├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── base.yaml ├── colmap │ ├── hku.yaml │ └── shenzhenbei.yaml ├── fast_livo │ ├── campus.yaml │ ├── cbd.yaml │ ├── culture01.yaml │ ├── drive.yaml │ ├── fast_livo.yaml │ ├── red_bird.yaml │ ├── shenzhenbei2.yaml │ ├── station.yaml │ └── sysu.yaml ├── oxford_spires │ └── oxford_spires.yaml ├── replica │ └── replica.yaml └── rviz │ └── vis_thirdperson.rviz ├── eval ├── create_comparison_video.py ├── draw.py ├── draw_loss.py ├── draw_mem.py ├── image_metrics │ ├── eval_image.sh │ ├── image_utils.py │ ├── loss_utils.py │ ├── lpipsPyTorch │ │ ├── __init__.py │ │ └── modules │ │ │ ├── lpips.py │ │ │ ├── networks.py │ │ │ └── utils.py │ ├── metrics.py │ ├── metrics2.py │ └── metrics_single.py ├── inter_poses.py └── structure_metrics │ ├── cull_mesh.py │ ├── eval_utils.py │ └── evaluator.py ├── include ├── data_loader │ ├── data_loader.cpp │ ├── data_loader.h │ └── data_parsers │ │ ├── base_parser.cpp │ │ ├── base_parser.h │ │ ├── colmap_parser.hpp │ │ ├── fastlivo_parser.hpp │ │ ├── kitti_parser.hpp │ │ ├── ncd_parser.hpp │ │ ├── neuralrgbd_parser.hpp │ │ ├── oxford_spires_parser.hpp │ │ ├── r3live_parser.hpp │ │ ├── replica_parser.hpp │ │ └── rosbag_parser.hpp ├── mesher │ ├── cumcubes │ │ ├── __init__.py │ │ ├── include │ │ │ ├── cumcubes.hpp │ │ │ └── utils.cuh │ │ ├── src │ │ │ ├── bindings.cpp │ │ │ ├── cumcubes.cpp │ │ │ └── cumcubes_kernel.cu │ │ ├── utils.py │ │ └── version.py │ ├── mesher.cpp │ └── mesher.h ├── neural_gaussian │ ├── gauss_utils.hpp │ ├── neural_gaussian.cpp │ └── neural_gaussian.h ├── neural_mapping │ ├── neural_mapping.cpp │ └── neural_mapping.h ├── neural_net │ ├── encoding_map.cpp │ ├── encoding_map.h │ ├── encodings │ │ ├── encodings.cpp │ │ └── encodings.h │ ├── local_map.cpp │ ├── local_map.h │ ├── sub_map.cpp │ └── sub_map.h ├── optimizer │ ├── loss.cpp │ ├── loss.h │ ├── loss_utils │ │ ├── loss_utils.cpp │ │ └── loss_utils.h │ └── optimizer_utils │ │ ├── optimizer_utils.cpp │ │ └── optimizer_utils.h ├── params │ ├── params.cpp │ └── params.h └── utils │ ├── bin_utils │ └── endian.h │ ├── coordinates.cpp │ ├── coordinates.h │ ├── loss_utils.hpp │ ├── ray_utils │ ├── ray_utils.cpp │ └── ray_utils.h │ ├── sensor_utils │ ├── cameras.hpp │ └── sensors.hpp │ ├── tqdm.hpp │ ├── utils.cpp │ └── utils.h ├── launch └── rviz.launch ├── package.xml ├── pics └── pipeline.jpg ├── scripts ├── baseline.sh ├── fast_livo2.sh └── replica.sh └── src ├── backward.hpp └── neural_mapping_node.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hku-mars/GS-SDF/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hku-mars/GS-SDF/HEAD/.gitmodules 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