├── .catkin_workspace ├── .clangd ├── .devcontainer ├── Dockerfile ├── container-setup.sh └── devcontainer.json ├── .dockerignore ├── .flake8 ├── .gitattributes ├── .gitignore ├── .gitmodules ├── .vscode ├── launch.json ├── settings.json └── tasks.json ├── LICENSE ├── README.md ├── assets ├── curb-osg_overview.png └── dfg_logo.png ├── pyproject.toml ├── requirements.txt └── src ├── CMakeLists.txt ├── FeatUp ├── .gitignore ├── LICENSE ├── README.md ├── example_usage.ipynb ├── featup │ ├── __init__.py │ ├── adaptive_conv_cuda │ │ ├── __init__.py │ │ ├── adaptive_conv.cpp │ │ ├── adaptive_conv.py │ │ ├── adaptive_conv_cuda.cpp │ │ └── adaptive_conv_kernel.cu │ ├── configs │ │ ├── implicit_upsampler.yaml │ │ ├── jbu_upsampler.yaml │ │ └── train_probe.yaml │ ├── datasets │ │ ├── COCO.py │ │ ├── DAVIS.py │ │ ├── EmbeddingFile.py │ │ ├── HighResEmbs.py │ │ ├── ImageNetSubset.py │ │ ├── JitteredImage.py │ │ ├── SampleImage.py │ │ ├── __init__.py │ │ └── util.py │ ├── downsamplers.py │ ├── featurizers │ │ ├── CLIP.py │ │ ├── DINO.py │ │ ├── DINOv2.py │ │ ├── DeepLabV3.py │ │ ├── MAE.py │ │ ├── MIDAS.py │ │ ├── MaskCLIP.py │ │ ├── ResNet.py │ │ ├── __init__.py │ │ ├── dinov2 │ │ │ ├── __init__.py │ │ │ └── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── attention.py │ │ │ │ ├── block.py │ │ │ │ ├── dino_head.py │ │ │ │ ├── drop_path.py │ │ │ │ ├── layer_scale.py │ │ │ │ ├── mlp.py │ │ │ │ ├── patch_embed.py │ │ │ │ └── swiglu_ffn.py │ │ ├── maskclip │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ │ ├── clip.py │ │ │ ├── interpolate.py │ │ │ ├── model.py │ │ │ └── simple_tokenizer.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── layers.py │ │ │ ├── resnet.py │ │ │ └── vgg.py │ │ └── util.py │ ├── layers.py │ ├── losses.py │ ├── plotting.py │ ├── train_implicit_upsampler.py │ ├── train_jbu_upsampler.py │ ├── train_probes.py │ ├── upsamplers.py │ └── util.py ├── gradio_app.py ├── hubconf.py ├── manifest.in ├── sample-images │ ├── bird_full.jpg │ ├── bird_left.jpg │ ├── bird_right.jpg │ ├── cones2.jpg │ ├── cones3.jpg │ ├── dog_man_1_crop.jpg │ ├── plant.png │ ├── skate.jpg │ └── teaser_wide.png ├── setup.py └── simple_test.py ├── curb_helpers ├── CMakeLists.txt ├── package.xml └── scripts │ ├── clock_server.py │ ├── compress_trackdata.py │ ├── plot-gps-ins.py │ └── viz-odom.py ├── curb_launchers ├── CMakeLists.txt ├── config │ ├── curb_osg.rviz │ ├── road_graph_figure.rviz │ ├── rosconsole.conf │ └── video.rviz ├── launch │ ├── curb_osg.launch │ └── road_graph_figure.launch ├── package.xml └── scripts │ └── auto_eval_node.py ├── curb_metrics ├── .gitignore ├── CMakeLists.txt ├── devkit │ ├── cpp │ │ ├── evaluate_odometry │ │ ├── evaluate_odometry.cpp │ │ ├── mail.h │ │ ├── matrix.cpp │ │ └── matrix.h │ └── readme.txt ├── msg │ ├── ATEMetric.msg │ ├── IntersectionMetric.msg │ └── KITTIMetric.msg ├── package.xml └── scripts │ ├── __init__.py │ ├── absolute_trajectory_error.py │ ├── conv_segmentsai2coco.py │ ├── gt_trajectories.png │ ├── odometry_metrics.py │ ├── panoptic_metrics.py │ ├── resultPanopticSemanticLabeling.json │ ├── se2_evaluator.py │ └── semseg_direct_eval.ipynb ├── curb_plotting ├── comp_landmark_occlusion.py ├── draw_gt_trajectory.py ├── intersections_table.ipynb ├── landmarks_table_builder.ipynb ├── plot_ate.ipynb ├── plot_ate_determ_test.ipynb ├── plot_keyframe_trajectories.py ├── plot_kitti.ipynb └── show_semseg_gt_colormap.py ├── curb_projection ├── .gitignore ├── CMakeLists.txt ├── README.md ├── bin │ ├── masa_node │ ├── masa_node_precomputed │ ├── offline_masa_processor │ └── semantic_mapping_node ├── config │ └── masa │ │ ├── datasets │ │ ├── bdd │ │ │ └── bdd_dataset.py │ │ └── tao │ │ │ ├── tao_dataset_v05.py │ │ │ └── tao_dataset_v1.py │ │ ├── default_runtime.py │ │ ├── masa-detic │ │ ├── bdd_test │ │ │ ├── masa_detic_bdd_mot_test.py │ │ │ └── masa_detic_bdd_mots_test.py │ │ ├── open_vocabulary_mot_test │ │ │ └── masa_detic_swinb_open_vocabulary_test.py │ │ └── tao_teta_test │ │ │ ├── masa_detic_swinb_tao_test_detic_dets.py │ │ │ └── masa_detic_swinb_tao_test_teter_swinT_dets.py │ │ ├── masa-gdino │ │ ├── bdd_test │ │ │ ├── masa_gdino_bdd_mot_test.py │ │ │ └── masa_gdino_bdd_mots_test.py │ │ ├── masa_gdino_swinb_inference.py │ │ ├── masa_gdino_swinb_inference_for_curb.py │ │ ├── masa_gdino_swinb_plug_and_play.py │ │ ├── open_vocabulary_mot_test │ │ │ └── masa_gdino_swinb_open_vocabulary_test.py │ │ └── tao_teta_test │ │ │ ├── masa_gdino_swinb_tao_test_detic_dets.py │ │ │ └── masa_gdino_swinb_tao_test_teter_swinT_dets.py │ │ ├── masa-one │ │ ├── bdd_test │ │ │ ├── masa_r50_bdd_mot_test.py │ │ │ └── masa_r50_bdd_mots_test.py │ │ ├── masa_r50_plug_and_play.py │ │ ├── open_vocabulary_mot_test │ │ │ └── masa_r50_open_vocabulary_test.py │ │ └── tao_teta_test │ │ │ ├── masa_r50_tao_test_detic_dets.py │ │ │ └── masa_r50_tao_test_teter_swinT_dets.py │ │ └── masa-sam │ │ ├── bdd_test │ │ ├── masa_sam_vitb_bdd_mot_test.py │ │ ├── masa_sam_vitb_bdd_mots_test.py │ │ ├── masa_sam_vith_bdd_mot_test.py │ │ └── masa_sam_vith_bdd_mots_test.py │ │ ├── open_vocabulary_mot_test │ │ ├── masa_sam_vitb_open_vocabulary_test.py │ │ └── masa_sam_vith_open_vocabulary_test.py │ │ ├── sam-vitb.py │ │ ├── sam-vith.py │ │ └── tao_teta_test │ │ ├── masa_sam_vitb_tao_test_detic_dets.py │ │ ├── masa_sam_vitb_tao_test_teter_swinT_dets.py │ │ ├── masa_sam_vith_tao_test_detic_dets.py │ │ └── masa_sam_vith_tao_test_teter_swinT_dets.py ├── intrinsics │ ├── mono_left.txt │ ├── mono_left_distortion_lut.bin │ ├── mono_rear.txt │ ├── mono_rear_distortion_lut.bin │ ├── mono_right.txt │ ├── mono_right_distortion_lut.bin │ ├── stereo_narrow_left.txt │ ├── stereo_narrow_left_distortion_lut.bin │ ├── stereo_narrow_right.txt │ ├── stereo_narrow_right_distortion_lut.bin │ ├── stereo_wide_left.txt │ ├── stereo_wide_left_distortion_lut.bin │ ├── stereo_wide_right.txt │ └── stereo_wide_right_distortion_lut.bin ├── launch │ ├── masa_node.launch │ ├── masa_node_precomputed.launch │ ├── offline_masa_processor.launch │ ├── preprocess_by_host.sh │ └── semantic_mapping_node.launch ├── msg │ ├── StaticObjectObs.msg │ ├── StaticObjectObsArray.msg │ ├── TrackedObjectObs.msg │ └── TrackedObjectObsArray.msg ├── package.xml ├── setup.py └── src │ ├── curb_projection │ ├── __init__.py │ ├── camera_model.py │ ├── maskclip_semseg.py │ ├── opengraph_semseg.py │ ├── semantic_keyframe.py │ ├── semantic_map.py │ └── utils.py │ ├── masa │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ └── masa_inference.py │ ├── datasets │ │ ├── __init__.py │ │ ├── bdd_masa_dataset.py │ │ ├── dataset_wrappers.py │ │ ├── evaluation │ │ │ ├── __init__.py │ │ │ ├── bdd_teta_metric.py │ │ │ ├── dataset_configs │ │ │ │ ├── box_track.toml │ │ │ │ └── seg_track.toml │ │ │ ├── tao_teta_metric.py │ │ │ └── utils.py │ │ ├── masa_dataset.py │ │ ├── pipelines │ │ │ ├── __init__.py │ │ │ ├── formatting.py │ │ │ ├── framesample.py │ │ │ ├── loading.py │ │ │ ├── transforms.py │ │ │ └── wrappers.py │ │ ├── rsconcat_dataset.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── distributed_video_sampler.py │ │ │ └── hybrid_video_img_sampler.py │ │ ├── tao_masa_dataset.py │ │ └── utils.py │ ├── models │ │ ├── __init__.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ ├── detic_masa.py │ │ │ ├── gdino_masa.py │ │ │ ├── grounding_dino.py │ │ │ └── sam_masa.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ └── unbiased_contrastive_loss.py │ │ ├── mot │ │ │ ├── __init__.py │ │ │ └── masa.py │ │ ├── necks │ │ │ ├── __init__.py │ │ │ ├── deform_fusion.py │ │ │ └── simplefpn.py │ │ ├── roi_heads │ │ │ ├── __init__.py │ │ │ └── track_heads │ │ │ │ ├── __init__.py │ │ │ │ └── masa_track_head.py │ │ ├── sam │ │ │ ├── __init__.py │ │ │ ├── amg.py │ │ │ ├── automatic_mask_generator.py │ │ │ ├── build_sam.py │ │ │ ├── common.py │ │ │ ├── image_encoder.py │ │ │ ├── mask_decoder.py │ │ │ ├── predictor.py │ │ │ ├── prompt_encoder.py │ │ │ ├── sam.py │ │ │ ├── transformer.py │ │ │ └── transforms.py │ │ └── tracker │ │ │ ├── __init__.py │ │ │ ├── masa_bdd_tracker.py │ │ │ └── masa_tao_tracker.py │ ├── utils.py │ ├── version.py │ └── visualization │ │ ├── __init__.py │ │ └── visualizer.py │ ├── open_graph │ ├── README.md │ ├── __init__.py │ ├── amg_class.py │ ├── download_models.bash │ ├── tap_generate_cityscapes.ipynb │ └── test.ipynb │ └── projects │ ├── Detic_new │ ├── README.md │ ├── configs │ │ ├── detic_centernet2_r50_fpn_4x_lvis-base_boxsup.py │ │ ├── detic_centernet2_r50_fpn_4x_lvis-base_in21k-lvis.py │ │ ├── detic_centernet2_r50_fpn_4x_lvis_boxsup.py │ │ ├── detic_centernet2_r50_fpn_4x_lvis_in21k-lvis.py │ │ ├── detic_centernet2_swin-b_fpn_4x_lvis-base_boxsup.py │ │ ├── detic_centernet2_swin-b_fpn_4x_lvis-base_in21k-lvis-masa.py │ │ ├── detic_centernet2_swin-b_fpn_4x_lvis-base_in21k-lvis.py │ │ ├── detic_centernet2_swin-b_fpn_4x_lvis_boxsup.py │ │ ├── detic_centernet2_swin-b_fpn_4x_lvis_coco_in21k.py │ │ └── detic_centernet2_swin-b_fpn_4x_lvis_in21k-lvis.py │ └── detic │ │ ├── __init__.py │ │ ├── centernet_rpn_head.py │ │ ├── detic.py │ │ ├── detic_bbox_head.py │ │ ├── detic_roi_head.py │ │ ├── heatmap_focal_loss.py │ │ ├── imagenet_lvis.py │ │ ├── iou_loss.py │ │ └── zero_shot_classifier.py │ └── grounding_dino │ ├── README.md │ ├── dod │ ├── grounding_dino_swin-b_pretrain_zeroshot_concat_dod.py │ ├── grounding_dino_swin-b_pretrain_zeroshot_parallel_dod.py │ ├── grounding_dino_swin-t_pretrain_zeroshot_concat_dod.py │ └── grounding_dino_swin-t_pretrain_zeroshot_parallel_dod.py │ ├── flickr30k │ └── grounding_dino_swin-t-pretrain_zeroshot_flickr30k.py │ ├── grounding_dino_r50_scratch_8xb2_1x_coco.py │ ├── grounding_dino_swin-b_finetune_16xb2_1x_coco.py │ ├── grounding_dino_swin-b_pretrain_mixeddata.py │ ├── grounding_dino_swin-b_pretrain_mixeddata_masa.py │ ├── grounding_dino_swin-t_finetune_16xb2_1x_coco.py │ ├── grounding_dino_swin-t_finetune_8xb2_20e_cat.py │ ├── grounding_dino_swin-t_pretrain_obj365_goldg_cap4m.py │ ├── lvis │ ├── grounding_dino_swin-b_pretrain_zeroshot_lvis.py │ ├── grounding_dino_swin-b_pretrain_zeroshot_mini-lvis.py │ ├── grounding_dino_swin-t_pretrain_zeroshot_lvis.py │ └── grounding_dino_swin-t_pretrain_zeroshot_mini-lvis.py │ ├── metafile.yml │ ├── odinw │ ├── grounding_dino_swin-b_pretrain_odinw13.py │ ├── grounding_dino_swin-b_pretrain_odinw35.py │ ├── grounding_dino_swin-t_pretrain_odinw13.py │ ├── grounding_dino_swin-t_pretrain_odinw35.py │ └── override_category.py │ └── refcoco │ ├── grounding_dino_swin-b_pretrain_zeroshot_refexp.py │ └── grounding_dino_swin-t_pretrain_zeroshot_refexp.py ├── curb_scene_graph ├── CMakeLists.txt ├── bin │ ├── curb_scene_graph_node │ ├── osm_handselect_intersections │ └── osm_retrieve_intersections ├── config │ ├── params-road-graph-figure.yaml │ └── params.yaml ├── eval_datasets │ ├── all_intersections.pkl │ ├── selected_intersections.pkl │ └── ways.pkl ├── launch │ ├── curb_scene_graph.launch │ ├── osm_handselect_intersections.launch │ └── osm_retrieve_intersections.launch ├── package.xml ├── scenegraphs │ └── .gitkeep ├── setup.py └── src │ ├── curb_scene_graph │ ├── __init__.py │ ├── base_classes.py │ ├── dynamic_objects.py │ ├── road_graph.py │ ├── road_graph_baseline.py │ ├── road_graph_opengraph.py │ ├── root_layer.py │ ├── scene_graph.py │ └── static_objects.py │ └── curb_sg_eval │ ├── __init__.py │ ├── osm_intersections.py │ ├── reproject_all_keyframes.py │ ├── timetravel_reprojector.py │ └── utils.py ├── curb_testset_creator ├── .gitignore ├── README.md ├── sample_by_distance.py └── trajectory.pdf ├── hdl_graph_slam ├── .clang-format ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps │ ├── floor_detection_nodelet.cpp │ ├── hdl_graph_slam_nodelet.cpp │ ├── lidar_merge_nodelet.cpp │ ├── map_server_nodelet.cpp │ ├── prefiltering_nodelet.cpp │ └── scan_matching_odometry_nodelet.cpp ├── cmake │ └── FindG2O.cmake ├── docker │ ├── build.sh │ ├── howtouse.md │ ├── kinetic │ │ └── Dockerfile │ ├── kinetic_llvm │ │ └── Dockerfile │ ├── melodic │ │ └── Dockerfile │ ├── melodic_llvm │ │ └── Dockerfile │ ├── noetic │ │ └── Dockerfile │ ├── noetic_llvm │ │ └── Dockerfile │ └── run.sh ├── imgs │ ├── birds.png │ ├── ford1.png │ ├── ford2.png │ ├── ford3.png │ ├── hdl_400_graph.png │ ├── hdl_400_points.png │ ├── hdl_graph_slam.png │ ├── nodelets.png │ ├── nodelets.vsdx │ ├── packages.png │ └── top.png ├── include │ ├── g2o │ │ ├── edge_plane_identity.hpp │ │ ├── edge_plane_parallel.hpp │ │ ├── edge_plane_prior.hpp │ │ ├── edge_se3_plane.hpp │ │ ├── edge_se3_priorquat.hpp │ │ ├── edge_se3_priorvec.hpp │ │ ├── edge_se3_priorxy.hpp │ │ ├── edge_se3_priorxyz.hpp │ │ └── robust_kernel_io.hpp │ ├── hdl_graph_slam │ │ ├── custom_point_types.hpp │ │ ├── dynamic_observation.hpp │ │ ├── graph_slam.hpp │ │ ├── information_matrix_calculator.hpp │ │ ├── keyframe.hpp │ │ ├── keyframe_updater.hpp │ │ ├── loop_detector.hpp │ │ ├── map_cloud_generator.hpp │ │ ├── nmea_sentence_parser.hpp │ │ ├── registrations.hpp │ │ ├── ros_time_hash.hpp │ │ ├── ros_utils.hpp │ │ └── safe_queue.hpp │ └── scancontext │ │ ├── KDTreeVectorOfVectorsAdaptor.h │ │ ├── Scancontext.cpp │ │ ├── Scancontext.h │ │ ├── nanoflann.hpp │ │ └── tic_toc.h ├── launch │ ├── agent.launch │ └── map_server.launch ├── msg │ ├── FloorCoeffs.msg │ ├── KeyframeArray_msg.msg │ ├── Keyframe_msg.msg │ ├── ObservationFilter_msg.msg │ └── ScanMatchingStatus.msg ├── nodelet_plugins.xml ├── package.xml ├── rviz │ ├── eg_0.rviz │ ├── eg_1.rviz │ ├── eg_global.rviz │ ├── hdl_graph_slam.rviz │ ├── hdl_graph_slam_eg.rviz │ ├── lane_graph_dev.rviz │ ├── map.rviz │ ├── map_dev.rviz │ ├── map_dev2.rviz │ ├── map_dev3.rviz │ ├── odom_frame_viz.rviz │ ├── radar_robotcar_player_and_hdl.rviz │ ├── radar_robotcar_player_and_hdl_cams.rviz │ ├── radar_robotcar_player_lidar_in_car_frame.rviz │ └── rlsim.rviz ├── setup.py ├── src │ ├── g2o │ │ └── robust_kernel_io.cpp │ └── hdl_graph_slam │ │ ├── __init__.py │ │ ├── bag_player.py │ │ ├── dynamic_observation.cpp │ │ ├── ford2bag.py │ │ ├── graph_slam.cpp │ │ ├── information_matrix_calculator.cpp │ │ ├── keyframe.cpp │ │ ├── map2odom_publisher.py │ │ ├── map_cloud_generator.cpp │ │ ├── odom2baselink_publisher.py │ │ └── registrations.cpp └── srv │ ├── DumpGraph.srv │ └── SaveMap.srv ├── loop_debugger ├── CMakeLists.txt ├── launch │ └── loop_debugger.launch ├── package.xml └── src │ └── loop_debugger_node.cpp └── nano_gicp ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include └── nano_gicp │ ├── gicp │ ├── gicp_settings.hpp │ └── so3.hpp │ ├── impl │ ├── lsq_registration_impl.hpp │ ├── nano_gicp_impl.hpp │ └── nanoflann_impl.hpp │ ├── lsq_registration.hpp │ ├── nano_gicp.hpp │ ├── nanoflann.hpp │ └── point_type_nano_gicp.hpp ├── package.xml └── src ├── nano_gicp.cc └── nanoflann.cc /.catkin_workspace: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robot-learning-freiburg/CURB-OSG/HEAD/.catkin_workspace 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