├── .gitignore ├── LICENSE ├── README.md ├── SFC ├── __pycache__ │ └── astar_utils.cpython-38.pyc ├── astar_utils.py ├── corridor_utils.py ├── helper_utils.py └── viz_utils.py ├── blender ├── viz_dataset.py ├── viz_statistical_traj.py └── viz_utils.py ├── ellipsoids ├── __pycache__ │ └── covariance_utils.cpython-38.pyc ├── covariance_utils.py ├── intersection_utils.py ├── mesh_utils.py └── sphere_utils.py ├── imgs └── logo.svg ├── initialization ├── __pycache__ │ └── grid_utils.cpython-38.pyc ├── astar_utils.py └── grid_utils.py ├── nerfnav ├── nav │ ├── math_utils.py │ └── planner.py └── nerf │ └── nerf.py ├── ns_utils ├── __pycache__ │ └── nerfstudio_utils.cpython-38.pyc └── nerfstudio_utils.py ├── plotting ├── make_gif.py └── plot_utils.py ├── polytopes ├── __pycache__ │ ├── collision_set.cpython-38.pyc │ ├── decomposition.cpython-38.pyc │ └── polytopes_utils.cpython-38.pyc ├── collision_set.py ├── connectivity_utils.py ├── decomposition.py └── polytopes_utils.py ├── pose_estimator ├── pose_estimator.py └── utils.py ├── results ├── ellipsoids │ ├── covariance_utils.py │ ├── mesh_utils.py │ ├── plot_utils.py │ └── polytopes_utils.py ├── ns_utils │ └── nerfstudio_utils.py ├── old_union │ └── test_runs │ │ └── est_pose.json ├── plot_results.py ├── plot_sfc_ablations.py ├── process_data_corridors.py ├── process_data_corridors2.py ├── sfc_ablations.pdf ├── simulation_stats.pdf └── splat │ ├── distances.py │ └── gsplat_utils.py ├── run_nerfnav.py ├── run_rrt.py ├── run_splatloc.py ├── run_splatplan.py ├── splat ├── __pycache__ │ └── splat_utils.cpython-38.pyc └── splat_utils.py ├── splatplan ├── __pycache__ │ └── splatplan.cpython-38.pyc ├── splatplan.py └── spline_utils.py └── visualize.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chengine/splatnav/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: 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