├── LICENSE ├── README.md ├── dependencies.yaml ├── doc ├── confmat.png ├── dslam.gif ├── dslam_5x.gif └── viz.png ├── dslam ├── CMakeLists.txt ├── include │ └── dslam │ │ ├── dataset_parser.h │ │ ├── kitti_parser.h │ │ ├── orb.h │ │ ├── orb_matcher.h │ │ ├── positions.h │ │ ├── process_verification_request.h │ │ ├── sim_3_solver.h │ │ ├── stata_parser.h │ │ └── verify_geometry.h ├── launch │ └── rectify_stata.launch ├── matlab │ ├── .gitignore │ ├── acceptMatchIfConsistent.m │ ├── alignTrajs.m │ ├── areFramesWithinRange.m │ ├── areMatchesConsistent.m │ ├── assignClusterCenters.m │ ├── consistentlyApplyState.m │ ├── countBetweenRobotLinks.m │ ├── decentr_sim.m │ ├── evalAccuracy.m │ ├── filesWithExt.m │ ├── fixR.m │ ├── fixT.m │ ├── generateDecentrFrameStream.m │ ├── generateVerificationRequests.m │ ├── getConnectedAccuracy.m │ ├── getConnectedAte.m │ ├── getDistGaussSeidelStats.m │ ├── getNetVladFeats.m │ ├── getParamStudyLines.m │ ├── getVOData.m │ ├── gtsamFrameId.m │ ├── gtsamFrameIdToIndices.m │ ├── initDecentrState.m │ ├── initOptHandle.m │ ├── inspectGeoVerification.m │ ├── isrot.m │ ├── makeVerificationRequest.m │ ├── manageAsyncGaussSeidel.m │ ├── param_studies.m │ ├── parseAllData.m │ ├── parseVerificationResponse.m │ ├── plot3DSubGraph.m │ ├── plotAccuracy.m │ ├── plotDataOverTime.m │ ├── plotDataPerRobotPair.m │ ├── plotDecentrState.m │ ├── plotG2oOutput.m │ ├── plotGeoverError.m │ ├── plotGeoverErrorNoRot.m │ ├── plotGlobalConfusion.m │ ├── poseToQuiver.m │ ├── posesToQuiver.m │ ├── prototypeRobustGeover.m │ ├── quat2rot.m │ ├── readDecentrStateFromOptG2oFiles.m │ ├── rot2quat.m │ ├── rot2uth.m │ ├── rpyxyzToT.m │ ├── runParameterStudy.m │ ├── runSimulationAndSave.m │ ├── runSyncGaussSeidel.m │ ├── setConvergedWhereApplicable.m │ ├── simulateDecentrPlaceRecognition.m │ ├── simulateDecentrVerification.m │ ├── splitAndSave.m │ ├── stata_plots.m │ ├── stepDecentrState.m │ ├── tInv.m │ ├── test_parse_all_data.m │ ├── test_vo_load.m │ ├── wrapUpOptimization.m │ ├── writeDecentrStateToG2oFiles.m │ ├── writeG2oConstraint.m │ ├── writeG2oPose.m │ └── writeGroundTruthToG2oFiles.m ├── package.xml ├── rviz │ └── step_ransac.rviz └── src │ ├── batch_process_verification_request.cpp │ ├── dataset_to_vo.cpp │ ├── kitti_parser.cpp │ ├── orb_matcher.cpp │ ├── process_verification_request.cpp │ ├── sim_3_solver.cpp │ ├── stata_parser.cpp │ ├── stata_unbag.py │ ├── verification_request_server.cpp │ └── verify_geometry.cpp ├── rpg_common ├── CMakeLists.txt ├── include │ └── rpg_common │ │ ├── aligned.h │ │ ├── callback_host.h │ │ ├── cv_to_eigen.h │ │ ├── cv_type.h │ │ ├── each.h │ │ ├── eigen_to_cv.h │ │ ├── fs.h │ │ ├── gnuplot.h │ │ ├── hamming_distance.h │ │ ├── load.h │ │ ├── main.h │ │ ├── pose.h │ │ ├── select.h │ │ ├── sim3.h │ │ ├── stream_utility.h │ │ ├── time_enforcer.h │ │ └── vector_to_eigen.h ├── package.xml └── src │ ├── cv_type.cpp │ ├── fs.cpp │ ├── gnuplot.cpp │ ├── hamming_distance.cpp │ └── time_enforcer.cpp └── 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