├── .clang-format ├── .coderabbit.yaml ├── .dockerignore ├── .gitattributes ├── .gitignore ├── .gitlab-ci.yml ├── .gitlab └── merge_request_templates │ └── Default.md ├── .pre-commit-config.yaml ├── .pylintrc ├── .readthedocs.yaml ├── .style.yapf ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── cmake ├── Config.cmake.in ├── FindGlog.cmake ├── cuda │ ├── compute_capability.cpp │ └── setup_compute_capability.cmake └── nvblox_targets.cmake ├── defaults.cfg ├── docker ├── Dockerfile.build ├── Dockerfile.deps ├── Dockerfile.docs ├── Dockerfile.jetson_deps ├── Dockerfile.lint ├── Dockerfile.realsense_example ├── Dockerfile.test_nvblox_torch ├── build_images.py ├── install_ccache.sh ├── install_cmake.sh ├── maybe_install_cuda_pytorch.sh └── run_docker.sh ├── docs ├── Makefile ├── _ext │ └── nvblox_torch_doc_tools.py ├── _static │ └── custom.css ├── conf.py ├── helpers.py ├── images │ ├── 3dmatch.gif │ ├── collision_field_exclusion.gif │ ├── deep_features_sun3d.gif │ ├── desk_radio_x2_600px.gif │ ├── dynamic_office_reconstruction.gif │ ├── esdf_example.gif │ ├── jetson_nano_reconstruction.gif │ ├── map_structure.png │ ├── mapper.png │ ├── multi_realsense_galileo.gif │ ├── nvblox_logo.png │ ├── nvblox_logo_128.png │ ├── nvblox_logo_32.png │ ├── nvblox_logo_64.png │ ├── nvblox_manipulation.gif │ ├── nvblox_navigation_trim.gif │ ├── nvblox_slice.gif │ ├── nvblox_torch_realsense_live.gif │ ├── nvblox_torch_realsense_nsys.png │ ├── readme_nav2.gif │ ├── realsense_dynamic_example.gif │ ├── realsense_viewer.png │ ├── reconstruction_in_docker_trim.png │ ├── redwood_apartment.png │ ├── replica_office0.png │ ├── system_diagram.png │ ├── tbd.jpg │ ├── trajectory_optimization.gif │ ├── voxels_example.gif │ └── warehouse_multicam_navigation.gif ├── index.rst ├── pages │ ├── core_library_interface.rst │ ├── core_library_more_examples.rst │ ├── core_library_run_an_example.rst │ ├── core_library_sensors.rst │ ├── installation.rst │ ├── limitations.rst │ ├── technical_details.rst │ ├── torch_examples_deep_features.rst │ ├── torch_examples_esdf.rst │ ├── torch_examples_gradients.rst │ ├── torch_examples_realsense.rst │ ├── torch_examples_reconstruction.rst │ └── torch_examples_voxel_access.rst └── requirements.txt ├── hooks └── check_for_copyright.py ├── mypy.ini ├── nvblox ├── CMakeLists.txt ├── examples │ ├── CMakeLists.txt │ └── src │ │ ├── esdf_query.cu │ │ └── load_map_and_mesh.cpp ├── executables │ ├── CMakeLists.txt │ ├── include │ │ └── nvblox │ │ │ ├── datasets │ │ │ ├── 3dmatch.h │ │ │ ├── cusfm_data.h │ │ │ ├── data_loader.h │ │ │ ├── dataset_types.h │ │ │ ├── image_loader.h │ │ │ ├── impl │ │ │ │ └── image_loader_impl.h │ │ │ ├── redwood.h │ │ │ └── replica.h │ │ │ ├── executables │ │ │ └── fuser.h │ │ │ └── gflags_param_loading │ │ │ ├── fuser_params_from_gflags.h │ │ │ └── mapper_params_from_gflags.h │ └── src │ │ ├── datasets │ │ ├── 3dmatch.cpp │ │ ├── cusfm_data.cpp │ │ ├── image_loader.cpp │ │ ├── redwood.cpp │ │ └── replica.cpp │ │ ├── fuse_3dmatch.cpp │ │ ├── fuse_cusfm.cpp │ │ ├── fuse_redwood.cpp │ │ ├── fuse_replica.cpp │ │ └── fuser.cpp ├── experiments │ ├── CMakeLists.txt │ ├── README.md │ ├── src │ │ └── test_bench.cpp │ └── test_bench │ │ └── include │ │ └── nvblox │ │ └── experiments │ │ └── .gitkeep ├── include │ └── nvblox │ │ ├── core │ │ ├── array.h │ │ ├── bitmask.h │ │ ├── color.h │ │ ├── cuda.h │ │ ├── cuda_stream.h │ │ ├── feature_array.h │ │ ├── hash.h │ │ ├── indexing.h │ │ ├── internal │ │ │ ├── cuda │ │ │ │ ├── atomic_float.cuh │ │ │ │ ├── device_function_utils.cuh │ │ │ │ └── impl │ │ │ │ │ ├── atomic_float_impl.cuh │ │ │ │ │ └── device_function_utils_impl.cuh │ │ │ ├── error_check.h │ │ │ ├── impl │ │ │ │ ├── bitmask_impl.h │ │ │ │ ├── indexing_impl.h │ │ │ │ ├── unified_ptr_impl.h │ │ │ │ ├── unified_vector_impl.h │ │ │ │ └── variadic_template_tools_impl.h │ │ │ └── warmup_cuda.h │ │ ├── iterator.h │ │ ├── log_odds.h │ │ ├── parameter_tree.h │ │ ├── time.h │ │ ├── traits.h │ │ ├── types.h │ │ ├── unified_ptr.h │ │ ├── unified_vector.h │ │ └── variadic_template_tools.h │ │ ├── dynamics │ │ ├── dynamics_detection.h │ │ └── internal │ │ │ └── cuda │ │ │ └── impl │ │ │ └── dynamics_detection_impl.cuh │ │ ├── experimental │ │ └── ground_plane │ │ │ ├── ground_plane_estimator.h │ │ │ ├── ground_plane_estimator_params.h │ │ │ ├── ransac_plane_fitter.h │ │ │ ├── ransac_plane_fitter_cpu.h │ │ │ ├── ransac_plane_fitter_params.h │ │ │ └── tsdf_zero_crossings_extractor.h │ │ ├── geometry │ │ ├── bounding_boxes.h │ │ ├── bounding_shape.h │ │ ├── bounding_spheres.h │ │ ├── internal │ │ │ └── impl │ │ │ │ ├── bounding_boxes_impl.h │ │ │ │ └── plane_impl.h │ │ ├── plane.h │ │ ├── transforms.h │ │ └── workspace_bounds.h │ │ ├── gpu_hash │ │ ├── gpu_layer_view.h │ │ └── internal │ │ │ └── cuda │ │ │ ├── gpu_hash_interface.cuh │ │ │ ├── gpu_indexing.cuh │ │ │ └── impl │ │ │ ├── gpu_hash_interface_impl.cuh │ │ │ └── gpu_layer_view_impl.cuh │ │ ├── integrators │ │ ├── depth_observation_space.h │ │ ├── esdf_integrator.h │ │ ├── esdf_integrator_params.h │ │ ├── esdf_slicer.h │ │ ├── freespace_integrator.h │ │ ├── freespace_integrator_params.h │ │ ├── internal │ │ │ ├── cuda │ │ │ │ ├── esdf_integrator_slicing.cuh │ │ │ │ ├── impl │ │ │ │ │ ├── decayer_impl.cuh │ │ │ │ │ ├── esdf_integrator_slicing_impl.cuh │ │ │ │ │ ├── freespace_integrator_impl.cuh │ │ │ │ │ ├── occupancy_decay_integrator_impl.cuh │ │ │ │ │ ├── projective_integrator_impl.cuh │ │ │ │ │ ├── projective_integrators_common_impl.cuh │ │ │ │ │ ├── projective_occupancy_integrator_impl.cuh │ │ │ │ │ ├── projective_tsdf_integrator_impl.cuh │ │ │ │ │ ├── shape_clearer_impl.cuh │ │ │ │ │ ├── tsdf_decay_integrator_impl.cuh │ │ │ │ │ └── view_calculator_impl.cuh │ │ │ │ └── projective_integrators_common.cuh │ │ │ ├── decay_integrator_base.h │ │ │ ├── decay_integrator_base_params.h │ │ │ ├── decayer.h │ │ │ ├── impl │ │ │ │ ├── decay_integrator_impl.h │ │ │ │ ├── integrators_common_impl.h │ │ │ │ ├── projective_integrator_impl.h │ │ │ │ ├── view_calculator_impl.h │ │ │ │ └── weighting_function_impl.h │ │ │ ├── instantiate_sensor.cuh │ │ │ ├── integrators_common.h │ │ │ └── projective_integrator.h │ │ ├── occupancy_conversions.h │ │ ├── occupancy_decay_integrator.h │ │ ├── occupancy_decay_integrator_params.h │ │ ├── occupancy_integrator_params.h │ │ ├── projective_appearance_integrator.h │ │ ├── projective_integrator_params.h │ │ ├── projective_occupancy_integrator.h │ │ ├── projective_tsdf_integrator.h │ │ ├── shape_clearer.h │ │ ├── tsdf_decay_integrator.h │ │ ├── tsdf_decay_integrator_params.h │ │ ├── view_calculator.h │ │ ├── view_calculator_params.h │ │ └── weighting_function.h │ │ ├── interpolation │ │ ├── internal │ │ │ └── impl │ │ │ │ ├── interpolation_2d_impl.h │ │ │ │ └── interpolation_3d_impl.h │ │ ├── interpolation_2d.h │ │ └── interpolation_3d.h │ │ ├── io │ │ ├── csv.h │ │ ├── image_io.h │ │ ├── internal │ │ │ ├── impl │ │ │ │ ├── csv_impl.h │ │ │ │ └── pointcloud_io_impl.h │ │ │ └── thirdparty │ │ │ │ ├── stb_image.h │ │ │ │ └── stb_image_write.h │ │ ├── layer_cake_io.h │ │ ├── mesh_io.h │ │ ├── ply_writer.h │ │ └── pointcloud_io.h │ │ ├── map │ │ ├── accessors.h │ │ ├── blocks_to_update_tracker.h │ │ ├── blox.h │ │ ├── common_names.h │ │ ├── internal │ │ │ ├── block_memory_pool.h │ │ │ ├── block_memory_pool_params.h │ │ │ ├── cuda │ │ │ │ ├── impl │ │ │ │ │ ├── layer_impl.cuh │ │ │ │ │ └── layer_to_3d_grid_impl.cuh │ │ │ │ └── layer_to_3d_grid.cuh │ │ │ └── impl │ │ │ │ ├── accessors_impl.h │ │ │ │ ├── block_memory_pool_impl.h │ │ │ │ ├── blox_impl.h │ │ │ │ ├── layer_cake_impl.h │ │ │ │ ├── layer_impl.h │ │ │ │ └── unified_3d_grid_impl.h │ │ ├── layer.h │ │ ├── layer_cake.h │ │ ├── unified_3d_grid.h │ │ ├── voxel_iterator.h │ │ └── voxels.h │ │ ├── map_saving │ │ └── internal │ │ │ ├── block_serialization.h │ │ │ ├── common_types.h │ │ │ ├── impl │ │ │ ├── block_serialization_impl.h │ │ │ ├── common_types_impl.h │ │ │ └── layer_serialization_impl.h │ │ │ ├── layer_serialization.h │ │ │ ├── layer_type_register.h │ │ │ ├── serializer.h │ │ │ └── sqlite_database.h │ │ ├── mapper │ │ ├── internal │ │ │ ├── impl │ │ │ │ ├── mapper_common_impl.h │ │ │ │ ├── mapper_impl.h │ │ │ │ └── multi_mapper_impl.h │ │ │ └── mapper_common.h │ │ ├── mapper.h │ │ ├── mapper_params.h │ │ ├── multi_mapper.h │ │ └── multi_mapper_params.h │ │ ├── mesh │ │ ├── internal │ │ │ ├── cuda │ │ │ │ └── marching_cubes.cuh │ │ │ ├── impl │ │ │ │ ├── cuda │ │ │ │ │ └── marching_cubes_impl.cuh │ │ │ │ ├── marching_cubes_impl.h │ │ │ │ └── marching_cubes_table.h │ │ │ └── marching_cubes.h │ │ ├── mesh.h │ │ ├── mesh_block.h │ │ ├── mesh_integrator.h │ │ └── mesh_integrator_params.h │ │ ├── nvblox.h │ │ ├── primitives │ │ ├── internal │ │ │ └── impl │ │ │ │ └── scene_impl.h │ │ ├── primitives.h │ │ └── scene.h │ │ ├── rays │ │ ├── internal │ │ │ └── impl │ │ │ │ └── ray_caster_impl.h │ │ ├── ray_caster.h │ │ └── sphere_tracer.h │ │ ├── semantics │ │ ├── image_masker.h │ │ ├── image_projector.h │ │ ├── internal │ │ │ └── cuda │ │ │ │ └── impl │ │ │ │ └── image_projector_impl.cuh │ │ └── mask_from_detections.h │ │ ├── sensors │ │ ├── camera.h │ │ ├── depth_preprocessing.h │ │ ├── distortion.h │ │ ├── image.h │ │ ├── internal │ │ │ ├── image_cache.h │ │ │ └── impl │ │ │ │ ├── camera_impl.h │ │ │ │ ├── distortion_impl.h │ │ │ │ ├── image_cache_impl.h │ │ │ │ ├── image_cuda_impl.h │ │ │ │ ├── image_impl.h │ │ │ │ ├── lidar_impl.h │ │ │ │ └── type_indexed_store_impl.h │ │ ├── lidar.h │ │ ├── mask_preprocessor.h │ │ ├── npp_image_operations.h │ │ ├── pointcloud.h │ │ ├── sensor.h │ │ └── type_indexed_store.h │ │ ├── serialization │ │ ├── internal │ │ │ ├── impl │ │ │ │ ├── layer_cake_streamer_impl.h │ │ │ │ ├── layer_serializer_gpu_impl.h │ │ │ │ └── layer_streamer_impl.h │ │ │ ├── layer_streamer_traits.h │ │ │ └── serialization_gpu.h │ │ ├── layer_cake_streamer.h │ │ ├── layer_serializer_gpu.h │ │ ├── layer_streamer.h │ │ └── mesh_serializer_gpu.h │ │ └── utils │ │ ├── cuda_kernel_utils.h │ │ ├── delays.h │ │ ├── internal │ │ └── impl │ │ │ └── rates_impl.h │ │ ├── nvblox_art.h │ │ ├── nvtx_ranges.h │ │ ├── params.h │ │ ├── rates.h │ │ └── timing.h ├── src │ ├── benchmarks │ │ └── sphere_benchmark.cpp │ ├── core │ │ ├── cuda_stream.cpp │ │ ├── error_check.cu │ │ ├── parameter_tree.cpp │ │ └── warmup.cu │ ├── dynamics │ │ └── dynamics_detection.cu │ ├── experimental │ │ └── ground_plane │ │ │ ├── ground_plane_estimator.cpp │ │ │ ├── ransac_plane_fitter.cu │ │ │ ├── ransac_plane_fitter_cpu.cpp │ │ │ └── tsdf_zero_crossings_extractor.cu │ ├── geometry │ │ ├── bounding_boxes.cpp │ │ ├── bounding_shape.cpp │ │ ├── bounding_spheres.cpp │ │ ├── transforms.cpp │ │ └── workspace_bounds.cpp │ ├── gpu_hash │ │ ├── color_layer_specialization.cu │ │ ├── esdf_layer_specialization.cu │ │ ├── feature_layer_specialization.cu │ │ ├── freespace_layer_specialization.cu │ │ ├── gpu_layer_view.cu │ │ ├── mesh_layer_specialization.cu │ │ ├── occupancy_layer_specialization.cu │ │ └── tsdf_layer_specialization.cu │ ├── integrators │ │ ├── esdf_integrator.cu │ │ ├── esdf_slicer.cu │ │ ├── freespace_integrator.cu │ │ ├── instantiations │ │ │ ├── camera_inst.cu │ │ │ └── lidar_inst.cu │ │ ├── occupancy_conversions.cpp │ │ ├── occupancy_decay_integrator.cu │ │ ├── projective_appearance_integrator.cu │ │ ├── projective_occupancy_integrator.cu │ │ ├── projective_tsdf_integrator.cu │ │ ├── shape_clearer.cu │ │ ├── tsdf_decay_integrator.cu │ │ └── view_calculator.cu │ ├── interpolation │ │ └── interpolation_3d.cpp │ ├── io │ │ ├── image_io.cpp │ │ ├── layer_cake_io.cpp │ │ ├── mesh_io.cpp │ │ ├── ply_writer.cpp │ │ └── pointcloud_io.cpp │ ├── map │ │ ├── blocks_to_update_tracker.cpp │ │ ├── blox.cu │ │ └── layer.cu │ ├── map_saving │ │ ├── layer_type_register.cpp │ │ ├── serializer.cpp │ │ └── sqlite_database.cpp │ ├── mapper │ │ ├── mapper.cpp │ │ └── multi_mapper.cpp │ ├── mesh │ │ ├── mesh_block.cu │ │ ├── mesh_integrator.cu │ │ └── mesh_integrator_appearance.cu │ ├── primitives │ │ ├── primitives.cpp │ │ └── scene.cpp │ ├── rays │ │ └── sphere_tracer.cu │ ├── semantics │ │ ├── image_masker.cu │ │ ├── image_projector.cu │ │ └── mask_from_detections.cu │ ├── sensors │ │ ├── camera.cpp │ │ ├── color.cpp │ │ ├── depth_preprocessing.cpp │ │ ├── image.cu │ │ ├── mask_preprocessor.cpp │ │ ├── npp_image_operations.cpp │ │ └── pointcloud.cu │ ├── serialization │ │ ├── mesh_serializer_gpu.cu │ │ └── serialization_gpu.cu │ └── utils │ │ ├── delays.cpp │ │ ├── nvblox_art.cpp │ │ ├── nvtx_ranges.cpp │ │ ├── rates.cpp │ │ └── timing.cpp ├── tests │ ├── CMakeLists.txt │ ├── benchmark.cpp │ ├── benchmark_camera.cpp │ ├── check_default_stream_utilization.sh │ ├── data │ │ ├── 3dmatch │ │ │ ├── camera-intrinsics.txt │ │ │ └── seq-01 │ │ │ │ ├── frame-000000.color.png │ │ │ │ ├── frame-000000.depth.png │ │ │ │ ├── frame-000000.pose.txt │ │ │ │ ├── frame-000001.color.png │ │ │ │ ├── frame-000001.depth.png │ │ │ │ ├── frame-000001.pose.txt │ │ │ │ ├── frame-000002.color.png │ │ │ │ ├── frame-000002.depth.png │ │ │ │ ├── frame-000002.pose.txt │ │ │ │ ├── frame-000116.color.png │ │ │ │ ├── frame-000116.depth.png │ │ │ │ ├── frame-000116.pose.txt │ │ │ │ ├── frame-000422.color.png │ │ │ │ ├── frame-000422.depth.png │ │ │ │ └── frame-000422.pose.txt │ │ ├── dynamic_mask │ │ │ └── mask_21.png │ │ ├── human_dataset │ │ │ ├── camera-intrinsics.txt │ │ │ ├── depth_image_1.png │ │ │ └── depth_image_2.png │ │ ├── orbbec │ │ │ ├── camera-intrinsics.txt │ │ │ └── seq-01 │ │ │ │ └── frame-000000.depth.png │ │ └── replica │ │ │ ├── cam_params.json │ │ │ ├── office0 │ │ │ ├── results │ │ │ │ ├── depth000000.png │ │ │ │ ├── depth000001.png │ │ │ │ ├── depth000002.png │ │ │ │ ├── depth000003.png │ │ │ │ ├── frame000000.jpg │ │ │ │ ├── frame000001.jpg │ │ │ │ ├── frame000002.jpg │ │ │ │ └── frame000003.jpg │ │ │ └── traj.txt │ │ │ └── office0_mesh.ply │ ├── include │ │ └── nvblox │ │ │ └── tests │ │ │ ├── blox.h │ │ │ ├── blox_utils.h │ │ │ ├── custom_camera_sensor.h │ │ │ ├── esdf_integrator_cpu.h │ │ │ ├── gpu_image_routines.h │ │ │ ├── gpu_indexing.h │ │ │ ├── gpu_layer_utils.h │ │ │ ├── increment_on_gpu.h │ │ │ ├── integrator_utils.h │ │ │ ├── interpolation_2d_gpu.h │ │ │ ├── mesh_utils.h │ │ │ ├── projective_tsdf_integrator_cpu.h │ │ │ ├── projective_tsdf_integrator_cuda_components.h │ │ │ ├── ransac_plane_fitter_utils.h │ │ │ ├── sensor_fixture.h │ │ │ ├── test_utils_cuda.h │ │ │ ├── tsdf_zero_crossings_extractor_cpu.h │ │ │ ├── utils.h │ │ │ ├── voxels.h │ │ │ └── weighting_utils.h │ ├── lib │ │ ├── cuda │ │ │ ├── blox_utils.cu │ │ │ ├── boolean_layer_specialization.cu │ │ │ ├── float_layer_specialization.cu │ │ │ ├── gpu_image_routines.cu │ │ │ ├── gpu_indexing.cu │ │ │ ├── gpu_layer_utils.cu │ │ │ ├── increment_kernel.cu │ │ │ ├── index_layer_specialization.cu │ │ │ ├── initialization_test_layer_specialization.cu │ │ │ ├── interpolation_2d_gpu.cu │ │ │ ├── layer.cu │ │ │ ├── mesh_utils.cu │ │ │ ├── projective_tsdf_integrator_cuda_components.cu │ │ │ ├── test_layer.cu │ │ │ ├── test_utils_cuda.cu │ │ │ └── weighting_utils.cu │ │ ├── custom_camera_sensor_inst.cu │ │ ├── esdf_integrator_cpu.cpp │ │ ├── integrator_utils.cpp │ │ ├── projective_tsdf_integrator_cpu.cpp │ │ ├── ransac_plane_fitter_utils.cpp │ │ ├── tsdf_zero_crossings_extractor_cpu.cpp │ │ └── utils.cpp │ ├── regression_test_query_after_clear.cu │ ├── run_memcpy_on_default_cuda_stream.cpp │ ├── test_3d_interpolation.cpp │ ├── test_3dmatch.cpp │ ├── test_array.cu │ ├── test_bitmask.cpp │ ├── test_block_memory_pool.cpp │ ├── test_blocks_to_update_tracker.cpp │ ├── test_blox.cpp │ ├── test_bounding_spheres.cpp │ ├── test_cake.cpp │ ├── test_camera.cu │ ├── test_checks.cpp │ ├── test_color_image.cpp │ ├── test_color_integrator.cpp │ ├── test_cuda_stream.cpp │ ├── test_delays.cpp │ ├── test_depth_image.cpp │ ├── test_depth_image_preprocessing.cpp │ ├── test_device_function_utils.cu │ ├── test_dynamics.cpp │ ├── test_error_check.cu │ ├── test_esdf_integrator.cpp │ ├── test_esdf_integrator_slicing.cu │ ├── test_feature_integrator.cpp │ ├── test_for_memory_leaks.cpp │ ├── test_freespace_integrator.cpp │ ├── test_frustum.cpp │ ├── test_fuser.cpp │ ├── test_gpu_hash_interface.cu │ ├── test_gpu_layer_view.cpp │ ├── test_image_cache.cpp │ ├── test_image_io.cpp │ ├── test_image_masker.cpp │ ├── test_image_projector.cpp │ ├── test_image_view.cpp │ ├── test_indexing.cpp │ ├── test_interpolation_2d.cpp │ ├── test_layer.cpp │ ├── test_layer_cake_streamer.cpp │ ├── test_layer_serializer_gpu.cpp │ ├── test_layer_streamer.cpp │ ├── test_layer_to_3d_grid.cu │ ├── test_lidar.cpp │ ├── test_lidar_integration.cpp │ ├── test_mapper.cpp │ ├── test_mapper_block_allocation.cpp │ ├── test_mask_from_detections.cpp │ ├── test_mask_preprocessor.cpp │ ├── test_masked_image_view.cu │ ├── test_mesh.cpp │ ├── test_mesh_appearance.cpp │ ├── test_mesh_serializer.cpp │ ├── test_mono_image.cpp │ ├── test_multi_mapper.cpp │ ├── test_npp_image_operations.cpp │ ├── test_nvblox_h.cpp │ ├── test_nvtx_ranges.cpp │ ├── test_occupancy_decay.cpp │ ├── test_occupancy_integrator.cpp │ ├── test_orbbec.cpp │ ├── test_params.cpp │ ├── test_plane.cu │ ├── test_pointcloud.cpp │ ├── test_ransac_plane_fitter.cpp │ ├── test_ransac_plane_fitter_cpu.cpp │ ├── test_rates.cpp │ ├── test_ray_caster.cpp │ ├── test_replica.cpp │ ├── test_scene.cpp │ ├── test_serialization.cpp │ ├── test_shape_clearer.cpp │ ├── test_sphere_tracing.cpp │ ├── test_time.cpp │ ├── test_timing.cpp │ ├── test_traits.cpp │ ├── test_tsdf_decay.cpp │ ├── test_tsdf_error.cpp │ ├── test_tsdf_integrator.cpp │ ├── test_tsdf_integrator_cuda_components.cpp │ ├── test_type_indexed_store.cpp │ ├── test_unified_3d_grid.cpp │ ├── test_unified_ptr.cpp │ ├── test_unified_vector.cpp │ ├── test_weighting_function.cpp │ ├── test_workspace_bounds.cpp │ └── test_zero_crossings_extractor.cu └── thirdparty │ ├── benchmark │ └── benchmark.cmake │ ├── eigen │ └── eigen.cmake │ ├── gflags │ └── gflags.cmake │ ├── glog │ └── glog.cmake │ ├── gtest │ └── gtest.cmake │ ├── sqlite │ └── sqlite.cmake │ └── stdgpu │ ├── stdgpu.cmake │ ├── stdgpu_expose_occupied.patch │ ├── stdgpu_fix_cuda12_6.patch │ ├── stdgpu_fix_cuda13_0.patch │ ├── stdgpu_handle_collisions.patch │ └── stdgpu_thrust_version_regex.patch ├── nvblox_torch ├── MANIFEST.in ├── cpp │ ├── CMakeLists.txt │ ├── include │ │ └── nvblox_torch │ │ │ ├── check_utils.h │ │ │ ├── convert_tensors.h │ │ │ ├── cuda_stream.h │ │ │ ├── helper_math.h │ │ │ ├── impl │ │ │ ├── check_utils_impl.h │ │ │ └── convert_tensors_impl.h │ │ │ ├── py_constants.h │ │ │ ├── py_layer.h │ │ │ ├── py_mapper.h │ │ │ ├── py_mapper_params.h │ │ │ ├── py_mesh.h │ │ │ ├── py_rendering.h │ │ │ ├── py_scene.h │ │ │ └── sdf_query.cuh │ ├── src │ │ ├── convert_tensors.cpp │ │ ├── cuda_stream.cpp │ │ ├── py_layer.cpp │ │ ├── py_mapper.cu │ │ ├── py_mapper_params.cpp │ │ ├── py_mesh.cpp │ │ ├── py_nvblox.cu │ │ ├── py_rendering.cpp │ │ ├── py_scene.cu │ │ └── sdf_query.cu │ └── tests │ │ ├── CMakeLists.txt │ │ ├── test_color_tensor.cpp │ │ └── test_tensor_conversions.cpp ├── nvblox_torch │ ├── __init__.py │ ├── constants.py │ ├── datasets │ │ ├── __init__.py │ │ └── sun3d_dataset.py │ ├── examples │ │ ├── __init__.py │ │ ├── esdf │ │ │ ├── esdf.py │ │ │ └── viewpoint.json │ │ ├── gradients │ │ │ ├── __init__.py │ │ │ └── trajectory_optimization_example.py │ │ ├── realsense │ │ │ ├── realsense_dataloader.py │ │ │ ├── realsense_utils.py │ │ │ ├── run_realsense_mapper.py │ │ │ ├── visualizer.py │ │ │ └── vslam_utils.py │ │ ├── reconstruction │ │ │ ├── __init__.py │ │ │ └── sun3d.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── feature_extraction.py │ │ │ ├── scenes.py │ │ │ └── visualization.py │ │ └── voxels │ │ │ └── voxels.py │ ├── indexing.py │ ├── layer.py │ ├── lib │ │ ├── README.md │ │ ├── nvblox │ │ │ └── libnvblox_lib.so │ │ ├── nvblox_torch │ │ │ └── cpp │ │ │ │ └── libpy_nvblox.so │ │ └── utils.py │ ├── mapper.py │ ├── mapper_params.py │ ├── mesh.py │ ├── projective_integrator_types.py │ ├── rendering.py │ ├── scene.py │ ├── sdf_query.py │ ├── tests │ │ ├── __init__.py │ │ ├── benchmark.py │ │ ├── data │ │ │ └── 3dmatch │ │ │ │ ├── camera-intrinsics.txt │ │ │ │ └── seq-01 │ │ │ │ ├── frame-000000.color.png │ │ │ │ ├── frame-000000.depth.png │ │ │ │ ├── frame-000000.pose.txt │ │ │ │ ├── frame-000001.color.png │ │ │ │ ├── frame-000001.depth.png │ │ │ │ ├── frame-000001.pose.txt │ │ │ │ ├── frame-000002.color.png │ │ │ │ ├── frame-000002.depth.png │ │ │ │ ├── frame-000002.pose.txt │ │ │ │ ├── frame-000116.color.png │ │ │ │ ├── frame-000116.depth.png │ │ │ │ ├── frame-000116.pose.txt │ │ │ │ ├── frame-000422.color.png │ │ │ │ ├── frame-000422.depth.png │ │ │ │ └── frame-000422.pose.txt │ │ ├── helpers │ │ │ ├── __init__.py │ │ │ ├── camera_utils.py │ │ │ ├── data.py │ │ │ ├── mock_visualizer.py │ │ │ ├── scene_utils.py │ │ │ └── tsdf_test_helpers.py │ │ ├── test_benchmark.py │ │ ├── test_esdf_gradients.py │ │ ├── test_example_esdf.py │ │ ├── test_example_sun3d.py │ │ ├── test_example_trajectory_optimization.py │ │ ├── test_example_voxels.py │ │ ├── test_indexing.py │ │ ├── test_layer.py │ │ ├── test_map_sdf.py │ │ ├── test_mapper_add_frames.py │ │ ├── test_mapper_get_tsdf_layer.py │ │ ├── test_mapper_masking.py │ │ ├── test_mapper_meshing.py │ │ ├── test_mesh.py │ │ ├── test_query.py │ │ ├── test_query_esdf.py │ │ ├── test_rendering.py │ │ ├── test_scene.py │ │ ├── test_timing.py │ │ ├── test_torch_environment.py │ │ └── test_version.py │ ├── timer.py │ ├── transforms.py │ └── visualization.py ├── pyproject.toml └── setup.py ├── python ├── common │ ├── COLCON_IGNORE │ ├── README.md │ ├── __init__.py │ ├── nvblox_common │ │ ├── __init__.py │ │ ├── sdf_evaluation.py │ │ ├── surface_evaluation.py │ │ ├── visualizations.py │ │ └── voxel_grid.py │ ├── requirements.txt │ └── setup.py ├── evaluation │ ├── COLCON_IGNORE │ ├── README.md │ ├── __init__.py │ ├── nvblox_evaluation │ │ ├── __init__.py │ │ ├── compare_branch_timings │ │ │ ├── .gitignore │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── compare_branch_timings.py │ │ │ └── helpers │ │ │ │ ├── __init__.py │ │ │ │ ├── plot_timing_comparison.py │ │ │ │ └── run_threedmatch.py │ │ ├── evaluation_utils │ │ │ ├── __init__.py │ │ │ ├── parse_nvblox_timing.py │ │ │ ├── quad_mesh.py │ │ │ └── slice_animation.py │ │ └── replica_reconstruction_evaluation │ │ │ ├── .gitignore │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── replica.py │ │ │ ├── replica_esdf_evaluation.py │ │ │ ├── replica_reconstruction.py │ │ │ └── replica_surface_evaluation.py │ ├── requirements.txt │ └── setup.py ├── scripts │ ├── COLCON_IGNORE │ ├── README.md │ ├── __init__.py │ ├── nvblox_convert_mesh_to_voxel_grid │ │ ├── __init__.py │ │ └── main.py │ ├── nvblox_plot_timing_data │ │ ├── __init__.py │ │ └── main.py │ ├── nvblox_run_replica_benchmarking │ │ ├── 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