │ ├── LICENSE │ │ └── pcl.cmake │ ├── small_gicp │ │ ├── LICENSE │ │ └── small_gicp.cmake │ ├── tbb │ │ ├── LICENSE │ │ └── tbb.cmake │ └── tqdmcpp │ │ ├── LICENSE │ │ └── tqdmcpp.cmake └── utils │ ├── CMakeLists.txt │ ├── 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