├── README_DPVO.md ├── Readme.md ├── calib ├── barn.txt ├── eth.txt ├── euroc.txt ├── icl.txt ├── iphone.txt ├── kitti.txt ├── monovo.txt ├── tartan.txt ├── tum3.txt └── viper.txt ├── config ├── default.yaml └── fast.yaml ├── demo.py ├── download_euroc.py ├── download_models_and_data.sh ├── dpvo ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ ├── ba.cpython-310.pyc │ ├── blocks.cpython-310.pyc │ ├── config.cpython-310.pyc │ ├── dpvo.cpython-310.pyc │ ├── extractor.cpython-310.pyc │ ├── logger.cpython-310.pyc │ ├── net.cpython-310.pyc │ ├── plot_utils.cpython-310.pyc │ ├── projective_ops.cpython-310.pyc │ ├── stream.cpython-310.pyc │ └── utils.cpython-310.pyc ├── altcorr │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ └── correlation.cpython-310.pyc │ ├── correlation.cpp │ ├── correlation.py │ └── correlation_kernel.cu ├── ba.py ├── blocks.py ├── config.py ├── data_readers │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── augmentation.cpython-310.pyc │ │ ├── base.cpython-310.pyc │ │ ├── factory.cpython-310.pyc │ │ ├── rgbd_utils.cpython-310.pyc │ │ └── tartan.cpython-310.pyc │ ├── augmentation.py │ ├── base.py │ ├── factory.py │ ├── frame_utils.py │ ├── rgbd_utils.py │ ├── tartan.py │ └── tartan_test.txt ├── dpvo.py ├── extractor.py ├── fastba │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ └── ba.cpython-310.pyc │ ├── ba.cpp │ ├── ba.py │ └── ba_cuda.cu ├── lietorch │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── broadcasting.cpython-310.pyc │ │ ├── group_ops.cpython-310.pyc │ │ └── groups.cpython-310.pyc │ ├── broadcasting.py │ ├── gradcheck.py │ ├── group_ops.py │ ├── groups.py │ ├── include │ │ ├── common.h │ │ ├── dispatch.h │ │ ├── lietorch_cpu.h │ │ ├── lietorch_gpu.h │ │ ├── rxso3.h │ │ ├── se3.h │ │ ├── sim3.h │ │ └── so3.h │ ├── run_tests.py │ └── src │ │ ├── lietorch.cpp │ │ ├── lietorch_cpu.cpp │ │ └── lietorch_gpu.cu ├── logger.py 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