├── .clang-format ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── README.md ├── TODO.md ├── cmake ├── FindEigen3.cmake └── Utils.cmake ├── data ├── george.jpg └── screenshots │ └── dynslam-preview.png ├── itm-sample-calib-from-kitti-odometry-sequence-06.txt ├── notebooks ├── .gitignore ├── DepthAnalysis.ipynb ├── Pretty Depth Maps.ipynb ├── Reduced Framerate Results.ipynb ├── StaticAndDynamicDepthAnalysis.ipynb ├── TrackingSeqDepthAnalysis.ipynb ├── Tracklet Analysis.ipynb ├── Voxel GC Stats.ipynb └── img │ ├── itm-semantics-depth-plots.png │ ├── kitti-depth.png │ └── lsd-slam-results.png ├── print-todos.sh ├── raw-data-archives ├── README.md └── raw-logs.7z ├── scripts ├── decay_exp.sh ├── lowfreq_exp.sh ├── odo_basic_exp.sh ├── prepare-odometry.sh ├── recent_todos.sh ├── requirements.txt ├── run_tidy.sh ├── scale_sequence.py └── tracking_basic_exp.sh └── src └── DynSLAM ├── DSHandler3D.cpp ├── DSHandler3D.h ├── Defines.h ├── DepthProvider.h ├── Direct ├── README.md ├── cameraBase.h ├── commDefs.h ├── cudaDefs.h ├── feature │ ├── feature_depthMap.cpp │ └── feature_depthMap.h ├── frame │ ├── device │ │ ├── cpu │ │ │ ├── frame_cpu.cpp │ │ │ └── frame_cpu.h │ │ └── cuda │ │ │ ├── frame_cuda.cu │ │ │ └── frame_cuda.h │ ├── frame.cpp │ ├── frame.h │ ├── frame.hpp │ ├── multiFrames.cpp │ └── multiFrames.h ├── helperFunctions.cpp ├── helperFunctions.hpp ├── image_alignment │ ├── device │ │ └── cpu │ │ │ ├── dirImgAlignCPU.cpp │ │ │ └── dirImgAlignCPU.h │ ├── dirImgAlignBase.cpp │ └── dirImgAlignBase.h ├── math │ ├── MathUtils.h │ ├── Matrix.h │ └── Vector.h ├── pinholeCameraModel.cpp ├── pinholeCameraModel.h ├── robustLoss │ ├── pseudoHuberLoss.cpp │ ├── pseudoHuberLoss.h │ ├── robustLossBase.h │ ├── tDistributionLoss.cpp │ └── tDistributionLoss.h └── transformation │ ├── transformation.cpp │ └── transformation.h ├── DynSLAMGUI.cpp ├── DynSlam.cpp ├── DynSlam.h ├── Evaluation ├── CsvWriter.cpp ├── CsvWriter.h ├── ErrorVisualizationCallback.cpp ├── ErrorVisualizationCallback.h ├── Evaluation.cpp ├── Evaluation.h ├── EvaluationCallback.cpp ├── EvaluationCallback.h ├── ILidarEvalCallback.h ├── Records.h ├── SegmentedCallback.cpp ├── SegmentedCallback.h ├── SegmentedEvaluationCallback.cpp ├── SegmentedEvaluationCallback.h ├── SegmentedVisualizationCallback.cpp ├── SegmentedVisualizationCallback.h ├── Tracklets.cpp ├── Tracklets.h ├── VelodyneIO.cpp └── VelodyneIO.h ├── InfiniTamDriver.cpp ├── InfiniTamDriver.h ├── Input.cpp ├── Input.h ├── InstRecLib ├── CMakeLists.txt ├── InstanceReconstructor.cpp ├── InstanceReconstructor.h ├── InstanceSegmentationResult.cpp ├── InstanceSegmentationResult.h ├── InstanceTracker.cpp ├── InstanceTracker.h ├── InstanceView.cpp ├── InstanceView.h ├── PrecomputedSegmentationProvider.cpp ├── PrecomputedSegmentationProvider.h ├── README.md ├── SegmentationDataset.cpp ├── SegmentationDataset.h ├── SegmentationProvider.h ├── SparseSFProvider.cpp ├── SparseSFProvider.h ├── Track.cpp ├── Track.h ├── Utils │ 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