├── .github └── workflows │ └── tests.yaml ├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── configuration ├── infer_f2f.yaml ├── infer_f2f_nw.yaml ├── infer_scared.yaml └── train.yaml ├── core ├── __init__.py ├── fusion │ ├── __init__.py │ └── surfel_map.py ├── geometry │ ├── __init__.py │ └── pinhole_transforms.py ├── interpol │ ├── __init__.py │ ├── flow_utils.py │ └── sparse_img_interpolation.py ├── metrics │ ├── __init__.py │ └── trajectory_metrics.py ├── optimization │ └── declerative_node_lie.py ├── pose │ ├── __init__.py │ ├── pose_estimator.py │ ├── pose_head.py │ └── pose_net.py ├── unet │ └── unet.py └── utils │ ├── __init__.py │ ├── frame_class.py │ ├── lib_handling.py │ ├── logging.py │ ├── opencv.py │ ├── pfm_handler.py │ ├── plotting.py │ ├── pytorch.py │ ├── save_ply.py │ ├── trajectory.py │ └── trajectory_analyzer.py ├── dataset ├── __init__.py ├── dataset_utils.py ├── preprocess │ ├── __init__.py │ └── stereo_rectify.py ├── rectification.py ├── stereo_dataset.py ├── train_datasets.py ├── transforms.py └── video_dataset.py ├── evaluation ├── evaluate_ate_freiburg.py ├── inspect_results.py ├── inspect_results_test.py └── trajectory_plots.py ├── requirements.txt ├── scripts ├── benchmark_scenarios.py ├── benchmark_test.py ├── infer_trajectory.py ├── preprocess_video_data.py └── train_posenet.py ├── system_overview.png ├── tests ├── __init__.py ├── test_data │ ├── 000000l.pfm │ ├── 000000l.png │ ├── 0006.pfm │ ├── 0006.png │ ├── bball.jpeg │ └── tartan_air │ │ ├── 000000_000001_flow.npy │ │ ├── 000000_000001_mask.npy │ │ ├── 000000_left.png │ │ ├── 000000_left_depth.npy │ │ ├── 000001_left.png │ │ ├── 000001_left_depth.npy │ │ └── pose_left.txt ├── unit_test_all.py ├── unit_test_pinhole_transforms.py └── unit_test_pose_head.py ├── trained ├── only2d_18bl5o77.pth ├── only3d_1a7ix98y.pth └── poseNet_2xf8up4b.pth └── viewer ├── __init__.py ├── view_renderer.py ├── viewer2d.py └── viewer3d.py /.github/workflows/tests.yaml: 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