├── .gitignore ├── ActiveMap.py ├── InactiveMap.py ├── LICENSE ├── Logger.py ├── Manager.py ├── PoseCorrector.py ├── README.md ├── RandomOptimizer.py ├── SharedData.py ├── configs ├── FastCaMo-large │ ├── FastCaMo-large.yaml │ ├── classroom.yaml │ ├── floor1.yaml │ ├── floor2.yaml │ ├── lab.yaml │ ├── stairs1.yaml │ └── stairs2.yaml ├── FastCaMo-synth │ ├── FastCaMo-synth.yaml │ ├── apartment_1.yaml │ ├── apartment_2.yaml │ ├── frl_apartment_2.yaml │ ├── hotel_0.yaml │ ├── office_0.yaml │ ├── office_1.yaml │ ├── office_2.yaml │ ├── office_3.yaml │ ├── room_0.yaml │ └── room_1.yaml └── ScanNet │ ├── scannet.yaml │ ├── scene0000.yaml │ ├── scene0024.yaml │ ├── scene0059.yaml │ ├── scene0106.yaml │ ├── scene0169.yaml │ ├── scene0181.yaml │ └── scene0207.yaml ├── datasets ├── __pycache__ │ ├── dataset.cpython-37.pyc │ └── utils.cpython-37.pyc ├── dataset.py └── utils.py ├── environment.yaml ├── external ├── NumpyMarchingCubes │ ├── NumpyMarchingCubes.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ └── top_level.txt │ ├── build │ │ ├── lib.linux-x86_64-cpython-37 │ │ │ └── marching_cubes │ │ │ │ ├── __init__.py │ │ │ │ └── _mcubes.cpython-37m-x86_64-linux-gnu.so │ │ └── temp.linux-x86_64-cpython-37 │ │ │ └── marching_cubes │ │ │ └── src │ │ │ ├── _mcubes.o │ │ │ ├── marching_cubes.o │ │ │ └── pywrapper.o │ ├── dist │ │ └── NumpyMarchingCubes-0.0.1-py3.7-linux-x86_64.egg │ ├── marching_cubes │ │ ├── __init__.py │ │ └── src │ │ │ ├── _mcubes.cpp │ │ │ ├── _mcubes.pyx │ │ │ ├── marching_cubes.cpp │ │ │ ├── marching_cubes.h │ │ │ ├── pyarray_symbol.h │ │ │ ├── pyarraymodule.h │ │ │ ├── pywrapper.cpp │ │ │ ├── pywrapper.h │ │ │ ├── sparsegrid3.h │ │ │ └── tables.h │ └── setup.py └── Pypose_external │ ├── ICP.py │ ├── __pycache__ │ ├── ICP.cpython-37.pyc │ ├── convert.cpython-37.pyc │ └── reduceToBason.cpython-37.pyc │ ├── convert.py │ └── reduceToBason.py ├── fig └── 1.png ├── helper_functions ├── __pycache__ │ ├── geometry_helper.cpython-37.pyc │ ├── printTime.cpython-37.pyc │ ├── sampling_helper.cpython-37.pyc │ └── utils.cpython-37.pyc ├── geometry_helper.py ├── printTime.py ├── sampling_helper.py └── utils.py ├── main.py ├── mipsfusion.py ├── model ├── CorrespondFinder.py ├── Mesher.py ├── __pycache__ │ ├── CorrespondFinder.cpython-37.pyc │ ├── Mesher.cpython-37.pyc │ ├── decoder.cpython-37.pyc │ ├── decoder_co.cpython-37.pyc │ ├── encodings.cpython-37.pyc │ ├── poseGraph.cpython-37.pyc │ └── scene_rep.cpython-37.pyc ├── decoder.py ├── encodings.py ├── keyframeSet.py ├── poseGraph.py └── scene_rep.py ├── tools ├── __pycache__ │ └── eval_ate.cpython-37.pyc ├── eval_ate.py └── vis_cameras.py ├── utils ├── __pycache__ │ ├── config.cpython-37.pyc │ └── utils.cpython-37.pyc ├── config.py └── utils.py └── vis ├── __pycache__ └── math_helper.cpython-37.pyc ├── get_min_max.py ├── math_helper.py ├── mesh_concat.py └── render_mesh.py /.gitignore: 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