├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── Objects └── Camera │ └── CameraParameters.h ├── README.md ├── Utils ├── EvaluationHelper.h ├── define.h ├── eigen_glm.h ├── parser.hpp └── util.h ├── app ├── CMakeLists.txt └── GraphSLAM │ ├── CMakeLists.txt │ └── main.cc ├── cmake ├── CUDACheckCompute.cmake ├── ConfigureTimeDependency.cmake ├── External_Eigen3.CMakeLists.txt.in ├── External_Json.CMakeLists.txt.in ├── External_OpenCV.CMakeLists.txt.in ├── External_tinyply.CMakeLists.txt.in ├── FindJson.cmake ├── FindOnnxRuntime.cmake ├── Findtinyply.cmake ├── Flags.cmake ├── LinkAssimp.cmake ├── LinkEigen3.cmake ├── LinkJson.cmake ├── LinkOnnxRuntime.cmake ├── LinkOpenCV.cmake ├── Linktinyply.cmake ├── UseAssimp.cmake ├── UseCUDA.cmake ├── UseEigen3.cmake ├── UseJson.cmake ├── UseOnnxRuntime.cmake ├── UseOpenCV.cmake ├── UseOpenMP.cmake ├── Usetinyply.cmake └── cuda_compute_capability.cpp ├── img └── teaser.png ├── lib ├── inseg_lib │ ├── camera.h │ ├── disjoint_set.h │ ├── image_pyramid.h │ ├── inseg.h │ ├── inseg_config.h │ ├── lib.h │ ├── main_config.h │ ├── map.h │ ├── map_config.h │ ├── map_segments.h │ ├── segmentation.h │ ├── segmentation_config.h │ └── surfel.h ├── libInSegLib_linux.a └── libInSegLib_osx.a ├── libDataLoader ├── CMakeLists.txt ├── ScanNetLoader │ ├── CMakeLists.txt │ ├── sensorData.cpp │ ├── sensorData.h │ └── sensorData1 │ │ ├── stb_image.h │ │ └── stb_image_write.h ├── include │ └── dataLoader │ │ ├── CameraParameters.h │ │ ├── Scan3R_json_loader.h │ │ ├── dataloader_3rscan.h │ │ ├── dataloader_scannet.h │ │ ├── dataset3RScan.h │ │ ├── datasetScanNet.h │ │ ├── dataset_base.h │ │ ├── dataset_loader.h │ │ ├── dataset_loader_facotry.h │ │ ├── dataset_types.h │ │ └── util.h └── src │ ├── dataloader_3rscan.cpp │ └── dataloader_scannet.cpp ├── libGraphSLAM ├── CMakeLists.txt ├── GraphSLAM.cpp ├── GraphSLAM.h ├── config.cpp ├── config.h ├── declaration.h ├── disjSet.h ├── edge.cpp ├── edge.h ├── graph.cpp ├── graph.h ├── graphPredictor │ ├── EatGCN.cpp │ ├── EatGCN.h │ ├── GraphPredictor.cpp │ ├── GraphPredictor.h │ ├── MemoryBlock.h │ ├── OnnxModelBase.h │ ├── ParamLoader.h │ ├── UtilDataProcessing.h │ ├── UtilInSegPlyLoader.h │ └── UtilMath.h ├── node.cpp └── node.h ├── libGraphSLAMGUI ├── CMakeLists.txt ├── CameraDrawer.cpp ├── CameraDrawer.h ├── GraphSLAMGUI.cpp ├── GraphSLAMGUI.h ├── ImageDrawer.cpp ├── ImageDrawer.h ├── Label_NYU40.h ├── SurfelDrawer.cpp ├── SurfelDrawer.h ├── TrajectoryDrawer.cpp ├── TrajectoryDrawer.h └── graphDrawer │ ├── edge_drawer.cpp │ ├── edge_drawer.h │ ├── graph_drawer.cpp │ ├── graph_drawer.h │ ├── node_drawer.cpp │ ├── node_drawer.h │ ├── text_drawer.cpp │ └── text_drawer.h ├── prepare_example_data.sh ├── renderer ├── Renderer.h ├── Renderer3RScan.h ├── RendererFactory.h ├── RendererScanNet.h ├── RendererType.h └── Scan3R_json_loader.h └── scripts ├── README.md └── RUN_GraphSLAM.py /.gitignore: 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