├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── README.md ├── catkin_ws └── src │ ├── CMakeLists.txt │ └── sgloop_ros │ ├── CMakeLists.txt │ ├── include │ ├── SlidingWindow.h │ ├── Visualization.h │ ├── communication │ │ └── Communication.h │ ├── registration │ │ ├── Prune.h │ │ └── robustPoseAvg.h │ └── utility │ │ └── CameraPoseVisualization.h │ ├── launch │ ├── m3d_mapping.launch │ ├── mapping.rviz │ ├── render_our_sgslam.launch │ ├── render_semantic_map.launch │ ├── render_slabim_result.launch │ ├── semantic_mapping.launch │ ├── slabim_mapping.launch │ └── visualize.launch │ ├── msg │ ├── CoarseGraph.msg │ └── DenseGraph.msg │ ├── package.xml │ └── src │ ├── MappingNode.cpp │ ├── RenderNode.cpp │ ├── Visualization.cpp │ ├── communication │ └── Communication.cpp │ ├── registration │ ├── Prune.cpp │ └── robustPoseAvg.cpp │ └── utility │ └── CameraPoseVisualization.cpp ├── cmake ├── eigen.cmake ├── glog.cmake ├── gtsam.cmake ├── jsoncpp.cmake ├── open3d.cmake └── opencv.cmake ├── config ├── fusion_portable.yaml ├── matterport.yaml ├── realsense.yaml ├── render_3rscan.yaml ├── rio.yaml ├── scannet.yaml └── slabim.yaml ├── doc ├── DATA.md ├── rviz_gui.png ├── seng_map_720p.gif ├── system.png └── ust_atrium_light.gif ├── measurement_model ├── bayesian │ ├── detection_likelihood.png │ ├── likelihood_matrix.png │ └── ram_likelihood.png ├── bayesian_model.txt └── hardcode │ └── likelihood_matrix.png ├── scripts ├── prepare_rag_data.py ├── process_slabim_pcd.py ├── rerun_visualize.py ├── run_instance_integration.py ├── uncompress_data.py ├── utils.py ├── visualize.ipynb └── visualize.py ├── splits └── scannet_val.txt └── src ├── CMakeLists.txt ├── Common.h ├── GraphMatch.cpp ├── IntegrateInstanceMap.cpp ├── IntegrateRGBD.cpp ├── cluster ├── PoseGraph.cpp └── PoseGraph.h ├── mapping ├── BayesianLabel.h ├── Detection.cpp ├── Detection.h ├── Instance.cpp ├── Instance.h ├── SemanticDict.h ├── SemanticMapping.cpp ├── SemanticMapping.h ├── SubVolume.cpp └── SubVolume.h ├── sgloop ├── BertBow.cpp ├── BertBow.h ├── Graph.cpp ├── Graph.h ├── Initialization.h ├── LoopDetector.cpp ├── LoopDetector.h ├── SGNet.cpp ├── SGNet.h ├── ShapeEncoder.cpp └── ShapeEncoder.h ├── tokenizer ├── CMakeLists.txt ├── basic_string_util.h ├── bert_tokenizer.cc ├── bert_tokenizer.h ├── logging.h ├── source │ ├── utf8.h │ └── utf8 │ │ ├── checked.h │ │ ├── core.h │ │ ├── cpp11.h │ │ ├── cpp17.h │ │ ├── cpp20.h │ │ └── unchecked.h ├── text_tokenizer.cc └── text_tokenizer.h └── tools ├── Color.h ├── Eval.h ├── IO.cpp ├── IO.h ├── TicToc.h ├── Tools.h ├── Utility.cpp ├── Utility.h ├── Visualization.cpp └── g3reg_api.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/FM-Fusion/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 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