├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── calib ├── barn.txt ├── eth.txt ├── euroc.txt ├── tartan.txt └── tum3.txt ├── data └── euroc_groundtruth │ ├── MH_01_easy.txt │ ├── MH_02_easy.txt │ ├── MH_03_medium.txt │ ├── MH_04_difficult.txt │ ├── MH_05_difficult.txt │ ├── V1_01_easy.txt │ ├── V1_02_medium.txt │ ├── V1_03_difficult.txt │ ├── V2_01_easy.txt │ ├── V2_02_medium.txt │ └── V2_03_difficult.txt ├── demo.py ├── droid_slam ├── align.py ├── cuda_timer.py ├── data_readers │ ├── __init__.py │ ├── augmentation.py │ ├── base.py │ ├── factory.py │ ├── rgbd_utils.py │ ├── stream.py │ ├── tartan.py │ └── tartan_test.txt ├── depth_video.py ├── droid.py ├── droid_async.py ├── droid_backend.py ├── droid_frontend.py ├── droid_net.py ├── factor_graph.py ├── geom │ ├── __init__.py │ ├── ba.py │ ├── chol.py │ ├── graph_utils.py │ ├── losses.py │ └── projective_ops.py ├── logger.py ├── modules │ ├── __init__.py │ ├── clipping.py │ ├── corr.py │ ├── extractor.py │ └── gru.py ├── motion_filter.py ├── trajectory_filler.py ├── visualization.py └── visualizer │ ├── __init__.py │ ├── camera.py │ └── droid_visualizer.py ├── environment.yaml ├── environment_novis.yaml ├── evaluation_scripts ├── parse_results.py ├── test_eth3d.py ├── test_euroc.py ├── test_tartanair.py ├── test_tum.py └── validate_tartanair.py ├── misc ├── DROID.png ├── renderoption.json └── screenshot.png ├── requirements.txt ├── requirements_frozen.txt ├── setup.py ├── src ├── altcorr_kernel.cu ├── correlation_kernels.cu ├── droid.cpp └── droid_kernels.cu ├── thirdparty └── tartanair_tools │ ├── LICENSE │ ├── README.md │ ├── TartanAir_Sample.ipynb │ ├── data_type.md │ ├── download_cvpr_slam_test.txt │ ├── download_training.py │ ├── download_training_zipfiles.txt │ ├── evaluation │ ├── __init__.py │ ├── evaluate_ate_scale.py │ ├── evaluate_kitti.py │ ├── evaluate_rpe.py │ ├── evaluator_base.py │ ├── pose_est.txt │ ├── pose_gt.txt │ ├── tartanair_evaluator.py │ ├── trajectory_transform.py │ └── 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