├── .gitignore ├── .gitmodules ├── Dockerfile ├── LICENSE ├── Makefile ├── README.md ├── cad ├── drone.ply ├── ipb_car.ply └── kitti_car.ply ├── config ├── run_ipbcar_gs.yaml ├── run_kitti_gs.yaml ├── run_oxford_gs.yaml ├── run_pin_slam.yaml ├── run_r3live_gs.yaml └── run_rgbd_gs.yaml ├── dataset ├── dataloaders │ ├── __init__.py │ ├── apollo.py │ ├── azure.py │ ├── bonn.py │ ├── cka.py │ ├── generic.py │ ├── helipr.py │ ├── ipb_car.py │ ├── kitti.py │ ├── kitti360.py │ ├── kitti_mot.py │ ├── mcap.py │ ├── mcap_ipb_car.py │ ├── mulran.py │ ├── ncd.py │ ├── nclt.py │ ├── neuralrgbd.py │ ├── nuscenes.py │ ├── ouster.py │ ├── oxford.py │ ├── oxford_raw.py │ ├── r3live.py │ ├── replica.py │ ├── rosbag.py │ ├── tum.py │ ├── vbr.py │ └── waymo.py └── slam_dataset.py ├── docker-compose.yml ├── eval ├── eval_mesh_utils.py └── eval_traj_utils.py ├── gaussian_splatting ├── LICENSE.md ├── __init__.py ├── gaussian_renderer │ └── __init__.py └── utils │ ├── cameras.py │ ├── general_utils.py │ ├── graphics_utils.py │ ├── image_utils.py │ ├── loss_utils.py │ └── point_utils.py ├── gs_gui ├── gl_render │ ├── LICENSE │ ├── __init__.py │ ├── render_ogl.py │ ├── shaders │ │ ├── gau_frag.glsl │ │ └── gau_vert.glsl │ ├── util.py │ └── util_gau.py ├── gui_utils.py └── slam_gui.py ├── inspect_pings.py ├── model ├── __init__.py ├── decoder.py └── neural_gaussians.py ├── pings.py ├── requirements.txt ├── scripts ├── download_ipbcar.sh ├── download_kitti_example.sh └── download_replica.sh └── utils ├── __init__.py ├── campose_utils.py ├── config.py ├── data_sampler.py ├── loop_detector.py ├── loss.py ├── mapper.py ├── mesher.py ├── pgo.py ├── point_cloud2.py ├── tools.py └── tracker.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PRBonn/PINGS/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: 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