├── .gitignore ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── config ├── dataset │ ├── directories │ │ ├── euroc.yaml │ │ └── kitti.yaml │ ├── euroc.yaml │ ├── image_augmentations │ │ ├── default.yaml │ │ ├── klt.yaml │ │ └── superglue.yaml │ ├── keypoint_augmentations │ │ └── default.yaml │ ├── kitti.yaml │ ├── matching │ │ ├── klt.yaml │ │ ├── orb.yaml │ │ └── superglue.yaml │ └── sweep │ │ ├── self_supervised.yaml │ │ └── supervised.yaml ├── euroc.yaml ├── evaluation.yaml ├── hyperparameter │ ├── debug.yaml │ └── default.yaml ├── kitti.yaml ├── logging │ ├── debug.yaml │ └── default.yaml ├── matching │ ├── default.yaml │ └── indoors.yaml ├── model │ ├── default.yaml │ └── output │ │ ├── entries.yaml │ │ └── sab.yaml ├── pose_estimation │ ├── euroc.yaml │ ├── kitti.yaml │ └── synthetic.yaml ├── synthetic.yaml └── theseus │ ├── default.yaml │ ├── optimizer │ ├── levenberg_marquardt.yaml │ └── synthetic_lm.yaml │ └── synthetic.yaml ├── environment.yml └── scripts ├── covpred ├── __init__.py ├── common.py ├── config │ ├── __init__.py │ ├── dataset │ │ └── config.py │ ├── evaluation.py │ ├── hyperparameter │ │ └── config.py │ ├── logging │ │ └── config.py │ ├── matching │ │ └── config.py │ ├── model │ │ └── config.py │ ├── optimization_check.py │ ├── pose_estimation │ │ └── config.py │ ├── synthetic │ │ └── config.py │ ├── synthetic_config.py │ ├── theseus │ │ └── config.py │ └── training.py ├── dataset │ ├── __init__.py │ ├── augmentations │ │ ├── flipping.py │ │ ├── keypoints.py │ │ └── random_crop.py │ ├── common.py │ ├── euroc.py │ ├── kitti.py │ ├── kitti_360.py │ ├── kitti_raw.py │ ├── live_matches.py │ ├── precomp_matches.py │ ├── synthetic_dataset.py │ └── visualization.py ├── evaluation │ ├── frame_to_frame.py │ ├── metrics │ │ ├── base_error.py │ │ ├── covariance_similarity.py │ │ └── metrics.py │ └── sequence.py ├── io │ ├── common.py │ ├── evaluation.py │ ├── matches.py │ └── model.py ├── latex │ └── Tables.py ├── loss_functions │ ├── loss_functions.py │ └── metrics.py ├── matching │ ├── __init__.py │ ├── base.py │ ├── klt.py │ ├── orb.py │ └── superglue.py ├── math │ ├── common.py │ ├── covariance_filter.py │ ├── geometry.py │ ├── klt_covariances.py │ ├── pose_optimization.py │ └── projections.py ├── model │ ├── __init__.py │ ├── full_model.py │ ├── optimization │ │ ├── eigenvalue.py │ │ └── theseus │ │ │ ├── nec.py │ │ │ ├── optimization_layer.py │ │ │ └── pnec.py │ ├── output_filter.py │ ├── parametrization.py │ ├── superpoint_architecture.py │ ├── transforms.py │ └── unet │ │ ├── __init__.py │ │ ├── unet_model.py │ │ └── unet_parts.py ├── synthetic │ └── experiment_creation.py ├── tex.mplstyle ├── training │ ├── common.py │ ├── epoch.py │ ├── evaluation.py │ ├── synthetic.py │ └── training.py └── visualization │ ├── common.py │ ├── dense.py │ ├── gradients.py │ ├── keypoints.py │ ├── metrics.py │ ├── minumum.py │ ├── trajectories.py │ └── ypr.py ├── evaluation.py ├── real_world.py └── synthetic.py /.gitignore: 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