├── README.md ├── assets ├── PLV.png ├── cover_2.png ├── encoder.png └── toy_result.png ├── configs └── replica │ ├── office0.yaml │ ├── office0_custom.yaml │ ├── office0_w_clip.yaml │ └── office0_w_slam.yaml ├── demo.py ├── example ├── office0 │ ├── depth000000.png │ ├── depth000020.png │ ├── frame000000.jpg │ ├── frame000020.jpg │ └── traj.txt ├── render_w_lim.py ├── toy.py └── util.py ├── external └── openseg │ └── openseg_api.py ├── scripts └── download_replica.sh ├── setup.py ├── uni ├── __init__.py ├── dataset │ ├── 3dscene.py │ ├── NICE_SLAM_config │ │ └── demo.yaml │ ├── NICE_SLAM_dataset.py │ ├── __init__.py │ ├── aug_icl.py │ ├── azure.py │ ├── bpnet_scannet.py │ ├── custom.py │ ├── custom_w_slam.py │ ├── fountain.py │ ├── icl_nuim.py │ ├── latent_map.py │ ├── matterport3d.py │ ├── replica.py │ ├── scannet.py │ └── tum.py ├── encoder │ ├── __init__.py │ ├── position_encoder.pth │ ├── uni_encoder_v2.py │ └── utility.py ├── ext │ ├── __init__.py │ ├── imgproc │ │ ├── common.cuh │ │ ├── imgproc.cpp │ │ ├── imgproc.cu │ │ └── photometric.cu │ ├── indexing │ │ ├── indexing.cpp │ │ └── indexing.cu │ ├── marching_cubes │ │ ├── mc.cpp │ │ ├── mc_data.cuh │ │ └── mc_interp_kernel.cu │ └── pcproc │ │ ├── cuda_kdtree.cu │ │ ├── cuda_kdtree.cuh │ │ ├── cutil_math.h │ │ ├── pcproc.cpp │ │ └── pcproc.cu ├── mapper │ ├── __init__.py │ ├── base_map.py │ ├── context_map_v2.py │ ├── latent_map.py │ └── surface_map.py ├── tracker │ ├── __init__.py │ ├── cicp.py │ └── tracker_custom.py └── utils │ ├── __init__.py │ ├── exp_util.py │ ├── linalg_util.py │ ├── motion_util.py │ ├── pt_util.py │ ├── ray_cast.py │ ├── torch_scatter.py │ └── vis_util.py └── vis_LIMs.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Jarrome/Uni-Fusion/HEAD/README.md -------------------------------------------------------------------------------- /assets/PLV.png: 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