├── .DS_Store ├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── assets ├── .DS_Store ├── pipeline.jpg └── pipeline.pdf ├── checkpoints └── droid.pth ├── configs ├── TUM_RGBD │ ├── rgbd_dataset_freiburg3_long_office_household.yaml │ ├── rgbd_dataset_freiburg3_sitting_halfsphere.yaml │ ├── rgbd_dataset_freiburg3_sitting_static.yaml │ ├── rgbd_dataset_freiburg3_sitting_xyz.yaml │ ├── rgbd_dataset_freiburg3_walking_rpy.yaml │ ├── rgbd_dataset_freiburg3_walking_static.yaml │ ├── rgbd_dataset_freiburg3_walking_xyz.yaml │ └── tum.yaml └── dg_slam.yaml ├── data ├── tum_split.txt └── utils.py ├── dg_slam ├── config.py ├── data_readers │ ├── __init__.py │ └── rgbd_utils.py ├── depth_video.py ├── dg_model.py ├── droid_backend.py ├── droid_frontend.py ├── droid_net.py ├── factor_graph.py ├── gaussian │ ├── common.py │ ├── eval.py │ ├── gaussian_render.py │ ├── general_utils.py │ ├── graphics_utils.py │ ├── logger.py │ ├── loss_utils.py │ ├── sh_utils.py │ └── system_utils.py ├── gaussian_model.py ├── geom │ ├── __init__.py │ ├── ba.py │ ├── chol.py │ ├── graph_utils.py │ ├── losses.py │ └── projective_ops.py ├── gs_tracking_mapping.py ├── modules │ ├── __init__.py │ ├── clipping.py │ ├── corr.py │ ├── extractor.py │ └── gru.py ├── motion_filter.py ├── pose_transform.py ├── trajectory_filler.py └── warp │ ├── depth_warp.py │ ├── loggers.py │ └── utils.py ├── environment.yaml ├── evaluation ├── __init__.py ├── evaluate_ate_scale.py ├── evaluate_kitti.py ├── evaluate_rpe.py ├── evaluator_base.py ├── tartanair_evaluator.py ├── trajectory_transform.py └── transformation.py ├── run_tum.py ├── scripts ├── download_bonn.sh ├── download_replica.sh ├── download_rgbd.sh └── download_tum.sh └── submodules └── diff-gaussian-rasterization_pose ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── cuda_rasterizer ├── auxiliary.h ├── backward.cu ├── backward.h ├── config.h ├── forward.cu ├── forward.h ├── rasterizer.h ├── rasterizer_impl.cu └── 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