├── .gitignore ├── README.md ├── VINS-Mono-config ├── euroc_demo.jpg ├── realsense_infra.launch ├── realsense_infra1_config.yaml ├── result_prev.jpg └── vins_rviz_config.rviz ├── afm ├── CMakeLists.txt ├── launch │ └── afm.launch ├── msg │ └── lines2d.msg ├── package.xml └── scripts │ ├── INSTALL.md │ ├── LICENSE │ ├── README.md │ ├── config │ ├── __init__.py │ ├── __init__.pyc │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ └── defaults.cpython-35.pyc │ ├── defaults.py │ └── defaults.pyc │ ├── data │ ├── preparation_wireframe.py │ ├── preparation_york.py │ └── wireframe_raw │ │ ├── test.txt │ │ └── train.txt │ ├── dataset │ ├── __init__.py │ ├── __init__.pyc │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── afmDataset.cpython-35.pyc │ │ ├── build.cpython-35.pyc │ │ ├── cache.cpython-35.pyc │ │ └── misc.cpython-35.pyc │ ├── afmDataset.py │ ├── afmDataset.pyc │ ├── build.py │ ├── build.pyc │ ├── cache.py │ ├── cache.pyc │ ├── misc.py │ └── misc.pyc │ ├── experiments │ ├── afm_unet_euroc.yaml │ ├── afm_unet_rs.yaml │ └── unet │ │ ├── train.log │ │ └── weight │ │ └── model_final.pth.tar │ ├── lib │ ├── Makefile │ ├── __init__.py │ ├── __init__.pyc │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── __init__.cpython-37.pyc │ │ └── squeeze_to_lsg.cpython-35.pyc │ ├── afm_op │ │ ├── CUDA.cpython-35m-x86_64-linux-gnu.so │ │ ├── CUDA.so │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── __init__.cpython-37.pyc │ │ ├── afm.h │ │ ├── cuda │ │ │ ├── afm.cu │ │ │ └── afm.h │ │ ├── example.py │ │ ├── setup.py │ │ └── vision.cpp │ ├── squeeze │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── __init__.cpython-37.pyc │ │ ├── kernel.cpp │ │ ├── setup.py │ │ ├── squeeze.cpp │ │ ├── squeeze.hpp │ │ ├── squeeze.pyx │ │ └── squeeze.so │ ├── squeeze_to_lsg.py │ └── squeeze_to_lsg.pyc │ ├── modeling │ ├── __init__.py │ ├── __init__.pyc │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ ├── afm.cpython-35.pyc │ │ ├── input_preprocessing.cpython-35.pyc │ │ └── registry.cpython-35.pyc │ ├── afm.py │ ├── afm.pyc │ ├── criterion │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── criterion.cpython-35.pyc │ │ ├── criterion.py │ │ └── criterion.pyc │ ├── input_preprocessing.py │ ├── input_preprocessing.pyc │ ├── net │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ ├── deeplabv3plus.cpython-35.pyc │ │ │ ├── net.cpython-35.pyc │ │ │ └── unet.cpython-35.pyc │ │ ├── deeplabv3plus.py │ │ ├── deeplabv3plus.pyc │ │ ├── net.py │ │ ├── net.pyc │ │ ├── unet.py │ │ └── unet.pyc │ ├── output │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-35.pyc │ │ │ └── output.cpython-35.pyc │ │ ├── output.py │ │ └── output.pyc │ ├── registry.py │ └── registry.pyc │ ├── requirements.txt │ ├── ros_test.py │ ├── solver │ ├── __init__.py │ ├── __init__.pyc │ ├── __pycache__ │ │ ├── __init__.cpython-35.pyc │ │ └── build.cpython-35.pyc │ ├── build.py │ └── build.pyc │ ├── test.py │ ├── train.py │ └── util │ ├── __init__.py │ ├── __init__.pyc │ ├── __pycache__ │ ├── __init__.cpython-35.pyc │ ├── progbar.cpython-35.pyc │ └── registry.cpython-35.pyc │ ├── img.py │ ├── progbar.py │ ├── progbar.pyc │ ├── registry.py │ └── registry.pyc ├── initialization_publisher ├── CMakeLists.txt ├── launch │ ├── publish.launch │ └── publish_d435i.launch ├── package.xml └── src │ ├── euroc_publisher_node.cpp │ └── realsense_d435i.cpp └── map_fusion ├── CMakeLists.txt ├── config ├── V1_01_easy │ ├── data.csv │ ├── dataseg.ply │ ├── line_3d.txt │ └── sensor.yaml ├── V1_02_medium │ ├── data.csv │ ├── dataseg.ply │ ├── line_3d.txt │ └── sensor.yaml ├── V1_03_difficult │ ├── data.csv │ ├── dataseg.ply │ ├── line_3d.txt │ └── sensor.yaml ├── V2_01_easy │ ├── data.csv │ ├── dataseg.ply │ ├── line_3d.txt │ └── sensor.yaml ├── 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