├── .gitignore ├── .idea ├── .gitignore ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml ├── modules.xml ├── pyslam.iml └── vcs.xml ├── LICENSE ├── README.md ├── examples ├── Fitting a cubic.ipynb ├── Pose graph relaxation in SE(2).ipynb ├── dense_stereo_vo_kitti.py ├── posegraph_relax.py ├── posegraph_relax_2d.py ├── stereo_ba.py ├── stereo_ba_frame_to_frame.py └── stereo_image_align.py ├── pyslam ├── __init__.py ├── losses.py ├── metrics.py ├── pipelines │ ├── __init__.py │ ├── dense.py │ ├── keyframes.py │ ├── ransac.py │ └── sparse.py ├── problem.py ├── residuals │ ├── __init__.py │ ├── photometric_residual.py │ ├── pose_residual.py │ ├── pose_to_pose_orientation_residual.py │ ├── pose_to_pose_residual.py │ ├── pytorch_residual.py │ ├── pytorch_residual.py.backup │ ├── quadratic_residual.py │ ├── reprojection_motion_only_residual.py │ └── reprojection_residual.py ├── sensors │ ├── __init__.py │ ├── rgbd_camera.py │ └── stereo_camera.py ├── torch_utils.py ├── utils.py 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