├── .clang-format ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Dockerfile ├── LICENSES ├── BSD-3-Clause.txt ├── CC0-1.0.txt ├── Gaussian-Splatting-License.md └── MIT.txt ├── README.md ├── app ├── CMakeLists.txt ├── include │ ├── config.hpp │ ├── gui.hpp │ ├── impl │ │ └── config_impl.hpp │ ├── reader.hpp │ ├── reader_base.hpp │ ├── reader_replica.hpp │ ├── reader_scannetpp.hpp │ └── reader_tum.hpp └── src │ ├── config.cpp │ ├── gui.cpp │ ├── main.cpp │ ├── reader.cpp │ ├── reader_base.cpp │ ├── reader_replica.cpp │ ├── reader_scannetpp.cpp │ └── reader_tum.cpp ├── cmake └── Supereight2Config.cmake.in ├── config ├── replica_room0.yaml ├── scannetpp_8b5caf3398.yaml └── tum_rgbd_freiburg1_desk2.yaml ├── cuda_rasterizer ├── include │ ├── auxiliary.h │ ├── backward.h │ ├── config.h │ ├── forward.h │ ├── rasterizer.h │ ├── rasterizer_impl.h │ └── serialization.h └── src │ ├── backward.cu │ ├── forward.cu │ └── rasterizer_impl.cu ├── include ├── gs │ ├── gaussian.cuh │ ├── gaussian_utils.cuh │ ├── loss_utils.cuh │ ├── quad_tree.cuh │ ├── rasterize_points.cuh │ ├── rasterizer.cuh │ └── render_utils.cuh └── se │ ├── common │ ├── angle_utils.hpp │ ├── colour_types.hpp │ ├── colour_utils.hpp │ ├── filesystem.hpp │ ├── image_utils.hpp │ ├── impl │ │ ├── angle_utils_impl.hpp │ │ ├── colour_utils_impl.hpp │ │ ├── image_utils_impl.hpp │ │ ├── math_util_impl.hpp │ │ ├── perfstats_impl.hpp │ │ ├── str_utils_impl.hpp │ │ ├── weight_impl.hpp │ │ └── yaml_impl.hpp │ ├── math_util.hpp │ ├── perfstats.hpp │ ├── projection.hpp │ ├── semantic_classes.hpp │ ├── semantic_types.hpp │ ├── str_utils.hpp │ ├── system_utils.hpp │ ├── timings.hpp │ ├── tsdf.hpp │ ├── weight.hpp │ └── yaml.hpp │ ├── image │ └── image.hpp │ ├── integrator │ ├── allocator │ │ ├── dense_pooling_image.hpp │ │ ├── impl │ │ │ ├── dense_pooling_image_impl.hpp │ │ │ ├── raycast_carver_impl.hpp │ │ │ └── volume_carver_impl.hpp │ │ ├── raycast_carver.hpp │ │ └── volume_carver.hpp │ ├── impl │ │ └── map_integrator_impl.hpp │ ├── map_integrator.hpp │ └── updater │ │ ├── impl │ │ └── singleres_tsdf_gs_updater_impl.hpp │ │ ├── singleres_tsdf_gs_updater.hpp │ │ └── updater.hpp │ ├── map │ ├── algorithms │ │ ├── edge_tables.hpp │ │ ├── impl │ │ │ ├── marching_cube_impl.hpp │ │ │ └── structure_meshing_impl.hpp │ │ ├── marching_cube.hpp │ │ ├── mesh.hpp │ │ └── structure_meshing.hpp │ ├── data.hpp │ ├── data_colour.hpp │ ├── data_field.hpp │ ├── data_semantics.hpp │ ├── impl │ │ ├── map_impl.hpp │ │ ├── preprocessor_impl.hpp │ │ └── raycaster_impl.hpp │ ├── io │ │ ├── impl │ │ │ ├── mesh_io_impl.hpp │ │ │ ├── octomap_io_impl.hpp │ │ │ ├── octree_io_impl.hpp │ │ │ └── point_cloud_io_impl.hpp │ │ ├── mesh_io.hpp │ │ ├── octomap_io.hpp │ │ ├── octree_io.hpp │ │ └── point_cloud_io.hpp │ ├── map.hpp │ ├── octant │ │ ├── block.hpp │ │ ├── impl │ │ │ ├── block_impl.hpp │ │ │ └── node_impl.hpp │ │ ├── node.hpp │ │ └── octant.hpp │ ├── octree │ │ ├── allocator.hpp │ │ ├── fetcher.hpp │ │ ├── impl │ │ │ ├── allocator_impl.hpp │ │ │ ├── fetcher_impl.hpp │ │ │ ├── integrator_impl.hpp │ │ │ ├── iterator_impl.hpp │ │ │ ├── octree_impl.hpp │ │ │ ├── propagator_impl.hpp │ │ │ ├── visitor_impl.hpp │ │ │ └── voxel_block_ray_iterator_impl.hpp │ │ ├── integrator.hpp │ │ ├── iterator.hpp │ │ ├── octree.hpp │ │ ├── propagator.hpp │ │ ├── visitor.hpp │ │ └── voxel_block_ray_iterator.hpp │ ├── preprocessor.hpp │ ├── raycaster.hpp │ └── utils │ │ ├── confidence.hpp │ │ ├── impl │ │ ├── confidence_impl.hpp │ │ ├── key_util_impl.hpp │ │ └── octant_util_impl.hpp │ │ ├── key_util.hpp │ │ ├── memory_pool.hpp │ │ ├── octant_util.hpp │ │ ├── setup_util.hpp │ │ └── type_util.hpp │ ├── sensor │ ├── impl │ │ ├── pinhole_camera_impl.hpp │ │ └── sensor_impl.hpp │ ├── pinhole_camera.hpp │ └── sensor.hpp │ ├── supereight.hpp │ └── supereight_config.hpp.in ├── media └── teaser.gif ├── parameter ├── optimization_params_replica.json ├── optimization_params_scannetpp.json └── optimization_params_tum_rgbd.json ├── src ├── common │ ├── colour_utils.cpp │ ├── image_utils.cpp │ ├── perfstats.cpp │ ├── str_utils.cpp │ ├── system_utils.cpp │ └── yaml.cpp ├── gs │ ├── .nfs00000000224424790000060e │ ├── gaussian.cu │ ├── quad_tree.cu │ ├── rasterize_points.cu │ └── rasterizer.cu ├── map │ ├── data.cpp │ ├── io │ │ └── mesh_io.cpp │ ├── map.cpp │ ├── octant.cpp │ ├── preprocessor.cpp │ └── raycaster.cpp └── sensor │ ├── pinhole_camera.cpp │ └── sensor.cpp └── third_party └── CMakeLists.txt /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-mrl/GSFusion/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-mrl/GSFusion/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: 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