├── .clang-format ├── .flake8 ├── .github └── workflows │ ├── ci-action-ros.yaml │ └── ci-action.yml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .ruff.toml ├── LICENSE ├── README.md ├── doc ├── Makefile ├── _static │ └── .gitkeep ├── _templates │ └── .gitkeep ├── api │ ├── core.rst │ └── opengv.rst ├── conf.py └── index.rst ├── examples ├── config │ ├── lightglue_config.yaml │ ├── salad_config.yaml │ ├── superpoint_config.yaml │ └── vlc_driver_config.yaml ├── config_example.py ├── lightglue_example.py ├── place_descriptor_debugging.py ├── salad_example.py ├── superpoint_example.py ├── uhumans_example_batch.py ├── vlc_db_example.py └── vlc_server_driver_example.py ├── ouroboros ├── CMakeLists.txt ├── COLCON_IGNORE ├── pyproject.toml ├── src │ ├── ouroboros │ │ ├── __init__.py │ │ ├── pose_recovery.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ └── plotting_utils.py │ │ ├── vlc_db │ │ │ ├── __init__.py │ │ │ ├── camera.py │ │ │ ├── camera_table.py │ │ │ ├── invertible_vector_store.py │ │ │ ├── spark_image.py │ │ │ ├── spark_loop_closure.py │ │ │ ├── spark_session.py │ │ │ ├── utils.py │ │ │ ├── vlc_db.py │ │ │ ├── vlc_image.py │ │ │ ├── vlc_image_table.py │ │ │ ├── vlc_lc_table.py │ │ │ ├── vlc_pose.py │ │ │ └── vlc_session_table.py │ │ └── vlc_server │ │ │ ├── __init__.py │ │ │ └── vlc_server.py │ ├── ouroboros_gt │ │ ├── __init__.py │ │ ├── gt_descriptors.py │ │ ├── gt_keypoint_detection.py │ │ ├── gt_matches.py │ │ ├── gt_place_recognition.py │ │ └── gt_pose_recovery.py │ ├── ouroboros_keypoints │ │ ├── __init__.py │ │ ├── lightglue_interface.py │ │ └── superpoint_interface.py │ ├── ouroboros_opengv │ │ ├── __init__.py │ │ ├── _bindings.cpp │ │ └── pose_recovery.py │ └── ouroboros_salad │ │ ├── README.md │ │ ├── __init__.py │ │ └── salad_model.py └── tests │ ├── conftest.py │ ├── test_opengv_interface.py │ ├── test_pose_recovery.py │ ├── test_vlc_db.py │ └── test_vlc_pose.py ├── ouroboros_msgs ├── CMakeLists.txt ├── msg │ ├── SparkImageMsg.msg │ ├── VlcImageMetadataMsg.msg │ ├── VlcImageMsg.msg │ └── VlcInfoMsg.msg ├── package.xml └── srv │ └── VlcKeypointQuery.srv ├── ouroboros_ros ├── CMakeLists.txt ├── cfg │ └── PlaceDescriptorDebugging.cfg ├── config │ ├── gt_vlc_server_config.yaml │ ├── vlc_server_config.yaml │ └── vlc_server_node.yaml ├── launch │ ├── place_descriptor_debugging.launch │ └── vlc_server_node.launch ├── nodes │ ├── place_matching_example.py │ ├── vlc_multirobot_server_node.py │ └── vlc_server_node.py ├── package.xml ├── rviz │ └── ouroboros_debug.rviz ├── setup.py ├── src │ └── ouroboros_ros │ │ ├── __init__.py │ │ ├── conversions.py │ │ ├── session_manager.py │ │ ├── utils.py │ │ ├── vlc_multirobot_server_ros.py │ │ ├── vlc_server_ros.py │ │ └── vlc_server_ros_display.py └── tests │ └── test_conversions.py └── resources ├── arch.jpg ├── left_img_0.png ├── left_img_1.png └── right_img_1.png /.clang-format: -------------------------------------------------------------------------------- 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