├── .gitignore.txt ├── README.md ├── config.py ├── configs ├── Replica │ ├── office0.yaml │ ├── office1.yaml │ ├── office2.yaml │ ├── office3.yaml │ ├── office4.yaml │ ├── replica.yaml │ ├── room0.yaml │ ├── room1.yaml │ └── room2.yaml ├── ScanNet │ ├── scannet.yaml │ ├── scene0000.yaml │ ├── scene0059.yaml │ ├── scene0106.yaml │ ├── scene0169.yaml │ ├── scene0181.yaml │ └── scene0207.yaml ├── Synthetic │ ├── br.yaml │ ├── ck.yaml │ ├── gr.yaml │ ├── gwr.yaml │ ├── ma.yaml │ ├── synthetic.yaml │ ├── tg.yaml │ └── wr.yaml └── Tum │ ├── fr1_desk.yaml │ ├── fr2_xyz.yaml │ ├── fr3_office.yaml │ └── tum.yaml ├── datasets ├── dataset.py └── utils.py ├── external └── NumpyMarchingCubes │ ├── .eggs │ ├── Cython-3.0.0-py3.7-linux-x86_64.egg │ │ ├── Cython │ │ │ ├── Build │ │ │ │ ├── BuildExecutable.py │ │ │ │ ├── Cythonize.py │ │ │ │ ├── Dependencies.py │ │ │ │ ├── Distutils.py │ │ │ │ ├── Inline.py │ │ │ │ ├── IpythonMagic.py │ │ │ │ ├── Tests │ │ │ │ │ ├── TestCyCache.py │ │ │ │ │ ├── TestCythonizeArgsParser.py │ │ │ │ │ ├── TestDependencies.py │ │ │ │ │ ├── TestInline.py │ │ │ │ │ ├── TestIpythonMagic.py │ │ │ │ │ ├── TestRecythonize.py │ │ │ │ │ ├── TestStripLiterals.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── __init__.py │ │ │ │ └── __pycache__ │ │ │ │ │ ├── Dependencies.cpython-37.pyc │ │ │ │ │ ├── Distutils.cpython-37.pyc │ │ │ │ │ └── __init__.cpython-37.pyc │ │ │ ├── CodeWriter.py │ │ │ ├── Compiler │ │ │ │ ├── AnalysedTreeTransforms.py │ │ │ │ ├── Annotate.py │ │ │ │ ├── AutoDocTransforms.py │ │ │ │ ├── Buffer.py │ │ │ │ ├── Builtin.py │ │ │ │ ├── CmdLine.py │ │ │ │ ├── Code.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Code.pxd │ │ │ │ ├── Code.py │ │ │ │ ├── CodeGeneration.py │ │ │ │ ├── CythonScope.py │ │ │ │ ├── Dataclass.py │ │ │ │ ├── DebugFlags.py │ │ │ │ ├── Errors.py │ │ │ │ ├── ExprNodes.py │ │ │ │ ├── FlowControl.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── FlowControl.pxd │ │ │ │ ├── FlowControl.py │ │ │ │ ├── FusedNode.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── FusedNode.py │ │ │ │ ├── Future.py │ │ │ │ ├── Interpreter.py │ │ │ │ ├── Lexicon.py │ │ │ │ ├── Main.py │ │ │ │ ├── MemoryView.py │ │ │ │ ├── ModuleNode.py │ │ │ │ ├── Naming.py │ │ │ │ ├── Nodes.py │ │ │ │ ├── Optimize.py │ │ │ │ ├── Options.py │ │ │ │ ├── ParseTreeTransforms.pxd │ │ │ │ ├── ParseTreeTransforms.py │ │ │ │ ├── Parsing.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Parsing.pxd │ │ │ │ ├── Parsing.py │ │ │ │ ├── Pipeline.py │ │ │ │ ├── PyrexTypes.py │ │ │ │ ├── Pythran.py │ │ │ │ ├── Scanning.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Scanning.pxd │ │ │ │ ├── Scanning.py │ │ │ │ ├── StringEncoding.py │ │ │ │ ├── Symtab.py │ │ │ │ ├── Tests │ │ │ │ │ ├── TestBuffer.py │ │ │ │ │ ├── TestCmdLine.py │ │ │ │ │ ├── TestFlowControl.py │ │ │ │ │ ├── TestGrammar.py │ │ │ │ │ ├── TestMemView.py │ │ │ │ │ ├── TestParseTreeTransforms.py │ │ │ │ │ ├── TestScanning.py │ │ │ │ │ ├── TestSignatureMatching.py │ │ │ │ │ ├── TestStringEncoding.py │ │ │ │ │ ├── TestTreeFragment.py │ │ │ │ │ ├── TestTreePath.py │ │ │ │ │ ├── TestTypes.py │ │ │ │ │ ├── TestUtilityLoad.py │ │ │ │ │ ├── TestVisitor.py │ │ │ │ │ ├── Utils.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── TreeFragment.py │ │ │ │ ├── TreePath.py │ │ │ │ ├── TypeInference.py │ │ │ │ ├── TypeSlots.py │ │ │ │ ├── UFuncs.py │ │ │ │ ├── UtilNodes.py │ │ │ │ ├── UtilityCode.py │ │ │ │ ├── Version.py │ │ │ │ ├── Visitor.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Visitor.pxd │ │ │ │ ├── Visitor.py │ │ │ │ ├── __init__.py │ │ │ │ └── __pycache__ │ │ │ │ │ ├── AnalysedTreeTransforms.cpython-37.pyc │ │ │ │ │ ├── Annotate.cpython-37.pyc │ │ │ │ │ ├── AutoDocTransforms.cpython-37.pyc │ │ │ │ │ ├── Buffer.cpython-37.pyc │ │ │ │ │ ├── Builtin.cpython-37.pyc │ │ │ │ │ ├── CmdLine.cpython-37.pyc │ │ │ │ │ ├── CodeGeneration.cpython-37.pyc │ │ │ │ │ ├── CythonScope.cpython-37.pyc │ │ │ │ │ ├── DebugFlags.cpython-37.pyc │ │ │ │ │ ├── Errors.cpython-37.pyc │ │ │ │ │ ├── ExprNodes.cpython-37.pyc │ │ │ │ │ ├── Future.cpython-37.pyc │ │ │ │ │ ├── Interpreter.cpython-37.pyc │ │ │ │ │ ├── Lexicon.cpython-37.pyc │ │ │ │ │ ├── Main.cpython-37.pyc │ │ │ │ │ ├── MemoryView.cpython-37.pyc │ │ │ │ │ ├── ModuleNode.cpython-37.pyc │ │ │ │ │ ├── Naming.cpython-37.pyc │ │ │ │ │ ├── Nodes.cpython-37.pyc │ │ │ │ │ ├── Optimize.cpython-37.pyc │ │ │ │ │ ├── Options.cpython-37.pyc │ │ │ │ │ ├── ParseTreeTransforms.cpython-37.pyc │ │ │ │ │ ├── Pipeline.cpython-37.pyc │ │ │ │ │ ├── PyrexTypes.cpython-37.pyc │ │ │ │ │ ├── Pythran.cpython-37.pyc │ │ │ │ │ ├── StringEncoding.cpython-37.pyc │ │ │ │ │ ├── Symtab.cpython-37.pyc │ │ │ │ │ ├── TreeFragment.cpython-37.pyc │ │ │ │ │ ├── TypeInference.cpython-37.pyc │ │ │ │ │ ├── TypeSlots.cpython-37.pyc │ │ │ │ │ ├── UtilNodes.cpython-37.pyc │ │ │ │ │ ├── UtilityCode.cpython-37.pyc │ │ │ │ │ ├── Version.cpython-37.pyc │ │ │ │ │ └── __init__.cpython-37.pyc │ │ │ ├── Coverage.py │ │ │ ├── Debugger │ │ │ │ ├── Cygdb.py │ │ │ │ ├── DebugWriter.py │ │ │ │ ├── Tests │ │ │ │ │ ├── TestLibCython.py │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── cfuncs.c │ │ │ │ │ ├── codefile │ │ │ │ │ ├── test_libcython_in_gdb.py │ │ │ │ │ └── test_libpython_in_gdb.py │ │ │ │ ├── __init__.py │ │ │ │ ├── libcython.py │ │ │ │ └── libpython.py │ │ │ ├── Debugging.py │ │ │ ├── Distutils │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ │ ├── build_ext.cpython-37.pyc │ │ │ │ │ └── extension.cpython-37.pyc │ │ │ │ ├── build_ext.py │ │ │ │ ├── extension.py │ │ │ │ └── old_build_ext.py │ │ │ ├── Includes │ │ │ │ ├── cpython │ │ │ │ │ ├── __init__.pxd │ │ │ │ │ ├── array.pxd │ │ │ │ │ ├── bool.pxd │ │ │ │ │ ├── buffer.pxd │ │ │ │ │ ├── bytearray.pxd │ │ │ │ │ ├── bytes.pxd │ │ │ │ │ ├── cellobject.pxd │ │ │ │ │ ├── ceval.pxd │ │ │ │ │ ├── cobject.pxd │ │ │ │ │ ├── codecs.pxd │ │ │ │ │ ├── complex.pxd │ │ │ │ │ ├── contextvars.pxd │ │ │ │ │ ├── conversion.pxd │ │ │ │ │ ├── datetime.pxd │ │ │ │ │ ├── descr.pxd │ │ │ │ │ ├── dict.pxd │ │ │ │ │ ├── exc.pxd │ │ │ │ │ ├── fileobject.pxd │ │ │ │ │ ├── float.pxd │ │ │ │ │ ├── function.pxd │ │ │ │ │ ├── genobject.pxd │ │ │ │ │ ├── getargs.pxd │ │ │ │ │ ├── instance.pxd │ │ │ │ │ ├── int.pxd │ │ │ │ │ ├── iterator.pxd │ │ │ │ │ ├── iterobject.pxd │ │ │ │ │ ├── list.pxd │ │ │ │ │ ├── long.pxd │ │ │ │ │ ├── longintrepr.pxd │ │ │ │ │ ├── mapping.pxd │ │ │ │ │ ├── marshal.pxd │ │ │ │ │ ├── mem.pxd │ │ │ │ │ ├── memoryview.pxd │ │ │ │ │ ├── method.pxd │ │ │ │ │ ├── module.pxd │ │ │ │ │ ├── number.pxd │ │ │ │ │ ├── object.pxd │ │ │ │ │ ├── oldbuffer.pxd │ │ │ │ │ ├── pycapsule.pxd │ │ │ │ │ ├── pylifecycle.pxd │ │ │ │ │ ├── pyport.pxd │ │ │ │ │ ├── pystate.pxd │ │ │ │ │ ├── pythread.pxd │ │ │ │ │ ├── ref.pxd │ │ │ │ │ ├── sequence.pxd │ │ │ │ │ ├── set.pxd │ │ │ │ │ ├── slice.pxd │ │ │ │ │ ├── string.pxd │ │ │ │ │ ├── time.pxd │ │ │ │ │ ├── tuple.pxd │ │ │ │ │ ├── type.pxd │ │ │ │ │ ├── unicode.pxd │ │ │ │ │ ├── version.pxd │ │ │ │ │ └── weakref.pxd │ │ │ │ ├── libc │ │ │ │ │ ├── __init__.pxd │ │ │ │ │ ├── complex.pxd │ │ │ │ │ ├── errno.pxd │ │ │ │ │ ├── float.pxd │ │ │ │ │ ├── limits.pxd │ │ │ │ │ ├── locale.pxd │ │ │ │ │ ├── math.pxd │ │ │ │ │ ├── setjmp.pxd │ │ │ │ │ ├── signal.pxd │ │ │ │ │ ├── stddef.pxd │ │ │ │ │ ├── stdint.pxd │ │ │ │ │ ├── stdio.pxd │ │ │ │ │ ├── stdlib.pxd │ │ │ │ │ ├── string.pxd │ │ │ │ │ └── time.pxd │ │ │ │ ├── libcpp │ │ │ │ │ ├── __init__.pxd │ │ │ │ │ ├── algorithm.pxd │ │ │ │ │ ├── any.pxd │ │ │ │ │ ├── atomic.pxd │ │ │ │ │ ├── bit.pxd │ │ │ │ │ ├── cast.pxd │ │ │ │ │ ├── cmath.pxd │ │ │ │ │ ├── complex.pxd │ │ │ │ │ ├── deque.pxd │ │ │ │ │ ├── execution.pxd │ │ │ │ │ ├── forward_list.pxd │ │ │ │ │ ├── functional.pxd │ │ │ │ │ ├── iterator.pxd │ │ │ │ │ ├── limits.pxd │ │ │ │ │ ├── list.pxd │ │ │ │ │ ├── map.pxd │ │ │ │ │ ├── memory.pxd │ │ │ │ │ ├── numbers.pxd │ │ │ │ │ ├── numeric.pxd │ │ │ │ │ ├── optional.pxd │ │ │ │ │ ├── pair.pxd │ │ │ │ │ ├── queue.pxd │ │ │ │ │ ├── random.pxd │ │ │ │ │ ├── set.pxd │ │ │ │ │ ├── stack.pxd │ │ │ │ │ ├── string.pxd │ │ │ │ │ ├── typeindex.pxd │ │ │ │ │ ├── typeinfo.pxd │ │ │ │ │ ├── unordered_map.pxd │ │ │ │ │ ├── unordered_set.pxd │ │ │ │ │ ├── utility.pxd │ │ │ │ │ └── vector.pxd │ │ │ │ ├── numpy │ │ │ │ │ ├── __init__.pxd │ │ │ │ │ └── math.pxd │ │ │ │ ├── openmp.pxd │ │ │ │ └── posix │ │ │ │ │ ├── __init__.pxd │ │ │ │ │ ├── dlfcn.pxd │ │ │ │ │ ├── fcntl.pxd │ │ │ │ │ ├── ioctl.pxd │ │ │ │ │ ├── mman.pxd │ │ │ │ │ ├── resource.pxd │ │ │ │ │ ├── select.pxd │ │ │ │ │ ├── signal.pxd │ │ │ │ │ ├── stat.pxd │ │ │ │ │ ├── stdio.pxd │ │ │ │ │ ├── stdlib.pxd │ │ │ │ │ ├── strings.pxd │ │ │ │ │ ├── time.pxd │ │ │ │ │ ├── types.pxd │ │ │ │ │ ├── uio.pxd │ │ │ │ │ ├── unistd.pxd │ │ │ │ │ └── wait.pxd │ │ │ ├── Plex │ │ │ │ ├── Actions.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Actions.pxd │ │ │ │ ├── Actions.py │ │ │ │ ├── DFA.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── DFA.pxd │ │ │ │ ├── DFA.py │ │ │ │ ├── Errors.py │ │ │ │ ├── Lexicons.py │ │ │ │ ├── Machines.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Machines.pxd │ │ │ │ ├── Machines.py │ │ │ │ ├── Regexps.py │ │ │ │ ├── Scanners.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Scanners.pxd │ │ │ │ ├── Scanners.py │ │ │ │ ├── Transitions.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── Transitions.pxd │ │ │ │ ├── Transitions.py │ │ │ │ ├── __init__.py │ │ │ │ └── __pycache__ │ │ │ │ │ ├── Errors.cpython-37.pyc │ │ │ │ │ ├── Lexicons.cpython-37.pyc │ │ │ │ │ ├── Regexps.cpython-37.pyc │ │ │ │ │ └── __init__.cpython-37.pyc │ │ │ ├── Runtime │ │ │ │ ├── __init__.py │ │ │ │ ├── refnanny.cpython-37m-x86_64-linux-gnu.so │ │ │ │ └── refnanny.pyx │ │ │ ├── Shadow.py │ │ │ ├── StringIOTree.cpython-37m-x86_64-linux-gnu.so │ │ │ ├── StringIOTree.py │ │ │ ├── Tempita │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ │ ├── _looper.cpython-37.pyc │ │ │ │ │ └── compat3.cpython-37.pyc │ │ │ │ ├── _looper.py │ │ │ │ ├── _tempita.cpython-37m-x86_64-linux-gnu.so │ │ │ │ ├── _tempita.py │ │ │ │ └── compat3.py │ │ │ ├── TestUtils.py │ │ │ ├── Tests │ │ │ │ ├── TestCodeWriter.py │ │ │ │ ├── TestCythonUtils.py │ │ │ │ ├── TestJediTyper.py │ │ │ │ ├── TestStringIOTree.py │ │ │ │ ├── TestTestUtils.py │ │ │ │ ├── __init__.py │ │ │ │ └── xmlrunner.py │ │ │ ├── Utility │ │ │ │ ├── AsyncGen.c │ │ │ │ ├── Buffer.c │ │ │ │ ├── Builtins.c │ │ │ │ ├── CConvert.pyx │ │ │ │ ├── CMath.c │ │ │ │ ├── CommonStructures.c │ │ │ │ ├── Complex.c │ │ │ │ ├── Coroutine.c │ │ │ │ ├── CpdefEnums.pyx │ │ │ │ ├── CppConvert.pyx │ │ │ │ ├── CppSupport.cpp │ │ │ │ ├── CythonFunction.c │ │ │ │ ├── Dataclasses.c │ │ │ │ ├── Dataclasses.py │ │ │ │ ├── Embed.c │ │ │ │ ├── Exceptions.c │ │ │ │ ├── ExtensionTypes.c │ │ │ │ ├── FunctionArguments.c │ │ │ │ ├── ImportExport.c │ │ │ │ ├── MemoryView.pyx │ │ │ │ ├── MemoryView_C.c │ │ │ │ ├── ModuleSetupCode.c │ │ │ │ ├── NumpyImportArray.c │ │ │ │ ├── ObjectHandling.c │ │ │ │ ├── Optimize.c │ │ │ │ ├── Overflow.c │ │ │ │ ├── Printing.c │ │ │ │ ├── Profile.c │ │ │ │ ├── StringTools.c │ │ │ │ ├── TestCyUtilityLoader.pyx │ │ │ │ ├── TestCythonScope.pyx │ │ │ │ ├── TestUtilityLoader.c │ │ │ │ ├── TypeConversion.c │ │ │ │ ├── UFuncs.pyx │ │ │ │ ├── UFuncs_C.c │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ └── __init__.cpython-37.pyc │ │ │ │ └── arrayarray.h │ │ │ ├── Utils.cpython-37m-x86_64-linux-gnu.so │ │ │ ├── Utils.py │ │ │ ├── __init__.py │ │ │ └── __pycache__ │ │ │ │ ├── CodeWriter.cpython-37.pyc │ │ │ │ ├── Debugging.cpython-37.pyc │ │ │ │ ├── Shadow.cpython-37.pyc │ │ │ │ └── __init__.cpython-37.pyc │ │ ├── EGG-INFO │ │ │ ├── COPYING.txt │ │ │ ├── LICENSE.txt │ │ │ ├── PKG-INFO │ │ │ ├── RECORD │ │ │ ├── WHEEL │ │ │ ├── entry_points.txt │ │ │ └── top_level.txt │ │ ├── __pycache__ │ │ │ └── cython.cpython-37.pyc │ │ ├── cython.py │ │ └── pyximport │ │ │ ├── __init__.py │ │ │ ├── _pyximport2.py │ │ │ ├── _pyximport3.py │ │ │ ├── pyxbuild.py │ │ │ └── pyximport.py │ └── README.txt │ ├── marching_cubes │ ├── __init__.py │ └── src │ │ ├── _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 ├── heroslam_opt_pose.py ├── heroslam_opt_pose_adaptive_interval.py ├── model ├── decoder.py ├── encodings.py ├── keyframe.py ├── keyframe_adaptive_interval.py ├── loss.py ├── scene_rep.py └── utils.py ├── optimization └── utils.py ├── requirements.txt ├── scripts ├── SensorData.py ├── download_apartment.sh ├── download_replica.sh ├── download_rgbd.sh ├── download_scannet.py ├── download_tum.sh └── scannet_parser.py ├── sp_lg ├── disk.py ├── lightglue.py ├── superpoint.py ├── superpoint_lightglue.pth ├── superpoint_v1.pth ├── utils.py └── viz2d.py ├── tools └── eval_ate.py └── utils.py /.gitignore.txt: -------------------------------------------------------------------------------- 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