├── CMakeLists.txt ├── LICENCE ├── README.md ├── auto.sh ├── config └── config_mercator.yaml ├── demo └── mercator_demo.cpp ├── include ├── KDTreeVectorOfVectorsAdaptor.h ├── merDesc.h ├── mercator.h ├── nanoflann.hpp └── tictoc.h ├── launch └── demo_mercator.launch ├── package.xml ├── pr_mpe.py ├── pr_rings.py ├── res_out ├── compare │ ├── 00 │ │ ├── bow3d-kitti00_generated.txt │ │ ├── mkres_00_pyslam_1.txt │ │ ├── scres-kitti00_generated.txt │ │ ├── scres_00_pyslam_1.txt │ │ ├── stdres-kitti00_generated.txt │ │ ├── wzb_75_res-kitti00_generated.txt │ │ ├── wzb_deep_75_res-kitti00_generated.txt │ │ ├── wzb_intensity_75_res-kitti00_generated.txt │ │ └── wzbres-kitti00_generated.txt │ ├── 02 │ │ ├── bow3d-kitti02_generated.txt │ │ ├── mkres_02_pyslam_1.txt │ │ ├── scres-kitti02_generated.txt │ │ ├── scres_02_pyslam_1.txt │ │ ├── stdres-kitti02_generated.txt │ │ ├── wzb_75_res-kitti02_generated.txt │ │ ├── wzb_deep_75_res-kitti02_generated.txt │ │ └── wzbres-kitti02_generated.txt │ ├── 05 │ │ ├── bow3d-kitti05_generated.txt │ │ ├── mkres_05_pyslam_1.txt │ │ ├── scres-kitti05_generated.txt │ │ ├── scres_05_pyslam_1.txt │ │ ├── stdres-kitti05_generated.txt │ │ ├── wzb_75_res-kitti05_generated.txt │ │ └── wzbres-kitti05_generated.txt │ ├── 06 │ │ ├── bow3d-kitti06_generated.txt │ │ ├── mkres_06_pyslam_1.txt │ │ ├── scres-kitti06_generated.txt │ │ ├── scres_06_pyslam_1.txt │ │ ├── stdres-kitti06_generated.txt │ │ └── wzbres-kitti06_generated.txt │ ├── 07 │ │ ├── bow3d-kitti07_generated.txt │ │ ├── mkres_07_pyslam_1.txt │ │ ├── scres-kitti07_generated.txt │ │ ├── scres_07_pyslam_1.txt │ │ ├── stdres-kitti07_generated.txt │ │ └── wzbres-kitti07_generated.txt │ └── 08 │ │ ├── bow3d-kitti08_generated.txt │ │ ├── mkres_08_pyslam_1.txt │ │ ├── scres-kitti08_generated.txt │ │ ├── scres_08_pyslam_1.txt │ │ ├── stdres-kitti08_generated.txt │ │ ├── wzb_75_res-kitti08_generated.txt │ │ └── wzbres-kitti08_generated.txt ├── maxdeep │ ├── time │ │ ├── time-kitti00_generated.txt │ │ ├── time-kitti02_generated.txt │ │ ├── time-kitti05_generated.txt │ │ └── time-kitti08_generated.txt │ ├── wzb_deep_75_res-kitti02_generated.txt │ ├── wzb_deep_75_res-kitti05_generated.txt │ ├── wzb_deep_75_res-kitti08_generated.txt │ └── wzb_intensity_75_res-kitti00_generated.txt ├── mean_deep │ ├── wzb_deepm_60_res-kitti00_generated.txt │ ├── wzb_deepm_60_res-kitti02_generated.txt │ ├── wzb_deepm_60_res-kitti05_generated.txt │ ├── wzb_deepm_60_res-kitti06_generated.txt │ └── wzb_deepm_60_res-kitti08_generated.txt ├── sc │ ├── loopres-kitti00_generated.txt │ ├── scres-kitti00_generated.txt │ ├── scres-kitti02_generated.txt │ ├── scres-kitti05_generated.txt │ ├── scres-kitti06_generated.txt │ ├── scres-kitti07_generated.txt │ └── scres-kitti08_generated.txt ├── std │ ├── loopres-kitti00_generated.txt │ ├── stdres-kitti00_generated.txt │ ├── stdres-kitti02_generated.txt │ ├── stdres-kitti05_generated.txt │ ├── stdres-kitti06_generated.txt │ ├── stdres-kitti07_generated.txt │ ├── stdres-kitti08_generated.txt │ ├── time-kitti00_generated.txt │ └── time │ │ ├── time-kitti00_generated.txt │ │ ├── time-kitti02_generated.txt │ │ ├── time-kitti05_generated.txt │ │ ├── time-kitti06_generated.txt │ │ ├── time-kitti07_generated.txt │ │ └── time-kitti08_generated.txt ├── test │ ├── time │ │ └── time-kitti00_generated.txt │ └── wzb_deepm_60_res-kitti00_generated.txt ├── wzb │ ├── wzbres-kitti00_generated.txt │ ├── wzbres-kitti02_generated.txt │ ├── wzbres-kitti05_generated.txt │ ├── wzbres-kitti06_generated.txt │ ├── wzbres-kitti07_generated.txt │ └── wzbres-kitti08_generated.txt └── wzb_75 │ ├── time │ ├── time-kitti00_generated.txt │ ├── time-kitti02_generated.txt │ ├── time-kitti05_generated.txt │ └── time-kitti08_generated.txt │ ├── wzb_75_res-kitti00_generated.txt │ ├── wzb_75_res-kitti02_generated.txt │ ├── wzb_75_res-kitti05_generated.txt │ └── wzb_75_res-kitti08_generated.txt ├── row_pr.py ├── rviz_cfg └── demo.rviz └── src ├── merDesc.cpp └── mercator.cpp 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