├── .gitmodules ├── Dockerfile ├── Fig ├── 1 ├── dataset.png ├── framework.png └── teaser.png ├── NumpyMarchingCubes ├── marching_cubes │ ├── __init__.py │ └── src │ │ ├── __init__.py │ │ ├── _mcubes.cpp │ │ ├── _mcubes.pyx │ │ ├── marching_cubes.cpp │ │ ├── marching_cubes.h │ │ ├── pyarray_symbol.h │ │ ├── pyarraymodule.h │ │ ├── pywrapper.cpp │ │ ├── pywrapper.h │ │ ├── sparsegrid3.h │ │ └── tables.h └── setup.py ├── README.md ├── config.py ├── configs ├── Indoor │ ├── indoor.yaml │ ├── indoor_agent0.yaml │ ├── indoor_agent1.yaml │ ├── indoor_agent2.yaml │ └── indoor_agent3.yaml ├── Outdoor │ ├── carpark.yaml │ └── outdoor.yaml ├── Replica │ ├── apart0_agent1.yaml │ ├── apart0_agent2.yaml │ ├── apart1_agent1.yaml │ ├── apart1_agent2.yaml │ ├── apart2_agent1.yaml │ ├── apart2_agent2.yaml │ ├── office0.yaml │ ├── office0_agent0.yaml │ ├── office0_agent1.yaml │ ├── office1.yaml │ ├── office1_agent0.yaml │ ├── office1_agent1.yaml │ ├── office2.yaml │ ├── office2_agent0.yaml │ ├── office2_agent1.yaml │ ├── office3.yaml │ ├── office3_agent0.yaml │ ├── office3_agent1.yaml │ ├── office4.yaml │ ├── office4_agent0.yaml │ ├── office4_agent1.yaml │ ├── replica.yaml │ ├── room0.yaml │ ├── room0_agent0.yaml │ ├── room0_agent1.yaml │ ├── room1.yaml │ ├── room1_agent0.yaml │ ├── room1_agent1.yaml │ ├── room2.yaml │ ├── room2_agent0.yaml │ └── room2_agent1.yaml └── ScanNet │ ├── scannet.yaml │ ├── scene0000.yaml │ ├── scene0054.yaml │ ├── scene0059.yaml │ ├── scene0106.yaml │ ├── scene0169.yaml │ ├── scene0181.yaml │ ├── scene0207.yaml │ └── scene0233.yaml ├── datasets ├── __pycache__ │ ├── dataset.cpython-37.pyc │ ├── dataset_track.cpython-37.pyc │ └── utils.cpython-37.pyc ├── dataset.py ├── dataset_track.py └── utils.py ├── environment.yaml ├── mneslam_mp.py ├── model ├── Mesher.py ├── __pycache__ │ ├── Mesher.cpython-37.pyc │ ├── decoder.cpython-37.pyc │ ├── encodings.cpython-37.pyc │ ├── keyframe.cpython-37.pyc │ ├── scene_rep.cpython-37.pyc │ └── utils.cpython-37.pyc ├── decoder.py ├── encodings.py ├── keyframe.py ├── scene_rep.py └── utils.py ├── mp_slam ├── __pycache__ │ ├── mapper.cpython-37.pyc │ └── tracker.cpython-37.pyc ├── loop_detector.py ├── mapper.py ├── netvlad.py └── tracker.py ├── multi_agents.py ├── optimization ├── __pycache__ │ └── utils.cpython-37.pyc ├── frame_align.py ├── pose_array.py └── utils.py ├── requirements.txt ├── scripts ├── download_replica.sh ├── download_replica_mesh.sh └── download_tum.sh ├── setup.py ├── src ├── __init__.py └── lib │ ├── altcorr_kernel.cu │ ├── correlation_kernels.cu │ ├── droid.cpp │ └── droid_kernels.cu ├── thirdparty └── __init__.py ├── tools ├── coslam_eval │ ├── .gitignore │ ├── config.py │ ├── create_virtual_cameras_replica.py │ ├── cull_mesh.py │ ├── datasets │ │ ├── common.py │ │ ├── dataset.py │ │ ├── utils.py │ │ └── vis_cameras.py │ └── eval_recon.py ├── eval_ate.py └── vis_cameras.py ├── tracker ├── __pycache__ │ ├── backend.cpython-37.pyc │ ├── depth_video.cpython-37.pyc │ ├── 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