├── .gitignore ├── .gitmodules ├── README.md ├── assets ├── GREAT.png ├── abs2_.png ├── calib.gif ├── cross.png ├── kitti_traj1.svg ├── kitti_traj2.svg ├── mast3r-fusion1.gif ├── mast3r-fusion2.gif ├── mast3r-fusion3.gif ├── mast3r-fusion4.gif ├── recon.png ├── subt0_traj.svg ├── subt1_traj.svg └── whu.png ├── batch_kitti360_loop.sh ├── batch_kitti360_vi.sh ├── batch_subt_loop.sh ├── batch_subt_vi.sh ├── config ├── base_kitti360.yaml ├── base_subt_handheld.yaml ├── base_subt_overexposure.yaml ├── intrinsics_kitti360.yaml ├── intrinsics_subt_handheld.yaml └── intrinsics_subt_overexposure.yaml ├── evaluation ├── check_h5.py ├── evaluate_kitti360.py └── evaluate_subt.py ├── main.py ├── main_global_optimization.py ├── main_loop.py ├── mast3r_fusion ├── __init__.py ├── backend │ ├── include │ │ ├── aligncore.h │ │ └── gn.h │ └── src │ │ ├── gn.cpp │ │ ├── gn_kernels.cu │ │ └── matching_kernels.cu ├── config.py ├── dataloader.py ├── evaluate.py ├── frame.py ├── geoFunc │ ├── __init__.py │ ├── const_value.py │ ├── data_utils.py │ └── trans.py ├── geometry.py ├── global_opt.py ├── image.py ├── lietorch_utils.py ├── mast3r_utils.py ├── matching.py ├── multiprocess_utils.py ├── nonlinear_optimizer.py ├── retrieval_database.py ├── tictoc.py ├── tracker.py ├── vio_utils.py ├── visualization.py └── visualization_utils.py ├── pyproject.toml ├── resources └── programs │ ├── custom_pointcloud.frag │ ├── custom_pointcloud.glsl │ ├── lidar_pointcloud.glsl │ ├── surfelmap.glsl │ └── trianglemap.glsl ├── setup.py └── thirdparty ├── in3d ├── .gitignore ├── in3d │ ├── __init__.py │ ├── camera.py │ ├── color.py │ ├── geometry.py │ ├── image.py │ ├── imgui.py │ ├── logger.py │ ├── pose_utils.py │ ├── program.py │ ├── viewport_window.py │ └── window.py ├── main.py ├── pyproject.toml ├── resources │ ├── fonts │ │ ├── Cousine-Regular.ttf │ │ ├── DroidSans.ttf │ │ └── Roboto-Medium.ttf │ ├── meshes │ │ ├── bunny.obj │ │ ├── lucy.obj │ │ └── mustard_bottle.ply │ └── programs │ │ ├── cube_simple.glsl │ │ ├── depth2mesh.glsl │ │ ├── lines.glsl │ │ ├── lines_debug.glsl │ │ ├── normals.glsl │ │ ├── phong.glsl │ │ └── points.glsl ├── setup.py └── test.py └── mast3r ├── .gitignore ├── .gitmodules ├── CHECKPOINTS_NOTICE ├── LICENSE ├── NOTICE ├── README.md ├── asmk ├── .gitignore ├── LICENSE ├── README.md ├── asmk │ ├── __init__.py │ ├── asmk_method.py │ ├── codebook.py │ ├── functional.py │ ├── index.py │ ├── inverted_file.py │ ├── io_helpers.py │ └── kernel.py ├── cython │ ├── build.sh │ ├── hamming.c │ └── hamming.pyx ├── examples │ ├── demo_how.py │ └── params │ │ ├── _eccv20_how.yml │ │ ├── eccv20_how_r18_1000.yml │ │ ├── eccv20_how_r50-_1000.yml │ │ └── eccv20_how_r50-_2000.yml ├── pyproject.toml ├── setup.py └── test │ └── test_hamming.py ├── assets ├── NLE_tower │ ├── 01D90321-69C8-439F-B0B0-E87E7634741C-83120-000041DAE419D7AE.jpg │ ├── 1AD85EF5-B651-4291-A5C0-7BDB7D966384-83120-000041DADF639E09.jpg │ ├── 2679C386-1DC0-4443-81B5-93D7EDE4AB37-83120-000041DADB2EA917.jpg │ ├── 28EDBB63-B9F9-42FB-AC86-4852A33ED71B-83120-000041DAF22407A1.jpg │ ├── 91E9B685-7A7D-42D7-B933-23A800EE4129-83120-000041DAE12C8176.jpg │ ├── CDBBD885-54C3-4EB4-9181-226059A60EE0-83120-000041DAE0C3D612.jpg │ └── FF5599FD-768B-431A-AB83-BDA5FB44CB9D-83120-000041DADDE35483.jpg ├── demo.jpg ├── examples.jpg ├── mast3r.jpg ├── mast3r_archi.jpg └── matching.jpg ├── demo.py ├── demo_dust3r_ga.py ├── docker ├── docker-compose-cpu.yml ├── docker-compose-cuda.yml ├── files │ ├── cpu.Dockerfile │ ├── cuda.Dockerfile │ └── entrypoint.sh └── run.sh ├── dust3r ├── .gitignore ├── .gitmodules ├── LICENSE ├── NOTICE ├── README.md ├── assets │ ├── demo.jpg │ ├── dust3r.jpg │ ├── dust3r_archi.jpg │ ├── matching.jpg │ └── pipeline1.jpg ├── croco │ ├── LICENSE │ ├── NOTICE │ ├── README.MD │ ├── assets │ │ ├── Chateau1.png │ │ ├── Chateau2.png │ │ └── arch.jpg │ ├── croco-stereo-flow-demo.ipynb │ ├── demo.py │ ├── interactive_demo.ipynb │ ├── models │ │ ├── blocks.py │ │ ├── criterion.py │ │ ├── croco.py │ │ ├── croco_downstream.py │ │ ├── curope │ │ │ ├── __init__.py │ │ │ ├── curope.cpp │ │ │ ├── curope2d.py │ │ │ ├── kernels.cu │ │ │ └── setup.py │ │ ├── dpt_block.py │ │ ├── head_downstream.py │ │ ├── masking.py │ │ └── pos_embed.py │ ├── pretrain.py │ ├── stereoflow │ │ ├── README.MD │ │ ├── augmentor.py │ │ ├── criterion.py │ │ ├── datasets_flow.py │ │ ├── datasets_stereo.py │ │ ├── download_model.sh │ │ ├── engine.py │ │ ├── test.py │ │ └── train.py │ └── utils │ │ └── misc.py ├── datasets_preprocess │ ├── habitat │ │ ├── README.md │ │ ├── find_scenes.py │ │ ├── habitat_renderer │ │ │ ├── __init__.py │ │ │ ├── habitat_sim_envmaps_renderer.py │ │ │ ├── multiview_crop_generator.py │ │ │ ├── projections.py │ │ │ └── projections_conversions.py │ │ └── preprocess_habitat.py │ ├── path_to_root.py │ ├── preprocess_arkitscenes.py │ ├── preprocess_blendedMVS.py │ ├── preprocess_co3d.py │ ├── preprocess_megadepth.py │ ├── preprocess_scannetpp.py │ ├── preprocess_staticthings3d.py │ ├── preprocess_waymo.py │ └── preprocess_wildrgbd.py ├── demo.py ├── docker │ ├── docker-compose-cpu.yml │ ├── docker-compose-cuda.yml │ ├── files │ │ ├── cpu.Dockerfile │ │ ├── cuda.Dockerfile │ │ └── entrypoint.sh │ └── run.sh ├── dust3r │ ├── __init__.py │ ├── cloud_opt │ │ ├── __init__.py │ │ ├── base_opt.py │ │ ├── commons.py │ │ ├── init_im_poses.py │ │ ├── modular_optimizer.py │ │ ├── optimizer.py │ │ └── pair_viewer.py │ ├── demo.py │ ├── heads │ │ ├── __init__.py │ │ ├── dpt_head.py │ │ ├── linear_head.py │ │ └── postprocess.py │ ├── image_pairs.py │ ├── inference.py │ ├── losses.py │ ├── model.py │ ├── optim_factory.py │ ├── patch_embed.py │ ├── post_process.py │ ├── training.py │ ├── utils │ │ ├── __init__.py │ │ ├── device.py │ │ ├── geometry.py │ │ ├── image.py │ │ ├── misc.py │ │ ├── parallel.py │ │ └── path_to_croco.py │ └── viz.py ├── dust3r_visloc │ ├── README.md │ ├── __init__.py │ ├── evaluation.py │ └── 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