├── .gitignore ├── .gitmodules ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── configs ├── Custom │ └── custom_template.yaml ├── Dynamic │ ├── Bonn │ │ ├── bonn_balloon.yaml │ │ ├── bonn_balloon2.yaml │ │ ├── bonn_crowd.yaml │ │ ├── bonn_crowd2.yaml │ │ ├── bonn_dynamic.yaml │ │ ├── bonn_moving_nonobstructing_box.yaml │ │ ├── bonn_moving_nonobstructing_box2.yaml │ │ ├── bonn_person_tracking.yaml │ │ └── bonn_person_tracking2.yaml │ ├── TUM_RGBD │ │ ├── freiburg2_desk_with_person.yaml │ │ ├── freiburg3_sitting_halfsphere.yaml │ │ ├── freiburg3_sitting_halfsphere_static.yaml │ │ ├── freiburg3_sitting_rpy.yaml │ │ ├── freiburg3_sitting_xyz.yaml │ │ ├── freiburg3_walking_halfsphere.yaml │ │ ├── freiburg3_walking_halfsphere_static.yaml │ │ ├── freiburg3_walking_rpy.yaml │ │ ├── freiburg3_walking_xyz.yaml │ │ └── tum_dynamic.yaml │ ├── Wild_SLAM_Mocap │ │ ├── ANYmal1.yaml │ │ ├── ANYmal2.yaml │ │ ├── ball.yaml │ │ ├── crowd.yaml │ │ ├── crowd_demo.yaml │ │ ├── person_tracking.yaml │ │ ├── racket.yaml │ │ ├── stones.yaml │ │ ├── table_tracking1.yaml │ │ ├── table_tracking2.yaml │ │ ├── umbrella.yaml │ │ └── wild_slam_mocap.yaml │ └── Wild_SLAM_iPhone │ │ ├── horse.yaml │ │ ├── parking.yaml │ │ ├── piano.yaml │ │ ├── shopping.yaml │ │ ├── street.yaml │ │ ├── tower.yaml │ │ ├── wall.yaml │ │ ├── wandering.yaml │ │ └── wild_slam_iphone.yaml ├── Static │ ├── TUM_RGBD │ │ ├── freiburg1_desk.yaml │ │ ├── freiburg2_xyz.yaml │ │ ├── freiburg3_office.yaml │ │ └── tum.yaml │ └── seven_scenes │ │ ├── chess.yaml │ │ ├── fire.yaml │ │ ├── heads.yaml │ │ ├── office.yaml │ │ ├── pumpkin.yaml │ │ ├── redkitchen.yaml │ │ ├── seven_scenes.yaml │ │ └── stairs.yaml └── wildgs_slam.yaml ├── media └── teaser.png ├── requirements.txt ├── run.py ├── scripts_downloading ├── download_bonn.sh ├── download_demo_data.sh ├── download_tum.sh ├── download_wild_slam_iphone.sh ├── download_wild_slam_mocap_scene1.sh └── download_wild_slam_mocap_scene2.sh ├── scripts_run ├── run_bonn_all.sh ├── run_tum_dynamic_all.sh ├── run_wild_slam_mocap_all.sh └── summarize_pose_eval.py ├── setup.py ├── src ├── __init__.py ├── backend.py ├── config.py ├── depth_video.py ├── factor_graph.py ├── frontend.py ├── geom │ ├── __init__.py │ ├── ba.py │ ├── chol.py │ └── projective_ops.py ├── gui │ ├── gl_render │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── render_ogl.py │ │ ├── shaders │ │ │ ├── gau_frag.glsl │ │ │ └── gau_vert.glsl │ │ ├── util.py │ │ └── util_gau.py │ ├── gui_utils.py │ └── slam_gui.py ├── lib │ ├── altcorr_kernel.cu │ ├── correlation_kernels.cu │ ├── droid.cpp │ └── droid_kernels.cu ├── mapper.py ├── modules │ └── droid_net │ │ ├── __init__.py │ │ ├── clipping.py │ │ ├── corr.py │ │ ├── droid_net.py │ │ ├── extractor.py │ │ └── gru.py ├── motion_filter.py ├── slam.py ├── tracker.py ├── trajectory_filler.py └── utils │ ├── Printer.py │ ├── camera_utils.py │ ├── common.py │ ├── datasets.py │ ├── dyn_uncertainty │ ├── __init__.py │ ├── mapping_utils.py │ ├── median_filter.py │ └── uncertainty_model.py │ ├── eval_traj.py │ ├── eval_utils.py │ ├── mono_priors │ ├── img_feature_extractors.py │ └── metric_depth_estimators.py │ ├── plot_utils.py │ ├── pose_utils.py │ └── slam_utils.py └── thirdparty ├── __init__.py ├── depth_anything_v2 ├── DA-2K.md ├── LICENSE ├── README.md ├── app.py ├── assets │ ├── DA-2K.png │ ├── examples │ │ ├── demo01.jpg │ │ ├── demo02.jpg │ │ ├── demo03.jpg │ │ ├── demo04.jpg │ │ ├── demo05.jpg │ │ ├── demo06.jpg │ │ ├── demo07.jpg │ │ ├── demo08.jpg │ │ ├── demo09.jpg │ │ ├── demo10.jpg │ │ ├── demo11.jpg │ │ ├── demo12.jpg │ │ ├── demo13.jpg │ │ ├── demo14.jpg │ │ ├── demo15.jpg │ │ ├── demo16.jpg │ │ ├── demo17.jpg │ │ ├── demo18.jpg │ │ ├── demo19.jpg │ │ └── demo20.jpg │ ├── examples_video │ │ ├── basketball.mp4 │ │ └── ferris_wheel.mp4 │ └── teaser.png ├── depth_anything_v2 │ ├── dinov2.py │ ├── dinov2_layers │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── block.py │ │ ├── drop_path.py │ │ ├── layer_scale.py │ │ ├── mlp.py │ │ ├── patch_embed.py │ │ └── swiglu_ffn.py │ ├── dpt.py │ └── util │ │ ├── blocks.py │ │ └── transform.py ├── metric_depth │ ├── README.md │ ├── assets │ │ └── compare_zoedepth.png │ ├── dataset │ │ ├── hypersim.py │ │ ├── kitti.py │ │ ├── splits │ │ │ ├── hypersim │ │ │ │ ├── train.txt │ │ │ │ └── val.txt │ │ │ ├── kitti │ │ │ │ └── val.txt │ │ │ └── vkitti2 │ │ │ │ └── train.txt │ │ ├── transform.py │ │ └── vkitti2.py │ ├── depth_anything_v2 │ │ ├── dinov2.py │ │ ├── dinov2_layers │ │ │ ├── __init__.py │ │ │ ├── attention.py │ │ │ ├── block.py │ │ │ ├── drop_path.py │ │ │ ├── layer_scale.py │ │ │ ├── mlp.py │ │ │ ├── patch_embed.py │ │ │ └── swiglu_ffn.py │ │ ├── dpt.py │ │ └── util │ │ │ ├── blocks.py │ │ │ └── transform.py │ ├── depth_to_pointcloud.py │ ├── dist_train.sh │ ├── requirements.txt │ ├── run.py │ ├── train.py │ └── util │ │ ├── dist_helper.py │ │ ├── loss.py │ │ ├── metric.py │ │ └── utils.py ├── requirements.txt ├── run.py └── run_video.py └── gaussian_splatting ├── 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