├── .gitignore ├── LICENSE ├── README.md ├── assets ├── GUI_Mesh.png ├── GUI_Neural_Points.png ├── Mapping_result.png └── pipeline.png ├── cad ├── camera.ply └── drone.ply ├── config ├── run_SubT_MRS.yaml └── run_ncd128.yaml ├── dataset └── converter │ ├── config │ └── rosbag2dataset.yaml │ └── rosbag2dataset_parallel.py ├── docs ├── derivation_rotation_jacobian.pdf └── derivation_rotation_jacobian.tex ├── experiment └── .gitkeep ├── gui ├── gui_utils.py └── slam_gui.py ├── model ├── __init__.py ├── decoder.py ├── local_point_cloud_map.py └── neural_points.py ├── requirements.txt ├── slam.py ├── tools.ipynb ├── utils ├── __init__.py ├── config.py ├── data_sampler.py ├── dataset_indexing.py ├── error_state_iekf.py ├── eval_traj_utils.py ├── loss.py ├── mapper.py ├── mesher.py ├── point_cloud2.py ├── semantic_kitti_utils.py ├── slam_dataset.py ├── so3_math.py ├── tools.py └── visualizer.py └── vis_pin_map.py /.gitignore: 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