├── README.md ├── assets └── tandem_poster.jpg ├── cva_mvsnet ├── .gitignore ├── LICENSE ├── README.md ├── config.py ├── configs │ ├── abl01_baseline.yaml │ ├── abl02_vo_window.yaml │ ├── abl03_view_aggregation.yaml │ ├── abl04_fewer_depth_planes.yaml │ └── default.yaml ├── eval.py ├── eval.sh ├── export_model.py ├── models │ ├── __init__.py │ ├── cva_mvsnet.py │ ├── datasets.py │ ├── module.py │ ├── tandem.py │ └── utils │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── load_ckpt.py │ │ ├── tb_logger.py │ │ └── warmup_multi_step_lr.py ├── pretrained │ ├── ablation │ │ ├── abl01_baseline.ckpt │ │ ├── abl01_baseline.pkl │ │ ├── abl01_baseline.txt │ │ ├── abl02_vo_window.ckpt │ │ ├── abl02_vo_window.pkl │ │ ├── abl02_vo_window.txt │ │ ├── abl03_view_aggregation.ckpt │ │ ├── abl03_view_aggregation.pkl │ │ ├── abl03_view_aggregation.txt │ │ ├── abl04_fewer_depth_planes.ckpt │ │ ├── abl04_fewer_depth_planes.pkl │ │ └── abl04_fewer_depth_planes.txt │ └── scannet │ │ └── scannet_tandem.ckpt ├── reproducibility │ ├── requirements_conda.txt │ └── requirements_pip.txt ├── requirements.txt ├── train.py ├── train.sbatch └── utils.py ├── replica ├── LICENSE └── README.md └── tandem ├── .gitignore ├── CMakeLists.txt ├── DEMO.md ├── LICENSE ├── README.md ├── cmake ├── FindEigen3.cmake ├── FindLibZip.cmake └── FindSuiteParse.cmake ├── exported ├── tandem │ ├── confidence.png │ ├── depth.png │ ├── model.pt │ └── sample_inputs.pt └── tandem_512x320 │ ├── confidence.png │ ├── depth.png │ ├── model.pt │ └── sample_inputs.pt ├── libdr ├── .gitignore ├── cuda_coarse_tracker │ ├── CMakeLists.txt │ ├── include │ │ ├── private │ │ │ ├── cuda_coarse_tracker_private.h │ │ │ ├── numeric_cuda.h │ │ │ ├── runtime_utils.h │ │ │ └── utils.h │ │ └── public │ │ │ └── cuda_coarse_tracker.h │ └── src │ │ ├── cuda_coarse_tracker.cpp │ │ ├── cuda_coarse_tracker_private.cu │ │ └── main.cu ├── dr_fusion │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── LICENSE.txt │ ├── README.md │ └── src │ │ ├── dr_fusion │ │ ├── dr_fusion.cpp │ │ └── dr_fusion.h │ │ ├── marching_cubes │ │ ├── lookup_tables.h │ │ ├── mesh.cu │ │ ├── mesh.h │ │ ├── mesh_extractor.cu │ │ └── mesh_extractor.h │ │ ├── tsdfvh │ │ ├── hash_entry.h │ │ ├── hash_table.cu │ │ ├── hash_table.h │ │ ├── heap.cu │ │ ├── heap.h │ │ ├── tsdf_volume.cu │ │ ├── tsdf_volume.h │ │ ├── voxel.h │ │ └── voxel_block.h │ │ └── utils │ │ ├── matrix_utils.h │ │ ├── rgbd_image.cu │ │ ├── rgbd_image.h │ │ ├── rgbd_sensor.h │ │ └── utils.h └── dr_mvsnet │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ └── src │ ├── dr_mvsnet.cpp │ ├── dr_mvsnet │ └── dr_mvsnet.h │ └── dr_mvsnet_test.cpp ├── scripts ├── calib_convert_to_rosbag.py ├── calib_convert_to_txt.py ├── runtime_euroc.bash ├── tracking_euroc.bash └── tracking_euroc_eval.bash ├── src ├── FullSystem │ ├── CoarseInitializer.cpp │ ├── CoarseInitializer.h │ ├── CoarseRGBDInitializer.cpp │ ├── CoarseRGBDInitializer.h │ ├── CoarseTracker.cpp │ ├── CoarseTracker.h │ ├── FullSystem.cpp │ ├── FullSystem.h │ ├── FullSystemDebugStuff.cpp │ ├── FullSystemMarginalize.cpp │ ├── FullSystemOptPoint.cpp │ ├── FullSystemOptimize.cpp │ ├── HessianBlocks.cpp │ ├── HessianBlocks.h │ ├── ImmaturePoint.cpp │ ├── ImmaturePoint.h │ ├── PixelSelector.h │ ├── PixelSelector2.cpp │ ├── PixelSelector2.h │ ├── ResidualProjections.h │ ├── Residuals.cpp │ └── Residuals.h ├── IOWrapper │ ├── ImageDisplay.h │ ├── ImageDisplay_dummy.cpp │ ├── ImageRW.h │ ├── ImageRW_dummy.cpp │ ├── OpenCV │ │ ├── ImageDisplay_OpenCV.cpp │ │ └── ImageRW_OpenCV.cpp │ ├── Output3DWrapper.h │ ├── OutputWrapper │ │ └── SampleOutputWrapper.h │ └── Pangolin │ │ ├── DrFrameDisplay.cpp │ │ ├── DrFrameDisplay.h │ │ ├── KeyFrameDisplay.cpp │ │ ├── KeyFrameDisplay.h │ │ ├── PangolinDSOViewer.cpp │ │ └── PangolinDSOViewer.h ├── OptimizationBackend │ ├── AccumulatedSCHessian.cpp │ ├── AccumulatedSCHessian.h │ ├── AccumulatedTopHessian.cpp │ ├── AccumulatedTopHessian.h │ ├── EnergyFunctional.cpp │ ├── EnergyFunctional.h │ ├── EnergyFunctionalStructs.cpp │ ├── EnergyFunctionalStructs.h │ ├── MatrixAccumulators.h │ └── RawResidualJacobian.h ├── dr_debug_example │ ├── dr_debug_example.cpp │ ├── fr_parser_memory.cpp │ └── fr_parser_memory.h ├── dvo-core │ ├── include │ │ └── dvo │ │ │ ├── core │ │ │ ├── datatypes.h │ │ │ ├── interpolation.h │ │ │ ├── intrinsic_matrix.h │ │ │ ├── least_squares.h │ │ │ ├── math_sse.h │ │ │ ├── point_selection.h │ │ │ ├── point_selection_predicates.h │ │ │ ├── rgbd_image.h │ │ │ ├── surface_pyramid.h │ │ │ └── weight_calculation.h │ │ │ ├── dense_tracking.h │ │ │ ├── dense_tracking_impl.h │ │ │ └── util │ │ │ ├── fluent_interface.h │ │ │ ├── histogram.h │ │ │ ├── id_generator.h │ │ │ ├── revertable.h │ │ │ └── stopwatch.h │ └── src │ │ ├── core │ │ ├── interpolation.cpp │ │ ├── intrinsic_matrix.cpp │ │ ├── least_squares.cpp │ │ ├── math_sse.cpp │ │ ├── point_selection.cpp │ │ ├── rgbd_image.cpp │ │ ├── rgbd_image_sse.cpp │ │ ├── surface_pyramid.cpp │ │ └── weight_calculation.cpp │ │ ├── dense_tracking.cpp │ │ ├── dense_tracking_config.cpp │ │ ├── dense_tracking_impl.cpp │ │ ├── sse_test.cpp │ │ └── util │ │ ├── histogram.cpp │ │ └── id_generator.cpp ├── main_realsense_calib_recorder.cpp ├── main_tandem_pangolin.cpp ├── main_tandem_realsense.cpp ├── realsense │ ├── realsense.cpp │ └── realsense.h ├── tandem │ ├── tandem_backend.cpp │ └── tandem_backend.h └── util │ ├── DatasetReader.h │ ├── FrameShell.h │ ├── ImageAndExposure.h │ ├── IndexThreadReduce.h │ ├── MinimalImage.h │ ├── NumType.h │ ├── Timer.h │ ├── Undistort.cpp │ ├── Undistort.h │ ├── commandline.cpp │ ├── commandline.h │ ├── globalCalib.cpp │ ├── globalCalib.h │ ├── globalFuncs.h │ ├── nanoflann.h │ ├── settings.cpp │ └── settings.h ├── thirdparty └── Sophus │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ └── FindEigen3.cmake │ └── sophus │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── sophus.hpp │ 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