Compass, a real estate brokerage firm with more than 19,000 agents across the country, filed to go public on Monday, and told prospective investors that revenue jumped 56% last year as housing prices soared. Founded in 2012, the New York-based company has sought to bring advanced technology to real estate agents, giving them better data, marketing tools and customer relationship software than they can get from a typical brick-and-mortar brokerage.