├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── README.md ├── configs ├── env_airsim_16.yaml ├── env_airsim_18.yaml ├── env_airsim_23.yaml ├── env_airsim_26.yaml ├── env_airsim_gz.yaml ├── env_airsim_sh.yaml ├── env_game_gtav.yaml ├── env_gs_ecust.yaml ├── env_gs_nwpu01.yaml ├── env_gs_nwpu02.yaml ├── env_gs_sjtu01.yaml ├── env_gs_sjtu02.yaml ├── env_ue_bigcity.yaml ├── env_ue_smallcity.yaml └── eval_test.json ├── envs ├── airsim │ └── AirSim │ │ └── settings.json ├── gs │ └── SIBR_viewers │ │ ├── .gitignore │ │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ │ ├── CMakeLists.txt │ │ ├── LICENSE.md │ │ ├── README.md │ │ ├── cmake │ │ ├── linux │ │ │ ├── MSVCsetUserCommand.cmake │ │ │ ├── Modules │ │ │ │ ├── FindASSIMP.cmake │ │ │ │ ├── FindEGL.cmake │ │ │ │ ├── FindEmbree.cmake │ │ │ │ ├── FindFFMPEG.cmake │ │ │ │ └── FindGLFW.cmake │ │ │ ├── Win3rdParty.cmake │ │ │ ├── cmake_policies.cmake │ │ │ ├── dependencies.cmake │ │ │ ├── downloadAndExtractZipFile.cmake │ │ │ ├── git_describe.cmake │ │ │ ├── include_once.cmake │ │ │ ├── install_runtime.cmake │ │ │ ├── parse_arguments_multi.cmake │ │ │ └── sibr_library.cmake │ │ └── windows │ │ │ ├── MSVCsetUserCommand.cmake │ │ │ ├── Modules │ │ │ ├── FindASSIMP.cmake │ │ │ ├── FindEmbree.cmake │ │ │ └── FindFFmpeg.cmake │ │ │ ├── Win3rdParty.cmake │ │ │ ├── cmake_policies.cmake │ │ │ ├── dependencies.cmake │ │ │ ├── downloadAndExtractZipFile.cmake │ │ │ ├── git_describe.cmake │ │ │ ├── include_once.cmake │ │ │ ├── install_runtime.cmake │ │ │ ├── parse_arguments_multi.cmake │ │ │ └── sibr_library.cmake │ │ ├── docs │ │ ├── CMakeLists.txt │ │ ├── doxyfile.in │ │ ├── doxygen_prebuild.cmake.in │ │ ├── img │ │ │ ├── capreal │ │ │ │ ├── caprealaddinputs.png │ │ │ │ ├── caprealalignimages.png │ │ │ │ ├── caprealcolorizesimplify.png │ │ │ │ ├── caprealexportmodel.png │ │ │ │ ├── caprealinputsonly.png │ │ │ │ ├── caprealmesh.png │ │ │ │ ├── caprealmeshreconstruction.png │ │ │ │ ├── caprealnew.png │ │ │ │ ├── caprealpointcloud.png │ │ │ │ └── meshlab.png │ │ │ ├── cmake.gif │ │ │ ├── diagramas │ │ │ │ ├── class │ │ │ │ │ ├── sibr_classes_v2.png │ │ │ │ │ └── unity_ulr.png │ │ │ │ └── sequence │ │ │ │ │ ├── AssetStreamer │ │ │ │ │ └── seq_assetStreamer.pdf │ │ │ │ │ ├── Renderers │ │ │ │ │ ├── seq_insideOut.pdf │ │ │ │ │ ├── seq_ulr_stream.pdf │ │ │ │ │ └── seq_ulr_v3_landscape.pdf │ │ │ │ │ └── Unity │ │ │ │ │ ├── seq_unity_ulr_rendering.pdf │ │ │ │ │ └── seq_unity_ulr_texture_upload.pdf │ │ │ ├── ibr_common_cmake.png │ │ │ ├── ibr_common_globale.png │ │ │ ├── ibr_common_principle.png │ │ │ ├── jesnault_git_cheat_sheet.png │ │ │ ├── multimeshmanager.png │ │ │ ├── multiviewmanager.png │ │ │ ├── sibr_dataset.png │ │ │ ├── sibr_diagram_lvl2.svg │ │ │ ├── sibr_new_architecture.png │ │ │ └── ulr_screenshot.png │ │ ├── layout.xml.in │ │ └── pages │ │ │ ├── 1_Getting_Started.dox │ │ │ ├── 2_Projects.dox │ │ │ ├── 2_Projects.dox.in │ │ │ ├── 3_Tutorials.dox │ │ │ ├── 4_Architecture.dox │ │ │ └── Tutorials │ │ │ ├── How to generate your dataset │ │ │ ├── How_to_create_dataset_from_colmap.dox │ │ │ └── How_to_create_dataset_from_realitycapture.dox │ │ │ ├── How to setup your own project │ │ │ ├── Configuring_your_project.dox │ │ │ ├── Creating_your_library.dox │ │ │ ├── Documenting_a_project.dox │ │ │ └── Project_structure.dox │ │ │ ├── How_to_generate_your_dataset.dox │ │ │ ├── How_to_setup_your_own_project.dox │ │ │ ├── Paths_and_cameras.dox │ │ │ └── Useful_sibr_elements.dox │ │ └── src │ │ ├── CMakeLists.txt │ │ ├── core │ │ ├── assets │ │ │ ├── ActiveImageFile.cpp │ │ │ ├── ActiveImageFile.hpp │ │ │ ├── CMakeLists.txt │ │ │ ├── CameraRecorder.cpp │ │ │ ├── CameraRecorder.hpp │ │ │ ├── Config.hpp │ │ │ ├── IFileLoader.hpp │ │ │ ├── ImageListFile.cpp │ │ │ ├── ImageListFile.hpp │ │ │ ├── InputCamera.cpp │ │ │ ├── InputCamera.hpp │ │ │ ├── Resources.cpp │ │ │ ├── Resources.hpp │ │ │ ├── UVUnwrapper.cpp │ │ │ ├── UVUnwrapper.hpp │ │ │ ├── colmapheader.h │ │ │ └── sibr_assets.dox │ │ ├── graphics │ │ │ ├── CMakeLists.txt │ │ │ ├── Camera.cpp │ │ │ ├── Camera.hpp │ │ │ ├── Config.hpp │ │ │ ├── Frustum.cpp │ │ │ ├── Frustum.hpp │ │ │ ├── GPUQuery.cpp │ │ │ ├── GPUQuery.hpp │ │ │ ├── GUI.cpp │ │ │ ├── GUI.hpp │ │ │ ├── Image.cpp │ │ │ ├── Image.hpp │ │ │ ├── Input.cpp │ │ │ ├── Input.hpp │ │ │ ├── MaterialMesh.cpp │ │ │ ├── MaterialMesh.hpp │ │ │ ├── Mesh.cpp │ │ │ ├── Mesh.hpp │ │ │ ├── MeshBufferGL.cpp │ │ │ ├── MeshBufferGL.hpp │ │ │ ├── RenderTarget.cpp │ │ │ ├── RenderTarget.hpp │ │ │ ├── RenderUtility.cpp │ │ │ ├── RenderUtility.hpp │ │ │ ├── Shader.cpp │ │ │ ├── Shader.hpp │ │ │ ├── Shader.inl │ │ │ ├── Texture.cpp │ │ │ ├── Texture.hpp │ │ │ ├── Types.hpp │ │ │ ├── Utils.cpp │ │ │ ├── Utils.hpp │ │ │ ├── Viewport.cpp │ │ │ ├── Viewport.hpp │ │ │ ├── Window.cpp │ │ │ ├── Window.hpp │ │ │ ├── resources │ │ │ │ └── imgui_default.ini │ │ │ └── sibr_graphics.dox │ │ ├── imgproc │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.hpp │ │ │ ├── CropScaleImageUtility.cpp │ │ │ ├── CropScaleImageUtility.hpp │ │ │ ├── DistordCropUtility.cpp │ │ │ ├── DistordCropUtility.hpp │ │ │ ├── MRFSolver.cpp │ │ │ ├── MRFSolver.h │ │ │ ├── MeshTexturing.cpp │ │ │ ├── MeshTexturing.hpp │ │ │ ├── PoissonReconstruction.cpp │ │ │ ├── PoissonReconstruction.hpp │ │ │ └── sibr_imgproc.dox │ │ ├── raycaster │ │ │ ├── CMakeLists.txt │ │ │ ├── CameraRaycaster.cpp │ │ │ ├── CameraRaycaster.hpp │ │ │ ├── Config.hpp │ │ │ ├── Intersector2D.cpp │ │ │ ├── Intersector2D.h │ │ │ ├── KdTree.hpp │ │ │ ├── PlaneEstimator.cpp │ │ │ ├── PlaneEstimator.hpp │ │ │ ├── Ray.cpp │ │ │ ├── Ray.hpp │ │ │ ├── Raycaster.cpp │ │ │ ├── Raycaster.hpp │ │ │ ├── VoxelGrid.cpp │ │ │ ├── VoxelGrid.hpp │ │ │ └── sibr_raycaster.dox │ │ ├── renderer │ │ │ ├── AddShadowRenderer.cpp │ │ │ ├── AddShadowRenderer.hpp │ │ │ ├── BinaryMeshRenderer.cpp │ │ │ ├── BinaryMeshRenderer.hpp │ │ │ ├── BlurRenderer.cpp │ │ │ ├── BlurRenderer.hpp │ │ │ ├── CMakeLists.txt │ │ │ ├── ColoredMeshRenderer.cpp │ │ │ ├── ColoredMeshRenderer.hpp │ │ │ ├── Config.hpp │ │ │ ├── CopyRenderer.cpp │ │ │ ├── CopyRenderer.hpp │ │ │ ├── DepthRenderer.cpp │ │ │ ├── DepthRenderer.hpp │ │ │ ├── NormalRenderer.cpp │ │ │ ├── NormalRenderer.hpp │ │ │ ├── PointBasedRenderer.cpp │ │ │ ├── PointBasedRenderer.hpp │ │ │ ├── PoissonRenderer.cpp │ │ │ ├── PoissonRenderer.hpp │ │ │ ├── PositionRender.cpp │ │ │ ├── PositionRender.hpp │ │ │ ├── RenderMaskHolder.cpp │ │ │ ├── RenderMaskHolder.hpp │ │ │ ├── ShadowMapRenderer.cpp │ │ │ ├── ShadowMapRenderer.hpp │ │ │ ├── TexturedMeshRenderer.cpp │ │ │ ├── TexturedMeshRenderer.hpp │ │ │ ├── shaders │ │ │ │ ├── addshadow.frag │ │ │ │ ├── blur.frag │ │ │ │ ├── colored_mesh.frag │ │ │ │ ├── colored_mesh.vert │ │ │ │ ├── copy.frag │ │ │ │ ├── copy_depth.frag │ │ │ │ ├── depthRenderer.fp │ │ │ │ ├── depthRenderer.vp │ │ │ │ ├── emotive_relight.frag │ │ │ │ ├── emotive_relight.vert │ │ │ │ ├── hdrEnvMap.frag │ │ │ │ ├── hdrEnvMap.vert │ │ │ │ ├── longlat.gp │ │ │ │ ├── longlat.tcs │ │ │ │ ├── longlat.tes │ │ │ │ ├── longlat.vp │ │ │ │ ├── longlatColor.fp │ │ │ │ ├── longlatDepth.fp │ │ │ │ ├── noproj.vert │ │ │ │ ├── normalRenderer.fp │ │ │ │ ├── normalRenderer.vp │ │ │ │ ├── normalRendererGen.gp │ │ │ │ ├── normalRendererGen.vp │ │ │ │ ├── poisson_diverg.frag │ │ │ │ ├── poisson_interp.frag │ │ │ │ ├── poisson_jacobi.frag │ │ │ │ ├── poisson_restrict.frag │ │ │ │ ├── positionReflectedDirRenderer.frag │ │ │ │ ├── positionReflectedDirRenderer.vert │ │ │ │ ├── positionRenderer.frag │ │ │ │ ├── positionRenderer.vert │ │ │ │ ├── shadowMapRenderer.fp │ │ │ │ ├── shadowMapRenderer.vp │ │ │ │ ├── texture-invert.frag │ │ │ │ ├── texture.frag │ │ │ │ ├── texture.vert │ │ │ │ ├── textured_mesh.frag │ │ │ │ ├── textured_mesh.vert │ │ │ │ └── textured_mesh_flipY.vert │ │ │ └── sibr_renderer.dox │ │ ├── scene │ │ │ ├── BasicIBRScene.cpp │ │ │ ├── BasicIBRScene.hpp │ │ │ ├── CMakeLists.txt │ │ │ ├── CalibratedCameras.cpp │ │ │ ├── CalibratedCameras.hpp │ │ │ ├── Config.hpp │ │ │ ├── ICalibratedCameras.hpp │ │ │ ├── IIBRScene.hpp │ │ │ ├── IInputImages.hpp │ │ │ ├── IParseData.hpp │ │ │ ├── IProxyMesh.hpp │ │ │ ├── InputImages.cpp │ │ │ ├── InputImages.hpp │ │ │ ├── ParseData.cpp │ │ │ ├── ParseData.hpp │ │ │ ├── ProxyMesh.cpp │ │ │ ├── ProxyMesh.hpp │ │ │ ├── RenderTargetTextures.cpp │ │ │ ├── RenderTargetTextures.hpp │ │ │ └── sibr_scene.dox │ │ ├── system │ │ │ ├── Array2d.hpp │ │ │ ├── ByteStream.cpp │ │ │ ├── ByteStream.hpp │ │ │ ├── CMakeLists.txt │ │ │ ├── CommandLineArgs.cpp │ │ │ ├── CommandLineArgs.hpp │ │ │ ├── Config.cpp │ │ │ ├── Config.hpp │ │ │ ├── LoadingProgress.cpp │ │ │ ├── LoadingProgress.hpp │ │ │ ├── MD5.h │ │ │ ├── Matrix.cpp │ │ │ ├── Matrix.hpp │ │ │ ├── MatrixBasePlugin.hpp │ │ │ ├── MatrixPlugin.hpp │ │ │ ├── Quaternion.cpp │ │ │ ├── Quaternion.hpp │ │ │ ├── Rect.hpp │ │ │ ├── SimpleTimer.hpp │ │ │ ├── String.cpp │ │ │ ├── String.hpp │ │ │ ├── ThreadIdWorker.cpp │ │ │ ├── ThreadIdWorker.hpp │ │ │ ├── Transform3.hpp │ │ │ ├── Utils.cpp │ │ │ ├── Utils.hpp │ │ │ ├── Vector.cpp │ │ │ ├── Vector.hpp │ │ │ ├── VectorUtils.cpp │ │ │ ├── VectorUtils.hpp │ │ │ ├── XMLTree.cpp │ │ │ ├── XMLTree.h │ │ │ └── sibr_system.dox │ │ ├── video │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.hpp │ │ │ ├── FFmpegVideoEncoder.cpp │ │ │ ├── FFmpegVideoEncoder.hpp │ │ │ ├── MultipleVideoDecoder.hpp │ │ │ ├── Video.cpp │ │ │ ├── Video.hpp │ │ │ ├── VideoUtils.cpp │ │ │ ├── VideoUtils.hpp │ │ │ └── sibr_video.dox │ │ └── view │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.hpp │ │ │ ├── DatasetView.cpp │ │ │ ├── DatasetView.hpp │ │ │ ├── FPSCamera.cpp │ │ │ ├── FPSCamera.hpp │ │ │ ├── FPSCounter.cpp │ │ │ ├── FPSCounter.hpp │ │ │ ├── IBRBasicUtils.cpp │ │ │ ├── IBRBasicUtils.hpp │ │ │ ├── ICameraHandler.cpp │ │ │ ├── ICameraHandler.hpp │ │ │ ├── ImageView.cpp │ │ │ ├── ImageView.hpp │ │ │ ├── ImagesGrid.cpp │ │ │ ├── ImagesGrid.hpp │ │ │ ├── InteractiveCameraHandler.cpp │ │ │ ├── InteractiveCameraHandler.hpp │ │ │ ├── MultiMeshManager.cpp │ │ │ ├── MultiMeshManager.hpp │ │ │ ├── MultiViewManager.cpp │ │ │ ├── MultiViewManager.hpp │ │ │ ├── Orbit.cpp │ │ │ ├── Orbit.hpp │ │ │ ├── RenderingMode.cpp │ │ │ ├── RenderingMode.hpp │ │ │ ├── SceneDebugView.cpp │ │ │ ├── SceneDebugView.hpp │ │ │ ├── Skybox.cpp │ │ │ ├── Skybox.hpp │ │ │ ├── TrackBall.cpp │ │ │ ├── TrackBall.h │ │ │ ├── UIShortcuts.cpp │ │ │ ├── UIShortcuts.hpp │ │ │ ├── ViewBase.cpp │ │ │ ├── ViewBase.hpp │ │ │ ├── httplib.h │ │ │ ├── interface │ │ │ ├── Interface.cpp │ │ │ ├── Interface.h │ │ │ ├── InterfaceUtils.cpp │ │ │ ├── InterfaceUtils.h │ │ │ ├── MeshViewer.cpp │ │ │ └── MeshViewer.h │ │ │ ├── shaders │ │ │ ├── alpha_colored_mesh.frag │ │ │ ├── alpha_colored_mesh.vert │ │ │ ├── alpha_colored_per_triangle_normals.geom │ │ │ ├── alpha_colored_per_triangle_normals.vert │ │ │ ├── alpha_colored_per_vertex_normals.geom │ │ │ ├── alpha_colored_per_vertex_normals.vert │ │ │ ├── alpha_points.frag │ │ │ ├── alpha_points.vert │ │ │ ├── alpha_uv_tex.frag │ │ │ ├── alpha_uv_tex_array.frag │ │ │ ├── alphaimgview.fp │ │ │ ├── alphaimgview.vp │ │ │ ├── anaglyph.fp │ │ │ ├── anaglyph.vp │ │ │ ├── axisgizmo.fp │ │ │ ├── axisgizmo.vp │ │ │ ├── camstub.fp │ │ │ ├── camstub.vp │ │ │ ├── depth.fp │ │ │ ├── depth.vp │ │ │ ├── depthonly.fp │ │ │ ├── depthonly.vp │ │ │ ├── image_viewer.frag │ │ │ ├── image_viewer.vert │ │ │ ├── mesh_color.fp │ │ │ ├── mesh_color.vp │ │ │ ├── mesh_debugview.fp │ │ │ ├── mesh_debugview.vp │ │ │ ├── mesh_normal.fp │ │ │ ├── mesh_normal.vp │ │ │ ├── number.fp │ │ │ ├── number.vp │ │ │ ├── skybox.fp │ │ │ ├── skybox.vp │ │ │ ├── text-imgui.fp │ │ │ ├── text-imgui.vp │ │ │ ├── texture.fp │ │ │ ├── texture.vp │ │ │ ├── topview.fp │ │ │ ├── topview.vp │ │ │ └── uv_mesh.vert │ │ │ └── sibr_view.dox │ │ └── projects │ │ ├── basic │ │ ├── CMakeLists.txt │ │ ├── apps │ │ │ ├── CMakeLists.txt │ │ │ ├── pointBased │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ └── texturedMesh │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── main.cpp │ │ │ │ └── resources │ │ │ │ └── sibr_texturedMesh_app.ini │ │ └── renderer │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.hpp │ │ │ ├── PointBasedView.cpp │ │ │ ├── PointBasedView.hpp │ │ │ ├── TexturedMeshView.cpp │ │ │ └── TexturedMeshView.hpp │ │ ├── dataset_tools │ │ ├── CMakeLists.txt │ │ ├── documentation │ │ │ ├── dataset_tools.dox │ │ │ ├── dataset_tools_doc.cmake │ │ │ ├── fullColmapProcess.dox │ │ │ └── img │ │ │ │ └── colmapfullpipeline.png │ │ ├── preprocess │ │ │ ├── CMakeLists.txt │ │ │ ├── alignMeshes │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── cameraConverter │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── clippingPlanes │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── converters │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── bundle.py │ │ │ │ ├── colmap2sibr.py │ │ │ │ ├── generate_list_images.py │ │ │ │ ├── get_image_size.py │ │ │ │ ├── ibr_convert_old_to_new.py │ │ │ │ ├── ibr_preprocess_rc_to_sibr.py │ │ │ │ ├── meshlab │ │ │ │ │ ├── simplify.mlx │ │ │ │ │ ├── simplify200.mlx │ │ │ │ │ ├── simplify250.mlx │ │ │ │ │ ├── simplify300.mlx │ │ │ │ │ ├── simplify350.mlx │ │ │ │ │ └── wedge_to_vertex_uvs.mlx │ │ │ │ ├── simplify_mesh.py │ │ │ │ └── wedge_to_vertex_uvs.py │ │ │ ├── cropFromCenter │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── distordCrop │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── fullColmapProcess │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── ColmapProcessSteps.json │ │ │ │ ├── ColmapQualityParameters.json │ │ │ │ ├── SelectiveColmapProcessSteps.json │ │ │ │ ├── colmap2nerf.py │ │ │ │ ├── fullColmapProcess.py │ │ │ │ ├── read_write_model.py │ │ │ │ ├── selectiveColmapProcess.py │ │ │ │ ├── selective_colmap_process.py │ │ │ │ └── textureOnly.py │ │ │ ├── meshroomPythonScripts │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── ULR.py │ │ │ ├── nvmToSIBR │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── prepareColmap4Sibr │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── realityCaptureTools │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── SetVariables.bat │ │ │ │ ├── exportModel.xml │ │ │ │ ├── fixup.bat │ │ │ │ ├── processRCSteps.json │ │ │ │ ├── rc_tools.py │ │ │ │ ├── registrationConfig.xml │ │ │ │ └── runRC.bat │ │ │ ├── textureMesh │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── tonemapper │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ ├── unwrapMesh │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ │ └── utils │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── TaskPipeline.py │ │ │ │ ├── color.py │ │ │ │ ├── commands.py │ │ │ │ ├── convert.py │ │ │ │ ├── datasets.py │ │ │ │ └── paths.py │ │ └── scripts │ │ │ └── processRC.py │ │ ├── gaussianviewer │ │ ├── CMakeLists.txt │ │ ├── apps │ │ │ ├── CMakeLists.txt │ │ │ └── gaussianViewer │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ └── renderer │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.hpp │ │ │ ├── GaussianSurfaceRenderer.cpp │ │ │ ├── GaussianSurfaceRenderer.hpp │ │ │ ├── GaussianView.cpp │ │ │ ├── GaussianView.hpp │ │ │ └── shaders │ │ │ ├── copy.frag │ │ │ ├── copy.vert │ │ │ ├── gaussian_surface.frag │ │ │ └── gaussian_surface.vert │ │ ├── remote │ │ ├── CMakeLists.txt │ │ ├── apps │ │ │ ├── CMakeLists.txt │ │ │ └── remoteGaussianUI │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── main.cpp │ │ ├── json.hpp │ │ └── renderer │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.hpp │ │ │ ├── RemotePointView.cpp │ │ │ └── RemotePointView.hpp │ │ └── ulr │ │ ├── CMakeLists.txt │ │ ├── apps │ │ ├── CMakeLists.txt │ │ ├── ulr │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ └── resources │ │ │ │ └── sibr_ulr_app.ini │ │ └── ulrv2 │ │ │ ├── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ └── resources │ │ │ └── sibr_ulrv2_app.ini │ │ ├── documentation │ │ ├── IBR_ULR.dox │ │ └── ulr_doc.cmake │ │ └── renderer │ │ ├── CMakeLists.txt │ │ ├── Config.hpp │ │ ├── ULRRenderer.cpp │ │ ├── ULRRenderer.hpp │ │ ├── ULRV2Renderer.cpp │ │ ├── ULRV2Renderer.hpp │ │ ├── ULRV2View.cpp │ │ ├── ULRV2View.hpp │ │ ├── ULRV3Renderer.cpp │ │ ├── ULRV3Renderer.hpp │ │ ├── ULRV3View.cpp │ │ ├── ULRV3View.hpp │ │ ├── ULRView.cpp │ │ ├── ULRView.hpp │ │ └── shaders │ │ ├── ulr.vert │ │ ├── ulr1.frag │ │ ├── ulr2.frag │ │ ├── ulr_intersect.frag │ │ ├── ulr_intersect.vert │ │ ├── ulr_v2.frag │ │ ├── ulr_v2.vert │ │ ├── ulr_v2_alt.frag │ │ ├── ulr_v3.frag │ │ ├── ulr_v3.vert │ │ ├── ulr_v3_alt.frag │ │ └── ulr_v3_fast.frag └── ue │ └── save_ue_sim_here.txt ├── images └── cover.png ├── requirements.txt ├── scene_data ├── pcd_map │ └── save_pcd_here.txt └── seg_map │ ├── env_airsim_16.jsonl │ ├── env_airsim_18.jsonl │ ├── env_airsim_23.jsonl │ ├── env_airsim_26.jsonl │ ├── env_airsim_gz.jsonl │ ├── env_airsim_sh.jsonl │ ├── env_game_gtav.jsonl │ ├── env_gs_ecust.jsonl │ ├── env_gs_nwpu01.jsonl │ ├── env_gs_nwpu02.jsonl │ ├── env_gs_sjtu01.jsonl │ ├── env_gs_sjtu02.jsonl │ ├── env_ue_bigcity.jsonl │ └── env_ue_smallcity.jsonl ├── scripts ├── sim │ ├── airsim_bridge.py │ ├── common.py │ ├── env_bridge.py │ ├── gs_bridge.py │ ├── gtav_bridge.py │ └── ue_bridge.py └── toolchain │ ├── pcdgen_tool.sh │ ├── seggen_tool.sh │ └── trajgen_tool.sh ├── tool_ws └── src │ ├── ins_gen │ ├── gpt.py │ ├── gpt_api_config.json │ ├── gpt_generation.py │ └── process.py │ ├── pcd_gen │ ├── scripts │ │ ├── airsim_pointcloud.py │ │ └── gtav_pointcloud.py │ └── tmp_pcd_map │ │ └── save_tmp_pcd_here.txt │ ├── seg_gen │ ├── CMakeLists.txt │ ├── include │ │ └── loadpcdmap.hpp │ ├── launch │ │ ├── bev_seg_launch.py │ │ └── manual_seg_launch.py │ ├── package.xml │ ├── rviz │ │ └── seg_gen.rviz │ ├── scripts │ │ └── bev_seg_gen.py │ └── src │ │ ├── bev_seg.cc │ │ ├── bev_seg_node.cc │ │ └── manual_seg_node.cc │ └── traj_gen │ ├── CMakeLists.txt │ ├── include │ ├── base │ │ ├── common.h │ │ ├── eigen_types.h │ │ ├── geometry_eigen_vector.hpp │ │ ├── logs.h │ │ ├── math.hpp │ │ ├── parameter.h │ │ └── tcpserver.hpp │ ├── common.h │ ├── map │ │ ├── loadpcdmap.hpp │ │ ├── seggridmap.hpp │ │ ├── voxel_dilater.hpp │ │ └── voxel_map.hpp │ └── navi │ │ └── pathsearch.hpp │ ├── launch │ └── traj_gen_launch.py │ ├── package.xml │ ├── rviz │ └── traj_gen.rviz │ └── src │ ├── traj_gen.cc │ └── traj_gen_node.cc └── train ├── common.py ├── dataset_builder └── vln │ ├── __init__.py │ ├── vln_dataset_builder.py │ └── vln_dataset_builder_test.py ├── datasets ├── __init__.py ├── data_collector.py ├── data_utils.py └── dataset.py ├── eval.py ├── eval_gtav.py ├── extern ├── __init__.py └── hf │ ├── __init__.py │ ├── configuration_prismatic.py │ ├── modeling_prismatic.py │ └── processing_prismatic.py ├── model ├── __init__.py ├── action_tokenizer.py ├── base_prompter.py ├── config.py ├── llm_backbone.py ├── load_model.py ├── metrics.py ├── overwatch │ ├── __init__.py │ └── overwatch.py ├── prismatic.py ├── prompt_llama2.py ├── strategy.py └── vision_backbone.py ├── train.py └── train.sh /.gitignore: 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