├── .gitignore ├── DenseFusion ├── LICENSE ├── README.md ├── datasets │ └── warehouse │ │ ├── dataset.py │ │ └── dataset_config │ │ ├── classes.txt │ │ ├── split_data.py │ │ ├── test_data_list.txt │ │ └── train_data_list.txt ├── docker │ ├── Dockerfile │ ├── docker_build.sh │ └── docker_run.sh ├── download.sh ├── experiments │ ├── logs │ │ └── warehouse │ │ │ └── note │ └── scripts │ │ ├── iliad.sh │ │ └── train_warehouse.sh ├── lib │ ├── extractors.py │ ├── knn │ │ ├── __init__.py │ │ ├── knn_pytorch.cpython-35m-x86_64-linux-gnu.so │ │ ├── knn_pytorch.egg-info │ │ │ ├── PKG-INFO │ │ │ ├── SOURCES.txt │ │ │ ├── dependency_links.txt │ │ │ └── top_level.txt │ │ ├── knn_pytorch.py │ │ ├── setup.py │ │ └── src │ │ │ ├── cpu │ │ │ ├── knn_cpu.cpp │ │ │ └── vision.h │ │ │ ├── cuda │ │ │ ├── knn.cu │ │ │ └── vision.h │ │ │ ├── knn.h │ │ │ └── vision.cpp │ ├── loss.py │ ├── loss_refiner.py │ ├── network.py │ ├── pspnet.py │ ├── transformations.py │ └── utils.py ├── note.txt ├── tools │ ├── _init_paths.py │ ├── iliad.py │ └── train.py ├── trained_checkpoints │ └── warehouse │ │ └── note └── trained_models │ └── warehouse │ └── note ├── Mask_RCNN ├── LICENSE ├── MANIFEST.in ├── README.md ├── dataset_format ├── docker │ ├── Dockerfile │ ├── docker_build.sh │ └── docker_run.sh ├── mask_rcnn.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt ├── mrcnn │ ├── __init__.py │ ├── config.py │ ├── model.py │ ├── parallel_model.py │ ├── utils.py │ └── visualize.py ├── requirements.txt ├── samples │ └── warehouse │ │ ├── eval.py │ │ ├── iliad.py │ │ ├── note.txt │ │ └── train.py ├── setup.cfg └── setup.py ├── README.md ├── figs ├── copy_data.png ├── ex1.png ├── ex_mask.png ├── ex_rgb.png ├── mapping.png └── rviz.png └── obj_pose_est ├── CMakeLists.txt ├── include └── obj_pose_est │ ├── kalman_filter.h │ └── model_to_scene.h ├── launch ├── launch_iliad_cam.launch └── launch_iliad_rpe.launch ├── mapping ├── Core │ └── src │ │ ├── CMakeLists.txt │ │ ├── Cuda │ │ ├── containers │ │ │ ├── device_array.hpp │ │ │ ├── device_array_impl.hpp │ │ │ ├── device_memory.cpp │ │ │ ├── device_memory.hpp │ │ │ ├── device_memory_impl.hpp │ │ │ └── kernel_containers.hpp │ │ ├── convenience.cuh │ │ ├── cudafuncs.cu │ │ ├── cudafuncs.cuh │ │ ├── operators.cuh │ │ ├── reduce.cu │ │ └── types.cuh │ │ ├── CudaComputeTargetFlags.cmake │ │ ├── Defines.h │ │ ├── Deformation.cpp │ │ ├── Deformation.h │ │ ├── ElasticFusion.cpp │ │ ├── ElasticFusion.h │ │ ├── Ferns.cpp │ │ ├── Ferns.h │ │ ├── FindSuiteSparse.cmake │ │ ├── GPUTexture.cpp │ │ ├── GPUTexture.h │ │ ├── GlobalModel.cpp │ │ ├── GlobalModel.h │ │ ├── IndexMap.cpp │ │ ├── IndexMap.h │ │ ├── PoseMatch.h │ │ ├── Shaders │ │ ├── ComputePack.cpp │ │ ├── ComputePack.h │ │ ├── FeedbackBuffer.cpp │ │ ├── FeedbackBuffer.h │ │ ├── FillIn.cpp │ │ ├── FillIn.h │ │ ├── Resize.cpp │ │ ├── Resize.h │ │ ├── Shaders.h │ │ ├── Uniform.h │ │ ├── Vertex.cpp │ │ ├── Vertex.h │ │ ├── color.glsl │ │ ├── combo_splat.frag │ │ ├── copy_unstable.geom │ │ ├── copy_unstable.vert │ │ ├── data.frag │ │ ├── data.geom │ │ ├── data.vert │ │ ├── depth_bilateral.frag │ │ ├── depth_metric.frag │ │ ├── depth_norm.frag │ │ ├── depth_splat.frag │ │ ├── draw_feedback.frag │ │ ├── draw_feedback.vert │ │ ├── draw_global_surface.frag │ │ ├── draw_global_surface.geom │ │ ├── draw_global_surface.vert │ │ ├── draw_global_surface_phong.frag │ │ ├── empty.vert │ │ ├── fill_normal.frag │ │ ├── fill_rgb.frag │ │ ├── fill_vertex.frag │ │ ├── fxaa.frag │ │ ├── geometry.glsl │ │ ├── index_map.frag │ │ ├── index_map.vert │ │ ├── init_unstable.vert │ │ ├── quad.geom │ │ ├── resize.frag │ │ ├── sample.geom │ │ ├── sample.vert │ │ ├── splat.vert │ │ ├── surfels.glsl │ │ ├── update.vert │ │ ├── vertex_feedback.geom │ │ ├── vertex_feedback.vert │ │ └── visualise_textures.frag │ │ └── Utils │ │ ├── CholeskyDecomp.cpp │ │ ├── CholeskyDecomp.h │ │ ├── DeformationGraph.cpp │ │ ├── DeformationGraph.h │ │ ├── GPUConfig.h │ │ ├── GraphNode.h │ │ ├── Img.h │ │ ├── Intrinsics.cpp │ │ ├── Intrinsics.h │ │ ├── Jacobian.h │ │ ├── OdometryProvider.h │ │ ├── OrderedJacobianRow.h │ │ ├── Parse.cpp │ │ ├── Parse.h │ │ ├── RGBDOdometry.cpp │ │ ├── RGBDOdometry.h │ │ ├── Resolution.cpp │ │ ├── Resolution.h │ │ ├── Stopwatch.h │ │ ├── WindowsExtras.cpp │ │ └── WindowsExtras.h ├── LICENSE.txt ├── README.md ├── app │ ├── note │ └── src │ │ ├── CMakeLists.txt │ │ ├── FindBLAS.cmake │ │ ├── FindLAPACK.cmake │ │ ├── FindOpenNI2.cmake │ │ ├── FindRealSense.cmake │ │ ├── FindSuiteSparse.cmake │ │ ├── Findefusion.cmake │ │ ├── Main.cpp │ │ ├── MainController.cpp │ │ ├── MainController.h │ │ └── Tools │ │ ├── CameraInterface.h │ │ ├── GUI.h │ │ ├── GroundTruthOdometry.cpp │ │ ├── GroundTruthOdometry.h │ │ ├── JPEGLoader.h │ │ ├── LiveLogReader.cpp │ │ ├── LiveLogReader.h │ │ ├── LogReader.h │ │ ├── OpenNI2Interface.cpp │ │ ├── OpenNI2Interface.h │ │ ├── RawLogReader.cpp │ │ ├── RawLogReader.h │ │ ├── RealSenseInterface.cpp │ │ ├── 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