├── .clang-format ├── .cmake-format.yaml ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── feature_request.md │ └── question.md ├── contributing.md └── workflows │ └── ci.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── DISCLAIMER ├── LICENSE ├── MANIFEST.in ├── README.md ├── cmake ├── HydraBuildConfig.cmake ├── HydraSourceDependencies.cmake ├── hydraConfig.cmake.in ├── hydra_build_config.h.in └── ort.CMakeLists.txt.in ├── colcon.pkg ├── config ├── datasets │ ├── d455_outdoor.yaml │ ├── habitat.yaml │ ├── kimera_multi_ouster64.yaml │ ├── kimera_multi_rgbd.yaml │ ├── kimera_multi_velodyne16.yaml │ ├── kitti_360.yaml │ ├── pennquad.yaml │ ├── sidpac.yaml │ ├── simmons_a1.yaml │ ├── simmons_jackal.yaml │ ├── spot.yaml │ └── uhumans2.yaml ├── label_remaps │ ├── tesse_cd_apartment.yaml │ ├── tesse_cd_office.yaml │ ├── uhumans2_apartment.yaml │ ├── uhumans2_neighborhood.yaml │ ├── uhumans2_office.yaml │ └── uhumans2_subway.yaml ├── label_spaces │ ├── ade20k_full_label_space.yaml │ ├── ade20k_indoor_label_space.yaml │ ├── ade20k_mit_label_space.yaml │ ├── ade20k_mp3d_label_space.yaml │ ├── ade20k_outdoor_label_space.yaml │ ├── kitti_360_label_space.yaml │ ├── mpcat40_label_space.yaml │ ├── phoenix_label_space.yaml │ ├── tesse_cd_apartment_label_space.yaml │ ├── tesse_cd_office_label_space.yaml │ ├── uhumans2_apartment_label_space.yaml │ ├── uhumans2_office_label_space.yaml │ └── uhumans2_subway_label_space.yaml └── lcd │ ├── default.yaml │ ├── default_gnn.yaml │ ├── uhumans2.yaml │ └── uhumans2_gnn.yaml ├── dev ├── check-code.sh ├── check-licenses.sh ├── check_license.py ├── cpp-header.txt ├── python-header.txt └── reformat.sh ├── doc ├── debugging.md └── media │ └── hydra.GIF ├── eval ├── CMakeLists.txt ├── README.md ├── include │ └── hydra │ │ └── eval │ │ ├── graph_utilities.h │ │ ├── place_evaluator.h │ │ ├── place_metrics.h │ │ ├── progress.h │ │ ├── room_evaluator.h │ │ ├── room_io.h │ │ └── room_metrics.h ├── pyproject.toml ├── python │ └── hydra_eval │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── commands │ │ └── timing.py │ │ └── timing.py ├── src │ ├── graph_utilities.cpp │ ├── place_evaluator.cpp │ ├── place_metrics.cpp │ ├── room_evaluator.cpp │ ├── room_io.cpp │ └── room_metrics.cpp └── tools │ ├── compress_graph.cpp │ ├── compute_filtrations.cpp │ ├── evaluate_places.cpp │ ├── evaluate_rooms.cpp │ ├── gt_trajectory_optimizer.cpp │ ├── merge_graphs.cpp │ └── optimize_graph.cpp ├── include └── hydra │ ├── active_window │ ├── active_window_module.h │ ├── active_window_output.h │ ├── reconstruction_module.h │ └── volumetric_window.h │ ├── backend │ ├── association_strategies.h │ ├── backend_input.h │ ├── backend_module.h │ ├── backend_utilities.h │ ├── deformation_interpolator.h │ ├── dsg_updater.h │ ├── external_loop_closure_receiver.h │ ├── merge_proposer.h │ ├── merge_tracker.h │ ├── mesh_clustering.h │ ├── mst_factors.h │ ├── pgmo_configs.h │ ├── surface_place_utilities.h │ ├── update_agents_functor.h │ ├── update_buildings_functor.h │ ├── update_frontiers_functor.h │ ├── update_functions.h │ ├── update_objects_functor.h │ ├── update_places_functor.h │ ├── update_rooms_functor.h │ ├── update_surface_places_functor.h │ └── zmq_interfaces.h │ ├── common │ ├── batch_pipeline.h │ ├── common_types.h │ ├── config_utilities.h │ ├── dsg_types.h │ ├── global_info.h │ ├── graph_update.h │ ├── hydra_pipeline.h │ ├── label_remapper.h │ ├── label_space_config.h │ ├── launch_callbacks.h │ ├── message_queue.h │ ├── module.h │ ├── output_sink.h │ ├── pipeline_queues.h │ ├── robot_prefix_config.h │ ├── semantic_color_map.h │ ├── shared_dsg_info.h │ └── shared_module_state.h │ ├── frontend │ ├── freespace_places_interface.h │ ├── frontier_extractor.h │ ├── graph_builder.h │ ├── graph_connector.h │ ├── gvd_place_extractor.h │ ├── mesh_segmenter.h │ ├── place_2d_segmenter.h │ ├── place_2d_split_logic.h │ ├── place_mesh_connector.h │ ├── surface_places_interface.h │ ├── view_database.h │ └── view_selector.h │ ├── gnn │ ├── gnn_interface.h │ ├── ort_utilities.h │ └── tensor.h │ ├── input │ ├── camera.h │ ├── data_receiver.h │ ├── input_conversion.h │ ├── input_data.h │ ├── input_module.h │ ├── input_packet.h │ ├── lidar.h │ ├── sensor.h │ ├── sensor_extrinsics.h │ ├── sensor_input_packet.h │ └── sensor_utilities.h │ ├── loop_closure │ ├── descriptor_matching.h │ ├── detector.h │ ├── gnn_descriptors.h │ ├── lcd_input.h │ ├── loop_closure_config.h │ ├── loop_closure_module.h │ ├── registration.h │ ├── registration_solution.h │ ├── scene_graph_descriptors.h │ └── subgraph_extraction.h │ ├── odometry │ ├── pose_graph_from_odom.h │ └── pose_graph_tracker.h │ ├── openset │ ├── embedding_distances.h │ ├── embedding_group.h │ ├── embedding_pooling.h │ └── openset_types.h │ ├── places │ ├── graph_extractor.h │ ├── graph_extractor_utilities.h │ ├── gvd_graph.h │ ├── gvd_integrator.h │ ├── gvd_integrator_config.h │ ├── gvd_merge_policies.h │ ├── gvd_parent_tracker.h │ ├── gvd_utilities.h │ ├── gvd_voxel.h │ ├── robot_footprint_integrator.h │ └── update_statistics.h │ ├── reconstruction │ ├── index_getter.h │ ├── integration_masking.h │ ├── marching_cubes.h │ ├── mesh_integrator.h │ ├── mesh_integrator_config.h │ ├── projection_interpolators.h │ ├── projective_integrator.h │ ├── semantic_integrator.h │ ├── tsdf_interpolators.h │ ├── volumetric_map.h │ └── voxel_types.h │ ├── rooms │ ├── graph_clustering.h │ ├── graph_filtration.h │ ├── room_finder.h │ ├── room_finder_config.h │ └── room_utilities.h │ └── utils │ ├── active_window_tracker.h │ ├── bucket_queue.h │ ├── csv_reader.h │ ├── data_directory.h │ ├── disjoint_set.h │ ├── display_utilities.h │ ├── id_tracker.h │ ├── layer_io.h │ ├── mesh_utilities.h │ ├── minimum_spanning_tree.h │ ├── nearest_neighbor_utilities.h │ ├── pgmo_glog_sink.h │ ├── pgmo_mesh_interface.h │ ├── pgmo_mesh_traits.h │ ├── place_2d_ellipsoid_math.h │ ├── printing.h │ └── timing_utilities.h ├── install └── packages.yaml ├── models ├── .gitignore └── lcd │ ├── .gitignore │ ├── object_gnn.onnx │ └── place_gnn.onnx ├── notebooks ├── filtration_debugging.py ├── homology_seeded_clustering.py ├── lcd_brainstorming.py ├── lcd_debugging.py ├── mp3d_navgraphs.py ├── room_debugging.py └── room_detection_comparisons.py ├── output └── .gitignore ├── package.xml ├── pyproject.toml ├── python ├── CMakeLists.txt ├── README.md ├── bindings │ ├── include │ │ └── hydra │ │ │ └── bindings │ │ │ ├── color_parser.h │ │ │ ├── depth_parser.h │ │ │ ├── glog_utilities.h │ │ │ ├── label_parser.h │ │ │ ├── python_batch.h │ │ │ ├── python_image.h │ │ │ ├── python_pipeline.h │ │ │ ├── python_reconstruction.h │ │ │ ├── python_sensor_input.h │ │ │ └── python_sensors.h │ └── src │ │ ├── bindings.cpp │ │ ├── color_parser.cpp │ │ ├── depth_parser.cpp │ │ ├── glog_utilities.cpp │ │ ├── label_parser.cpp │ │ ├── python_batch.cpp │ │ ├── python_image.cpp │ │ ├── python_pipeline.cpp │ │ ├── python_reconstruction.cpp │ │ ├── python_sensor_input.cpp │ │ └── python_sensors.cpp ├── src │ └── hydra_python │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── commands │ │ ├── __init__.py │ │ ├── batch.py │ │ ├── main.py │ │ ├── run.py │ │ └── visualize.py │ │ ├── data_callbacks.py │ │ ├── pipeline.py │ │ ├── semantics │ │ ├── __init__.py │ │ ├── onnx.py │ │ └── segmentation_colormap.py │ │ ├── simulators │ │ ├── __init__.py │ │ ├── habitat.py │ │ └── simulator_interface.py │ │ └── trajectory_utilities.py └── tests │ ├── conftest.py │ ├── test_config.py │ ├── test_image_bindings.py │ ├── test_sensor_input.py │ └── test_trajectory.py ├── scripts ├── export_label_embeddings.py ├── export_mp3d_navgraphs.py ├── generate_mp3d_trajectories.py ├── make_colormap.py ├── make_label_space.py ├── modify_dgraph.py ├── plot_filtration.py └── plot_room_finder_dump.py ├── setup.py ├── src ├── CMakeLists.txt ├── active_window │ ├── CMakeLists.txt │ ├── active_window_module.cpp │ ├── active_window_output.cpp │ ├── reconstruction_module.cpp │ └── volumetric_window.cpp ├── backend │ ├── CMakeLists.txt │ ├── association_strategies.cpp │ ├── backend_module.cpp │ ├── backend_utilities.cpp │ ├── deformation_interpolator.cpp │ ├── dsg_updater.cpp │ ├── external_loop_closure_receiver.cpp │ ├── merge_proposer.cpp │ ├── merge_tracker.cpp │ ├── mesh_clustering.cpp │ ├── mst_factors.cpp │ ├── pgmo_configs.cpp │ ├── surface_place_utilities.cpp │ ├── update_agents_functor.cpp │ ├── update_buildings_functor.cpp │ ├── update_frontiers_functor.cpp │ ├── update_functions.cpp │ ├── update_objects_functor.cpp │ ├── update_places_functor.cpp │ ├── update_rooms_functor.cpp │ ├── update_surface_places_functor.cpp │ └── zmq_interfaces.cpp ├── common │ ├── CMakeLists.txt │ ├── batch_pipeline.cpp │ ├── config_utilities.cpp │ ├── global_info.cpp │ ├── graph_update.cpp │ ├── hydra_pipeline.cpp │ ├── label_remapper.cpp │ ├── label_space_config.cpp │ ├── pipeline_queues.cpp │ ├── robot_prefix_config.cpp │ ├── semantic_color_map.cpp │ ├── shared_dsg_info.cpp │ └── shared_module_state.cpp ├── frontend │ ├── CMakeLists.txt │ ├── frontier_extractor.cpp │ ├── graph_builder.cpp │ ├── graph_connector.cpp │ ├── gvd_place_extractor.cpp │ ├── mesh_segmenter.cpp │ ├── place_2d_segmenter.cpp │ ├── place_2d_split_logic.cpp │ ├── place_mesh_connector.cpp │ ├── view_database.cpp │ └── view_selector.cpp ├── gnn │ ├── CMakeLists.txt │ ├── gnn_interface.cpp │ ├── gnn_model_reader.cpp │ ├── ort_utilities.cpp │ └── tensor.cpp ├── input │ ├── CMakeLists.txt │ ├── camera.cpp │ ├── data_receiver.cpp │ ├── input_conversion.cpp │ ├── input_module.cpp │ ├── input_packet.cpp │ ├── lidar.cpp │ ├── sensor.cpp │ ├── sensor_extrinsics.cpp │ ├── sensor_input_packet.cpp │ └── sensor_utilities.cpp ├── loop_closure │ ├── CMakeLists.txt │ ├── descriptor_matching.cpp │ ├── detector.cpp │ ├── gnn_descriptors.cpp │ ├── loop_closure_config.cpp │ ├── loop_closure_module.cpp │ ├── registration.cpp │ ├── scene_graph_descriptors.cpp │ └── subgraph_extraction.cpp ├── odometry │ ├── CMakeLists.txt │ ├── pose_graph_from_odom.cpp │ └── pose_graph_tracker.cpp ├── openset │ ├── CMakeLists.txt │ ├── embedding_distances.cpp │ ├── embedding_group.cpp │ └── embedding_pooling.cpp ├── places │ ├── CMakeLists.txt │ ├── graph_extractor.cpp │ ├── graph_extractor_utilities.cpp │ ├── gvd_graph.cpp │ ├── gvd_integrator.cpp │ ├── gvd_integrator_config.cpp │ ├── gvd_merge_policies.cpp │ ├── gvd_parent_tracker.cpp │ ├── gvd_utilities.cpp │ ├── gvd_voxel.cpp │ ├── robot_footprint_integrator.cpp │ └── update_statistics.cpp ├── reconstruction │ ├── CMakeLists.txt │ ├── integration_masking.cpp │ ├── marching_cubes.cpp │ ├── mesh_integrator.cpp │ ├── mesh_integrator_config.cpp │ ├── projection_interpolators.cpp │ ├── projective_integrator.cpp │ ├── semantic_integrator.cpp │ ├── tsdf_interpolators.cpp │ └── volumetric_map.cpp ├── rooms │ ├── CMakeLists.txt │ ├── graph_clustering.cpp │ ├── graph_filtration.cpp │ ├── room_finder.cpp │ ├── room_finder_config.cpp │ └── room_utilities.cpp └── utils │ ├── CMakeLists.txt │ ├── active_window_tracker.cpp │ ├── csv_reader.cpp │ ├── data_directory.cpp │ ├── disjoint_set.cpp │ ├── display_utilities.cpp │ ├── id_tracker.cpp │ ├── mesh_utilities.cpp │ ├── minimum_spanning_tree.cpp │ ├── nearest_neighbor_utilities.cpp │ ├── pgmo_glog_sink.cpp │ ├── pgmo_mesh_interface.cpp │ ├── pgmo_mesh_traits.cpp │ ├── place_2d_ellipsoid_math.cpp │ └── timing_utilities.cpp └── tests ├── CMakeLists.txt ├── backend ├── test_external_loop_closure.cpp ├── test_update_agents_functor.cpp ├── test_update_buildings_functor.cpp ├── test_update_objects_functor.cpp └── test_update_places_functor.cpp ├── common ├── test_config_utilities.cpp └── test_shared_dsg_info.cpp ├── frontend ├── test_graph_connector.cpp └── test_mesh_segmenter.cpp ├── gnn ├── test_gnn_interface.cpp └── test_tensor.cpp ├── hydra_test_config.h.in ├── include └── hydra_test │ ├── config_guard.h │ ├── place_fixtures.h │ ├── resources.h │ └── shared_dsg_fixture.h ├── input ├── test_camera.cpp ├── test_input_packet.cpp ├── test_lidar.cpp ├── test_sensor.cpp └── test_sensor_utilities.cpp ├── loop_closure ├── test_descriptor_matching.cpp ├── test_detector.cpp ├── test_gnn_descriptors.cpp ├── test_registration.cpp ├── test_scene_graph_descriptors.cpp └── test_subgraph_extraction.cpp ├── main.cpp ├── odometry └── test_pose_graph_from_odom.cpp ├── openset └── test_embedding_distances.cpp ├── places ├── test_graph_extractor.cpp ├── test_graph_extractor_utilities.cpp ├── test_gvd_integrator.cpp └── test_gvd_utilities.cpp ├── reconstruction ├── test_integration_masking.cpp ├── test_marching_cubes.cpp ├── test_projection_interpolators.cpp ├── test_semantic_integrator.cpp ├── test_tsdf_interpolators.cpp └── test_volumetric_map.cpp ├── resources ├── gnn │ ├── make_simple_model.py │ └── simple_model.onnx ├── loop_closure │ ├── make_lcd_models.py │ ├── objects.onnx │ ├── objects_pos.onnx │ ├── places.onnx │ ├── places_pos.onnx │ └── 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