├── .gitignore ├── .gitmodules ├── README.md ├── backup ├── environment.yaml ├── piplist.txt └── setenv_vo.sh ├── configs ├── hierarchical │ └── smallcity.yaml ├── kitti │ └── sync │ │ ├── kitti_2011_09_26_drive_0046.yaml │ │ ├── kitti_2011_09_26_drive_0059.yaml │ │ ├── kitti_2011_09_30_drive_0018.yaml │ │ ├── kitti_2011_09_30_drive_0020.yaml │ │ ├── kitti_2011_09_30_drive_0027.yaml │ │ ├── kitti_2011_09_30_drive_0028.yaml │ │ ├── kitti_2011_09_30_drive_0033.yaml │ │ ├── kitti_2011_10_03_drive_0027.yaml │ │ ├── kitti_2011_10_03_drive_0027_LC.yaml │ │ ├── kitti_2011_10_03_drive_0034.yaml │ │ └── kitti_2011_10_03_drive_0042.yaml ├── kitti360 │ └── unsync │ │ ├── kitti360_2013_05_28_drive_0000.yaml │ │ ├── kitti360_2013_05_28_drive_0002.yaml │ │ ├── kitti360_2013_05_28_drive_0005.yaml │ │ ├── kitti360_2013_05_28_drive_0006.yaml │ │ ├── kitti360_2013_05_28_drive_0007.yaml │ │ └── kitti360_2013_05_28_drive_0010.yaml ├── rtg │ └── hotel.yaml └── waymo │ ├── Scene01.yaml │ ├── Scene03.yaml │ ├── Scene07.yaml │ ├── Scene13.yaml │ ├── Scene14.yaml │ ├── Scene15.yaml │ ├── Scene32.yaml │ └── nerfslam │ ├── Scene01.yaml │ ├── Scene03.yaml │ └── Scene14.yaml ├── docs ├── PREPARE_DATA.md └── logo.png ├── requirements.txt ├── scripts ├── datasets │ ├── bonn.py │ ├── bundlefusion.py │ ├── custom.py │ ├── hierarchical.py │ ├── kintinuous.py │ ├── kitti360_unsync.py │ ├── kitti_sync.py │ ├── kitti_sync_nosky.py │ ├── meganerf.py │ ├── mobile.py │ ├── mobile_offline.py │ ├── phone.py │ ├── phone_server.py │ ├── phone_vio.py │ ├── pth.py │ ├── pykitti_unsync │ │ ├── pykitti_utils.py │ │ └── raw.py │ ├── realsense_vio.py │ ├── replica.py │ ├── rtgslam.py │ ├── scannetv1.py │ ├── tartanair.py │ ├── tumrgbd.py │ ├── urbanscene3d.py │ ├── waymo.py │ └── weilai.py ├── dynamic │ └── dynamic_utils.py ├── frontend │ ├── covisible_graph.py │ ├── data_readers │ │ ├── __init__.py │ │ ├── augmentation.py │ │ ├── base.py │ │ ├── factory.py │ │ ├── rgbd_utils.py │ │ ├── stream.py │ │ ├── tartan.py │ │ └── tartan_test.txt │ ├── dbaf.py │ ├── dbaf_frontend.py │ ├── depth_video.py │ ├── droid_net.py │ ├── geoFunc │ │ ├── __init__.py │ │ ├── const_value.py │ │ └── trans.py │ ├── geom │ │ ├── __init__.py │ │ ├── ba.py │ │ ├── chol.py │ │ ├── graph_utils.py │ │ ├── losses.py │ │ └── projective_ops.py │ ├── modules │ │ ├── __init__.py │ │ ├── clipping.py │ │ ├── corr.py │ │ ├── extractor.py │ │ └── gru.py │ ├── motion_filter.py │ └── multi_sensor.py ├── frontend_vo │ ├── droid_net_nerfslam.py │ ├── geom │ │ ├── __init__.py │ │ ├── ba.py │ │ ├── chol.py │ │ ├── graph_utils.py │ │ ├── losses.py │ │ ├── projective_ops.py │ │ └── rgbd_utils.py │ ├── modules │ │ ├── __init__.py │ │ ├── clipping.py │ │ ├── corr.py │ │ ├── extractor.py │ │ └── gru.py │ ├── slam │ │ ├── meta_slam.py │ │ └── visual_frontends │ │ │ └── visual_frontend.py │ ├── solvers │ │ ├── __init__.py │ │ ├── linear_solver.py │ │ └── nonlinear_solver.py │ ├── vio_slam.py │ └── vo_factor_graph │ │ ├── __init__.py │ │ ├── factor.py │ │ ├── factor_graph.py │ │ ├── key.py │ │ ├── loss_function.py │ │ └── variables.py ├── gaussian │ ├── cameras.py │ ├── data_utils.py │ ├── gaussian_base.py │ ├── gaussian_model.py │ ├── gaussian_utils.py │ ├── general_utils.py │ ├── loss_utils.py │ ├── normal_utils.py │ ├── sky_utils.py │ ├── tf.py │ ├── vis_utils.py │ └── wandb_utils.py ├── loop │ ├── lightglue.py │ ├── loop_detect.py │ ├── loop_model.py │ ├── loop_model_gps.py │ ├── loop_rectify.py │ └── loop_utils.py ├── metric │ ├── metric3d.py │ ├── metric_model.py │ ├── quick_notes.md │ ├── requirements.txt │ └── zoedepth.py ├── run.py ├── run_mapping.py ├── run_mobile.py ├── run_multiprocess.py ├── run_multiprocess_mobile.py ├── run_multiprocess_novis.py ├── run_tracking.py ├── server │ └── server.py ├── storage │ └── storage_manage.py └── vings_utils │ ├── gtsam_utils.py │ ├── middleware_utils.py │ ├── pytorch3d_utils.py │ ├── refineposes_utils.py │ └── samplebackward_utils.py └── set_env.sh /.gitignore: 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