├── .gitignore ├── CMakeLists.txt ├── COPYING ├── COPYING.LESSER ├── README.md ├── data └── Vocabulary.voc ├── doc └── Doxyfile.in ├── insertLicense └── src ├── CMakeLists.txt ├── applications ├── CMakeLists.txt ├── FeatureExtractor.cpp ├── GFPLoopClosingTest.cpp ├── GenerateBoW.cpp ├── GenerateNN.cpp ├── LearnVocabularyKMeans.cpp ├── NNLoopClosingTest.cpp ├── gflip_cl.cpp └── gflip_cl_onequery.cpp ├── build_tools └── FindEigen3.cmake ├── gflip ├── CMakeLists.txt ├── gflip_engine.cpp └── gflip_engine.hpp ├── gflip_mainpage.h ├── utils ├── CMakeLists.txt ├── Convolution.h ├── Convolution.hpp ├── HierarchicalKMeansClustering.h ├── HierarchicalKMeansClustering.hpp ├── HistogramDistances.h ├── HistogramDistances.hpp ├── KMeansClustering.h ├── KMeansClustering.hpp ├── PeakFinder.h ├── PoseEstimation.cpp ├── PoseEstimation.h ├── Regression.cpp ├── Regression.h ├── SimpleMinMaxPeakFinder.cpp ├── SimpleMinMaxPeakFinder.h ├── SimplePeakFinder.cpp └── SimplePeakFinder.h └── vocabulary ├── 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