├── .dockerignore ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Dockerfile.ubuntu ├── LICENSE ├── README.md ├── cmake ├── FindGlog.cmake ├── FindJsoncpp.cmake ├── FindTensorFlow.cmake └── Findgflags.cmake ├── data ├── calib │ ├── flea.yml │ └── grasshopper.yml ├── flags │ ├── alg_odom.flags │ ├── alg_refine.flags │ ├── common.flags │ ├── dataset_odom.flags │ ├── live_odom.flags │ └── live_refine.flags ├── sequences.json ├── testimg │ ├── 0.jpg │ ├── 0.png │ ├── 1047.jpg │ ├── 1047.png │ ├── 1052.jpg │ ├── 1052.png │ ├── 25.jpg │ └── 25.png └── voc │ └── small_voc.yml.gz ├── docs ├── logo3.png └── ui_example.png ├── scripts ├── docker │ ├── build_docker.sh │ └── run_docker.sh ├── download_network.bash ├── download_scannet_python3.patch ├── run_scannet.bash └── sens_reader │ ├── LICENSE │ ├── README.md │ ├── SensorData.py │ ├── SensorData.pyc │ └── reader.py ├── sources ├── CMakeLists.txt ├── common │ ├── CMakeLists.txt │ ├── algorithm │ │ ├── camera_pyramid.h │ │ ├── dense_sfm.h │ │ ├── lucas_kanade_se3.h │ │ ├── m_estimators.h │ │ ├── nearest_psd.h │ │ ├── pinhole_camera.h │ │ ├── pinhole_camera_impl.h │ │ └── warping.h │ ├── display_utils.cpp │ ├── display_utils.h │ ├── image_sequences.cpp │ ├── image_sequences.h │ ├── indexed_map.h │ ├── interp.cpp │ ├── interp.h │ ├── intrinsics.h │ ├── logutils.cpp │ ├── logutils.h │ ├── timing.cpp │ ├── timing.h │ └── tum_io.h ├── core │ ├── CMakeLists.txt │ ├── deepfactors.cpp │ ├── deepfactors.h │ ├── deepfactors_options.cpp │ ├── deepfactors_options.h │ ├── features │ │ ├── feature_detection.h │ │ ├── matching.cpp │ │ └── matching.h │ ├── gtsam │ │ ├── depth_prior_factor.cpp │ │ ├── depth_prior_factor.h │ │ ├── factor_graph.h │ │ ├── gtsam_traits.h │ │ ├── gtsam_utils.h │ │ ├── photometric_factor.cpp │ │ ├── photometric_factor.h │ │ ├── reprojection_factor.cpp │ │ ├── reprojection_factor.h │ │ ├── sparse_geometric_factor.cpp │ │ ├── sparse_geometric_factor.h │ │ ├── uniform_sampler.cpp │ │ └── uniform_sampler.h │ ├── mapping │ │ ├── df_work.cpp │ │ ├── df_work.h │ │ ├── frame.h │ │ ├── keyframe.h │ │ ├── keyframe_map.h │ │ ├── mapper.cpp │ │ ├── mapper.h │ │ ├── work.cpp │ │ ├── work.h │ │ ├── work_manager.cpp │ │ └── work_manager.h │ ├── network │ │ ├── decoder_network.cpp │ │ ├── decoder_network.h │ │ └── tfwrap.h │ └── system │ │ ├── camera_tracker.cpp │ │ ├── camera_tracker.h │ │ ├── fbrisk.cpp │ │ ├── fbrisk.h │ │ ├── loop_detector.cpp │ │ └── loop_detector.h ├── cuda │ ├── CMakeLists.txt │ ├── cu_depthaligner.cpp │ ├── cu_depthaligner.h │ ├── cu_image_proc.cpp │ ├── cu_image_proc.h │ ├── cu_se3aligner.cpp │ ├── cu_se3aligner.h │ ├── cu_sfmaligner.cpp │ ├── cu_sfmaligner.h │ ├── cuda_context.cpp │ ├── cuda_context.h │ ├── device_info.h │ ├── kernel_utils.h │ ├── launch_utils.h │ ├── reduction_items.h │ └── synced_pyramid.h ├── demo │ ├── CMakeLists.txt │ ├── live_demo.cpp │ ├── live_demo.h │ └── main.cpp ├── drivers │ ├── CMakeLists.txt │ ├── camera │ │ ├── live_interface.h │ │ ├── openni_interface.cpp │ │ ├── openni_interface.h │ │ ├── pointgrey_interface.cpp │ │ └── pointgrey_interface.h │ ├── camera_interface.h │ ├── camera_interface_factory.cpp │ ├── camera_interface_factory.h │ └── dataset │ │ ├── dataset_interface.h │ │ ├── file_interface.cpp │ │ ├── file_interface.h │ │ ├── icl_interface.cpp │ │ ├── icl_interface.h │ │ ├── scannet_interface.cpp │ │ ├── scannet_interface.h │ │ ├── tum_interface.cpp │ │ └── tum_interface.h ├── gui │ ├── CMakeLists.txt │ ├── keyframe_renderer.cpp │ ├── keyframe_renderer.h │ ├── shaders │ │ ├── drawkf.geom │ │ ├── empty.vert │ │ └── phong.frag │ ├── visualizer.cpp │ └── visualizer.h └── tools │ ├── CMakeLists.txt │ ├── decode_image.cpp │ ├── kernel_benchmark.cpp │ ├── result_viewer.cpp │ ├── test_matching.cpp │ ├── voc_builder.cpp │ └── voc_test.cpp ├── tests ├── CMakeLists.txt ├── main.cpp ├── random_machine.h ├── testing_utils.h ├── ut_cuda_utils.cpp ├── ut_decoder.cpp ├── ut_nearestpsd.cpp ├── ut_pinhole_camera.cpp ├── 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