├── .gitignore ├── .gitmodules ├── BUILD.md ├── CMakeLists.txt ├── Custom.md ├── Docker.md ├── Dockerfile ├── Eval.md ├── Examples ├── Monocular │ ├── mono_replica.cu │ ├── mono_scannet.cu │ └── mono_tum.cu ├── RGB-D │ ├── rgbd_replica.cu │ ├── rgbd_scannet.cu │ └── rgbd_tum.cu └── Stereo │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ ├── MH01.txt │ ├── MH02.txt │ ├── MH03.txt │ ├── MH04.txt │ ├── MH05.txt │ ├── V101.txt │ ├── V102.txt │ ├── V103.txt │ ├── V201.txt │ ├── V202.txt │ └── V203.txt │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── stereo_euroc │ ├── stereo_euroc.cc │ ├── stereo_kitti │ └── stereo_kitti.cc ├── LICENSE.txt ├── README.md ├── Replica.md ├── ScanNet.md ├── TUM.md ├── Thirdparty └── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ ├── BowVector.cpp │ ├── BowVector.h │ ├── FClass.h │ ├── FORB.cpp │ ├── FORB.h │ ├── FeatureVector.cpp │ ├── FeatureVector.h │ ├── ScoringObject.cpp │ ├── ScoringObject.h │ └── TemplatedVocabulary.h │ ├── DUtils │ ├── Random.cpp │ ├── Random.h │ ├── Timestamp.cpp │ └── Timestamp.h │ ├── LICENSE.txt │ └── README.txt ├── Vocabulary └── ORBvoc.txt.tar.gz ├── cmake_modules └── FindEigen3.cmake ├── configs ├── Monocular │ ├── Ipad │ │ └── ipad.yaml │ ├── Replica │ │ ├── office0.yaml │ │ ├── office1.yaml │ │ ├── office2.yaml │ │ ├── office3.yaml │ │ ├── office4.yaml │ │ ├── room0.yaml │ │ ├── room1.yaml │ │ └── room2.yaml │ └── TUM │ │ ├── freiburg1_desk.yaml │ │ ├── freiburg2_xyz.yaml │ │ └── freiburg3_office.yaml └── RGB-D │ ├── Replica │ ├── office0.yaml │ ├── office1.yaml │ ├── office2.yaml │ ├── office3.yaml │ ├── office4.yaml │ ├── room0.yaml │ ├── room1.yaml │ └── room2.yaml │ ├── ScanNet │ ├── scene0000_00.yaml │ ├── scene0059_00.yaml │ ├── scene0106_00.yaml │ ├── scene0169_00.yaml │ ├── scene0181_00.yaml │ └── scene0207_00.yaml │ └── TUM │ ├── associations │ ├── fr1_desk.txt │ ├── fr1_desk2.txt │ ├── fr1_room.txt │ ├── fr1_xyz.txt │ ├── fr2_desk.txt │ ├── fr2_xyz.txt │ ├── fr3_nstr_tex_near.txt │ ├── fr3_office.txt │ ├── fr3_office_val.txt │ ├── fr3_str_tex_far.txt │ └── fr3_str_tex_near.txt │ ├── freiburg1_desk.yaml │ ├── freiburg2_xyz.yaml │ └── freiburg3_office.yaml ├── evaluation ├── README.md └── clean.sh ├── extrinsic.png ├── include ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── NerfMapping.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── System.h ├── Tracking.h ├── Viewer.h └── stb_image.h ├── scripts ├── SensorData.py ├── associate.py ├── eval_Orbeez_SLAM.py ├── evaluate_ate.py ├── evaluate_ate_scale.py ├── preprocess-scannet.sh ├── reader.py ├── render_video.py └── requirements.txt ├── src ├── Converter.cu ├── Frame.cu ├── FrameDrawer.cu ├── Initializer.cu ├── KeyFrame.cu ├── KeyFrameDatabase.cu ├── LoopClosing.cu ├── Map.cu ├── MapDrawer.cu ├── MapPoint.cu ├── NerfMapping.cu ├── ORBextractor.cu ├── ORBmatcher.cu ├── Optimizer.cu ├── PnPsolver.cu ├── Sim3Solver.cu ├── System.cu ├── Tracking.cu └── Viewer.cu └── tips.png /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/.gitmodules -------------------------------------------------------------------------------- /BUILD.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/BUILD.md -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /Custom.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Custom.md -------------------------------------------------------------------------------- /Docker.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Docker.md -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Dockerfile -------------------------------------------------------------------------------- /Eval.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Eval.md -------------------------------------------------------------------------------- /Examples/Monocular/mono_replica.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Monocular/mono_replica.cu -------------------------------------------------------------------------------- /Examples/Monocular/mono_scannet.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Monocular/mono_scannet.cu -------------------------------------------------------------------------------- /Examples/Monocular/mono_tum.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Monocular/mono_tum.cu -------------------------------------------------------------------------------- /Examples/RGB-D/rgbd_replica.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/RGB-D/rgbd_replica.cu -------------------------------------------------------------------------------- /Examples/RGB-D/rgbd_scannet.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/RGB-D/rgbd_scannet.cu -------------------------------------------------------------------------------- /Examples/RGB-D/rgbd_tum.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/RGB-D/rgbd_tum.cu -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC.yaml -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/MH01.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/MH01.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/MH02.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/MH02.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/MH03.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/MH03.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/MH04.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/MH04.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/MH05.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/MH05.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/V101.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/V101.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/V102.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/V102.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/V103.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/V103.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/V201.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/V201.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/V202.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/V202.txt -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC_TimeStamps/V203.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/EuRoC_TimeStamps/V203.txt -------------------------------------------------------------------------------- /Examples/Stereo/KITTI00-02.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/KITTI00-02.yaml -------------------------------------------------------------------------------- /Examples/Stereo/KITTI03.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/KITTI03.yaml -------------------------------------------------------------------------------- /Examples/Stereo/KITTI04-12.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/KITTI04-12.yaml -------------------------------------------------------------------------------- /Examples/Stereo/stereo_euroc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/stereo_euroc -------------------------------------------------------------------------------- /Examples/Stereo/stereo_euroc.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/stereo_euroc.cc -------------------------------------------------------------------------------- /Examples/Stereo/stereo_kitti: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/stereo_kitti -------------------------------------------------------------------------------- /Examples/Stereo/stereo_kitti.cc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Examples/Stereo/stereo_kitti.cc -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/LICENSE.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/README.md -------------------------------------------------------------------------------- /Replica.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Replica.md -------------------------------------------------------------------------------- /ScanNet.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/ScanNet.md -------------------------------------------------------------------------------- /TUM.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/TUM.md -------------------------------------------------------------------------------- /Thirdparty/DBoW2/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/CMakeLists.txt -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/BowVector.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/BowVector.cpp -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/BowVector.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/BowVector.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FClass.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/FClass.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FORB.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/FORB.cpp -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FORB.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/FORB.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FeatureVector.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FeatureVector.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/FeatureVector.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/ScoringObject.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/ScoringObject.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/ScoringObject.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DUtils/Random.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DUtils/Random.cpp -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DUtils/Random.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DUtils/Random.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DUtils/Timestamp.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DUtils/Timestamp.cpp -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DUtils/Timestamp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/DUtils/Timestamp.h -------------------------------------------------------------------------------- /Thirdparty/DBoW2/LICENSE.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/LICENSE.txt -------------------------------------------------------------------------------- /Thirdparty/DBoW2/README.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Thirdparty/DBoW2/README.txt -------------------------------------------------------------------------------- /Vocabulary/ORBvoc.txt.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/Vocabulary/ORBvoc.txt.tar.gz -------------------------------------------------------------------------------- /cmake_modules/FindEigen3.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/cmake_modules/FindEigen3.cmake -------------------------------------------------------------------------------- /configs/Monocular/Ipad/ipad.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Ipad/ipad.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/office0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/office0.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/office1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/office1.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/office2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/office2.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/office3.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/office3.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/office4.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/office4.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/room0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/room0.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/room1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/room1.yaml -------------------------------------------------------------------------------- /configs/Monocular/Replica/room2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/Replica/room2.yaml -------------------------------------------------------------------------------- /configs/Monocular/TUM/freiburg1_desk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/TUM/freiburg1_desk.yaml -------------------------------------------------------------------------------- /configs/Monocular/TUM/freiburg2_xyz.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/TUM/freiburg2_xyz.yaml -------------------------------------------------------------------------------- /configs/Monocular/TUM/freiburg3_office.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/Monocular/TUM/freiburg3_office.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/office0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/office0.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/office1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/office1.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/office2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/office2.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/office3.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/office3.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/office4.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/office4.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/room0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/room0.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/room1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/room1.yaml -------------------------------------------------------------------------------- /configs/RGB-D/Replica/room2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/Replica/room2.yaml -------------------------------------------------------------------------------- /configs/RGB-D/ScanNet/scene0000_00.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/ScanNet/scene0000_00.yaml -------------------------------------------------------------------------------- /configs/RGB-D/ScanNet/scene0059_00.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/ScanNet/scene0059_00.yaml -------------------------------------------------------------------------------- /configs/RGB-D/ScanNet/scene0106_00.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/ScanNet/scene0106_00.yaml -------------------------------------------------------------------------------- /configs/RGB-D/ScanNet/scene0169_00.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/ScanNet/scene0169_00.yaml -------------------------------------------------------------------------------- /configs/RGB-D/ScanNet/scene0181_00.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/ScanNet/scene0181_00.yaml -------------------------------------------------------------------------------- /configs/RGB-D/ScanNet/scene0207_00.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/ScanNet/scene0207_00.yaml -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr1_desk.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr1_desk.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr1_desk2.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr1_desk2.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr1_room.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr1_room.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr1_xyz.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr1_xyz.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr2_desk.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr2_desk.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr2_xyz.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr2_xyz.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr3_nstr_tex_near.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr3_nstr_tex_near.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr3_office.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr3_office.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr3_office_val.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr3_office_val.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr3_str_tex_far.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr3_str_tex_far.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/associations/fr3_str_tex_near.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/associations/fr3_str_tex_near.txt -------------------------------------------------------------------------------- /configs/RGB-D/TUM/freiburg1_desk.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/freiburg1_desk.yaml -------------------------------------------------------------------------------- /configs/RGB-D/TUM/freiburg2_xyz.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/freiburg2_xyz.yaml -------------------------------------------------------------------------------- /configs/RGB-D/TUM/freiburg3_office.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/configs/RGB-D/TUM/freiburg3_office.yaml -------------------------------------------------------------------------------- /evaluation/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/evaluation/README.md -------------------------------------------------------------------------------- /evaluation/clean.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/evaluation/clean.sh -------------------------------------------------------------------------------- /extrinsic.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/extrinsic.png -------------------------------------------------------------------------------- /include/Converter.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Converter.h -------------------------------------------------------------------------------- /include/Frame.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Frame.h -------------------------------------------------------------------------------- /include/FrameDrawer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/FrameDrawer.h -------------------------------------------------------------------------------- /include/Initializer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Initializer.h -------------------------------------------------------------------------------- /include/KeyFrame.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/KeyFrame.h -------------------------------------------------------------------------------- /include/KeyFrameDatabase.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/KeyFrameDatabase.h -------------------------------------------------------------------------------- /include/LoopClosing.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/LoopClosing.h -------------------------------------------------------------------------------- /include/Map.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Map.h -------------------------------------------------------------------------------- /include/MapDrawer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/MapDrawer.h -------------------------------------------------------------------------------- /include/MapPoint.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/MapPoint.h -------------------------------------------------------------------------------- /include/NerfMapping.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/NerfMapping.h -------------------------------------------------------------------------------- /include/ORBVocabulary.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/ORBVocabulary.h -------------------------------------------------------------------------------- /include/ORBextractor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/ORBextractor.h -------------------------------------------------------------------------------- /include/ORBmatcher.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/ORBmatcher.h -------------------------------------------------------------------------------- /include/Optimizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Optimizer.h -------------------------------------------------------------------------------- /include/PnPsolver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/PnPsolver.h -------------------------------------------------------------------------------- /include/Sim3Solver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Sim3Solver.h -------------------------------------------------------------------------------- /include/System.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/System.h -------------------------------------------------------------------------------- /include/Tracking.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Tracking.h -------------------------------------------------------------------------------- /include/Viewer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/Viewer.h -------------------------------------------------------------------------------- /include/stb_image.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/include/stb_image.h -------------------------------------------------------------------------------- /scripts/SensorData.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/SensorData.py -------------------------------------------------------------------------------- /scripts/associate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/associate.py -------------------------------------------------------------------------------- /scripts/eval_Orbeez_SLAM.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/eval_Orbeez_SLAM.py -------------------------------------------------------------------------------- /scripts/evaluate_ate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/evaluate_ate.py -------------------------------------------------------------------------------- /scripts/evaluate_ate_scale.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/evaluate_ate_scale.py -------------------------------------------------------------------------------- /scripts/preprocess-scannet.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/preprocess-scannet.sh -------------------------------------------------------------------------------- /scripts/reader.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/reader.py -------------------------------------------------------------------------------- /scripts/render_video.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/render_video.py -------------------------------------------------------------------------------- /scripts/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/scripts/requirements.txt -------------------------------------------------------------------------------- /src/Converter.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Converter.cu -------------------------------------------------------------------------------- /src/Frame.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Frame.cu -------------------------------------------------------------------------------- /src/FrameDrawer.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/FrameDrawer.cu -------------------------------------------------------------------------------- /src/Initializer.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Initializer.cu -------------------------------------------------------------------------------- /src/KeyFrame.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/KeyFrame.cu -------------------------------------------------------------------------------- /src/KeyFrameDatabase.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/KeyFrameDatabase.cu -------------------------------------------------------------------------------- /src/LoopClosing.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/LoopClosing.cu -------------------------------------------------------------------------------- /src/Map.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Map.cu -------------------------------------------------------------------------------- /src/MapDrawer.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/MapDrawer.cu -------------------------------------------------------------------------------- /src/MapPoint.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/MapPoint.cu -------------------------------------------------------------------------------- /src/NerfMapping.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/NerfMapping.cu -------------------------------------------------------------------------------- /src/ORBextractor.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/ORBextractor.cu -------------------------------------------------------------------------------- /src/ORBmatcher.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/ORBmatcher.cu -------------------------------------------------------------------------------- /src/Optimizer.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Optimizer.cu -------------------------------------------------------------------------------- /src/PnPsolver.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/PnPsolver.cu -------------------------------------------------------------------------------- /src/Sim3Solver.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Sim3Solver.cu -------------------------------------------------------------------------------- /src/System.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/System.cu -------------------------------------------------------------------------------- /src/Tracking.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Tracking.cu -------------------------------------------------------------------------------- /src/Viewer.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/src/Viewer.cu -------------------------------------------------------------------------------- /tips.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarvinChung/Orbeez-SLAM/HEAD/tips.png --------------------------------------------------------------------------------