├── LICENSE.md ├── Makefile ├── README.md ├── docker └── Dockerfile ├── kp3d ├── datasets │ ├── kitti_odometry_dataset.py │ └── patches_dataset.py ├── evaluation │ ├── descriptor_evaluation.py │ ├── detector_evaluation.py │ ├── evaluate.py │ ├── evaluate_keypoint_odometry.py │ └── evaluate_keypoint_patches.py ├── externals │ ├── cpp │ │ ├── evaluate_odometry.cpp │ │ ├── mail.h │ │ ├── matrix.cpp │ │ └── matrix.h │ └── monodepth2 │ │ └── models │ │ ├── depth_decoder.py │ │ ├── layers.py │ │ └── resnet_encoder.py ├── geometry │ ├── camera.py │ └── pose.py ├── networks │ ├── disp_resnet.py │ └── keypoint_resnet.py └── utils │ ├── image.py │ └── keypoints.py ├── media ├── gifs │ ├── demo.gif │ └── tracking.gif ├── imgs │ └── teaser.png └── plots │ ├── seq00.png │ ├── seq03.png │ ├── seq04.png │ ├── seq05.png │ └── seq07.png └── trajectories ├── ablation-v1.zip ├── ablation-v2.zip ├── ablation-v3.zip ├── ablation-v4.zip ├── ablation-v5.zip ├── ds_dso_kitti_00_10.zip └── monodepth2.zip 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