SYMBOL INDEX (260 symbols across 38 files)

FILE: dataset/euroc_to_hdf5.py
  function show_image (line 11) | def show_image(image):
  function image_stream (line 16) | def image_stream(imagedir, imagestamp, h5path, calib, stride):

FILE: dataset/kitti360_to_hdf5.py
  function show_image (line 11) | def show_image(image):
  function image_stream (line 16) | def image_stream(imagedir, imagestamp, h5path, calib, stride):

FILE: dataset/tumvi_to_hdf5.py
  function show_image (line 11) | def show_image(image):
  function image_stream (line 16) | def image_stream(imagedir, imagestamp, h5path, calib, stride):

FILE: dbaf/covisible_graph.py
  class CovisibleGraph (line 15) | class CovisibleGraph:
    method __init__ (line 16) | def __init__(self, video: DepthVideo, update_op, device="cuda:0", corr...
    method __filter_repeated_edges (line 61) | def __filter_repeated_edges(self, ii, jj):
    method print_edges (line 74) | def print_edges(self):
    method filter_edges (line 88) | def filter_edges(self):
    method clear_edges (line 97) | def clear_edges(self):
    method add_factors (line 103) | def add_factors(self, ii, jj, remove=False):
    method rm_factors (line 152) | def rm_factors(self, mask, store=False):
    method rm_keyframe (line 180) | def rm_keyframe(self, ix):
    method update (line 214) | def update(self, t0=None, t1=None, itrs=2, use_inactive=False, EP=1e-7...
    method add_neighborhood_factors (line 344) | def add_neighborhood_factors(self, t0, t1, r=3):
    method add_proximity_factors (line 357) | def add_proximity_factors(self, t0=0, t1=0, rad=2, nms=2, beta=0.25, t...

FILE: dbaf/data_readers/augmentation.py
  class RGBDAugmentor (line 7) | class RGBDAugmentor:
    method __init__ (line 10) | def __init__(self, crop_size):
    method spatial_transform (line 20) | def spatial_transform(self, images, depths, poses, intrinsics):
    method color_transform (line 49) | def color_transform(self, images):
    method __call__ (line 56) | def __call__(self, images, poses, depths, intrinsics):

FILE: dbaf/data_readers/base.py
  class RGBDDataset (line 19) | class RGBDDataset(data.Dataset):
    method __init__ (line 20) | def __init__(self, name, datapath, n_frames=4, crop_size=[384,512], fm...
    method _build_dataset_index (line 50) | def _build_dataset_index(self):
    method image_read (line 62) | def image_read(image_file):
    method depth_read (line 66) | def depth_read(depth_file):
    method build_frame_graph (line 69) | def build_frame_graph(self, poses, depths, intrinsics, f=16, max_flow=...
    method __getitem__ (line 94) | def __getitem__(self, index):
    method __len__ (line 152) | def __len__(self):
    method __imul__ (line 155) | def __imul__(self, x):

FILE: dbaf/data_readers/factory.py
  function dataset_factory (line 17) | def dataset_factory(dataset_list, **kwargs):
  function create_datastream (line 34) | def create_datastream(dataset_path, **kwargs):
  function create_imagestream (line 62) | def create_imagestream(dataset_path, **kwargs):
  function create_stereostream (line 69) | def create_stereostream(dataset_path, **kwargs):
  function create_rgbdstream (line 76) | def create_rgbdstream(dataset_path, **kwargs):

FILE: dbaf/data_readers/rgbd_utils.py
  function parse_list (line 11) | def parse_list(filepath, skiprows=0):
  function associate_frames (line 16) | def associate_frames(tstamp_image, tstamp_depth, tstamp_pose, max_dt=1.0):
  function loadtum (line 35) | def loadtum(datapath, frame_rate=-1):
  function all_pairs_distance_matrix (line 91) | def all_pairs_distance_matrix(poses, beta=2.5):
  function pose_matrix_to_quaternion (line 100) | def pose_matrix_to_quaternion(pose):
  function compute_distance_matrix_flow (line 105) | def compute_distance_matrix_flow(poses, disps, intrinsics):
  function compute_distance_matrix_flow2 (line 145) | def compute_distance_matrix_flow2(poses, disps, intrinsics, beta=0.4):

FILE: dbaf/data_readers/stream.py
  class RGBDStream (line 18) | class RGBDStream(data.Dataset):
    method __init__ (line 19) | def __init__(self, datapath, frame_rate=-1, image_size=[384,512], crop...
    method image_read (line 27) | def image_read(image_file):
    method depth_read (line 31) | def depth_read(depth_file):
    method __len__ (line 34) | def __len__(self):
    method __getitem__ (line 37) | def __getitem__(self, index):
  class ImageStream (line 75) | class ImageStream(data.Dataset):
    method __init__ (line 76) | def __init__(self, datapath, intrinsics, rate=1, image_size=[384,512]):
    method __len__ (line 93) | def __len__(self):
    method image_read (line 97) | def image_read(imfile):
    method __getitem__ (line 100) | def __getitem__(self, index):
  class StereoStream (line 127) | class StereoStream(data.Dataset):
    method __init__ (line 128) | def __init__(self, datapath, intrinsics, rate=1, image_size=[384,512],
    method __len__ (line 150) | def __len__(self):
    method image_read (line 154) | def image_read(imfile, imap=None):
    method __getitem__ (line 160) | def __getitem__(self, index):

FILE: dbaf/data_readers/tartan.py
  class TartanAir (line 18) | class TartanAir(RGBDDataset):
    method __init__ (line 23) | def __init__(self, mode='training', **kwargs):
    method is_test_scene (line 29) | def is_test_scene(scene):
    method _build_dataset (line 33) | def _build_dataset(self):
    method calib_read (line 58) | def calib_read():
    method image_read (line 62) | def image_read(image_file):
    method depth_read (line 66) | def depth_read(depth_file):
  class TartanAirStream (line 73) | class TartanAirStream(RGBDStream):
    method __init__ (line 74) | def __init__(self, datapath, **kwargs):
    method _build_dataset_index (line 77) | def _build_dataset_index(self):
    method calib_read (line 100) | def calib_read(datapath):
    method image_read (line 104) | def image_read(image_file):
  class TartanAirTestStream (line 108) | class TartanAirTestStream(RGBDStream):
    method __init__ (line 109) | def __init__(self, datapath, **kwargs):
    method _build_dataset_index (line 112) | def _build_dataset_index(self):
    method calib_read (line 133) | def calib_read(datapath):
    method image_read (line 137) | def image_read(image_file):

FILE: dbaf/dbaf.py
  class DBAFusion (line 16) | class DBAFusion:
    method __init__ (line 17) | def __init__(self, args):
    method load_weights (line 34) | def load_weights(self, weights):
    method track (line 50) | def track(self, tstamp, image, depth=None, intrinsics=None):
    method terminate (line 60) | def terminate(self, stream=None):
    method save_vis_easy (line 64) | def save_vis_easy(self):

FILE: dbaf/dbaf_frontend.py
  class DBAFusionFrontend (line 16) | class DBAFusionFrontend:
    method __init__ (line 17) | def __init__(self, net, video, args):
    method get_pose_ref (line 85) | def get_pose_ref(self, tt:float):
    method __rollup (line 89) | def __rollup(self, roll):
    method __update (line 153) | def __update(self):
    method init_IMU (line 377) | def init_IMU(self):
    method init_VI (line 434) | def init_VI(self):
    method init_GNSS (line 517) | def init_GNSS(self):
    method VisualIMUAlignment (line 606) | def VisualIMUAlignment(self, t0, t1, ignore_lever, disable_scale = Fal...
    method __initialize (line 816) | def __initialize(self):
    method __call__ (line 853) | def __call__(self):

FILE: dbaf/depth_video.py
  function BA2GTSAM (line 20) | def BA2GTSAM(H: np.ndarray, v: np.ndarray, Tbc: gtsam.Pose3):
  function CustomHessianFactor (line 31) | def CustomHessianFactor(values: gtsam.Values, H: np.ndarray, v: np.ndarr...
  class DepthVideo (line 40) | class DepthVideo:
    method __init__ (line 41) | def __init__(self, image_size=[480, 640], buffer=1024, save_pkl = Fals...
    method get_lock (line 126) | def get_lock(self):
    method __item_setter (line 129) | def __item_setter(self, index, item):
    method __setitem__ (line 161) | def __setitem__(self, index, item):
    method __getitem__ (line 165) | def __getitem__(self, index):
    method append (line 183) | def append(self, *item):
    method format_indicies (line 191) | def format_indicies(ii, jj):
    method upsample (line 205) | def upsample(self, ix, mask):
    method normalize (line 211) | def normalize(self):
    method reproject (line 221) | def reproject(self, ii, jj):
    method reproject_comp (line 231) | def reproject_comp(self, ii, jj, xyz_comp):
    method distance (line 240) | def distance(self, ii=None, jj=None, beta=0.3, bidirectional=True):
    method rm_new_gnss (line 272) | def rm_new_gnss(self, t1):
    method set_prior (line 307) | def set_prior(self, t0, t1):
    method ba (line 323) | def ba(self, target, weight, eta, ii, jj, t0=1, t1=None, itrs=2, lm=1e...

FILE: dbaf/droid_net.py
  function cvx_upsample (line 17) | def cvx_upsample(data, mask):
  function upsample_disp (line 33) | def upsample_disp(disp, mask):
  class GraphAgg (line 40) | class GraphAgg(nn.Module):
    method __init__ (line 41) | def __init__(self):
    method forward (line 55) | def forward(self, net, ii):
  class UpdateModule (line 74) | class UpdateModule(nn.Module):
    method __init__ (line 75) | def __init__(self):
    method forward (line 107) | def forward(self, net, inp, corr, flow=None, ii=None, jj=None, upsampl...
  class DroidNet (line 145) | class DroidNet(nn.Module):
    method __init__ (line 146) | def __init__(self):
    method extract_features (line 153) | def extract_features(self, images):
    method forward (line 171) | def forward(self, Gs, images, disps, intrinsics, graph=None, num_steps...

FILE: dbaf/geoFunc/trans.py
  function cart2geod (line 7) | def cart2geod(Xinput):
  function cart2enu (line 71) | def cart2enu(X, dx):
  function enu2cart (line 92) | def enu2cart(X, enu):
  function hhmmss2sec (line 117) | def hhmmss2sec(hhmmss):
  function Cen (line 122) | def Cen(X):
  function rad2deg (line 135) | def rad2deg(l):
  function deg2rad (line 141) | def deg2rad(l):
  function m2att (line 147) | def m2att(R):
  function att2m (line 156) | def att2m(att):
  function q2att (line 168) | def q2att(qnb):
  function q2R (line 190) | def q2R(qnb):
  function alignRt (line 193) | def alignRt(xyz0,xyz1):
  function R2ypr (line 215) | def R2ypr(R):
  function ypr2R (line 225) | def ypr2R(ypr):
  function FromTwoVectors (line 236) | def FromTwoVectors(a,b):

FILE: dbaf/geom/ba.py
  function safe_scatter_add_mat (line 10) | def safe_scatter_add_mat(A, ii, jj, n, m):
  function safe_scatter_add_vec (line 14) | def safe_scatter_add_vec(b, ii, n):
  function disp_retr (line 19) | def disp_retr(disps, dz, ii):
  function pose_retr (line 24) | def pose_retr(poses, dx, ii):
  function BA (line 29) | def BA(target, weight, eta, poses, disps, intrinsics, ii, jj, fixedp=1, ...
  function MoBA (line 107) | def MoBA(target, weight, eta, poses, disps, intrinsics, ii, jj, fixedp=1...

FILE: dbaf/geom/chol.py
  class CholeskySolver (line 5) | class CholeskySolver(torch.autograd.Function):
    method forward (line 7) | def forward(ctx, H, b):
    method backward (line 22) | def backward(ctx, grad_x):
  function block_solve (line 32) | def block_solve(H, b, ep=0.1, lm=0.0001):
  function schur_solve (line 46) | def schur_solve(H, E, C, v, w, ep=0.1, lm=0.0001, sless=False):

FILE: dbaf/geom/graph_utils.py
  function graph_to_edge_list (line 10) | def graph_to_edge_list(graph):
  function keyframe_indicies (line 23) | def keyframe_indicies(graph):
  function meshgrid (line 26) | def meshgrid(m, n, device='cuda'):
  function neighbourhood_graph (line 30) | def neighbourhood_graph(n, r):
  function build_frame_graph (line 37) | def build_frame_graph(poses, disps, intrinsics, num=16, thresh=24.0, r=2):
  function build_frame_graph_v2 (line 72) | def build_frame_graph_v2(poses, disps, intrinsics, num=16, thresh=24.0, ...

FILE: dbaf/geom/losses.py
  function pose_metrics (line 9) | def pose_metrics(dE):
  function fit_scale (line 21) | def fit_scale(Ps, Gs):
  function geodesic_loss (line 30) | def geodesic_loss(Ps, Gs, graph, gamma=0.9, do_scale=True):
  function residual_loss (line 77) | def residual_loss(residuals, gamma=0.9):
  function flow_loss (line 89) | def flow_loss(Ps, disps, poses_est, disps_est, intrinsics, graph, gamma=...

FILE: dbaf/geom/projective_ops.py
  function extract_intrinsics (line 8) | def extract_intrinsics(intrinsics):
  function coords_grid (line 11) | def coords_grid(ht, wd, **kwargs):
  function iproj (line 18) | def iproj(disps, intrinsics, jacobian=False):
  function proj (line 39) | def proj(Xs, intrinsics, jacobian=False, return_depth=False):
  function actp (line 67) | def actp(Gij, X0, jacobian=False):
  function projective_transform (line 96) | def projective_transform(poses, depths, intrinsics, ii, jj, jacobian=Fal...
  function projective_transform_comp (line 127) | def projective_transform_comp(poses, depths, intrinsics, ii, jj, xyz_com...
  function induced_flow (line 160) | def induced_flow(poses, disps, intrinsics, ii, jj):

FILE: dbaf/modules/clipping.py
  class GradClip (line 7) | class GradClip(torch.autograd.Function):
    method forward (line 9) | def forward(ctx, x):
    method backward (line 13) | def backward(ctx, grad_x):
  class GradientClip (line 19) | class GradientClip(nn.Module):
    method __init__ (line 20) | def __init__(self):
    method forward (line 23) | def forward(self, x):

FILE: dbaf/modules/corr.py
  class CorrSampler (line 6) | class CorrSampler(torch.autograd.Function):
    method forward (line 9) | def forward(ctx, volume, coords, radius):
    method backward (line 16) | def backward(ctx, grad_output):
  class CorrBlock (line 23) | class CorrBlock:
    method __init__ (line 24) | def __init__(self, fmap1, fmap2, num_levels=4, radius=3):
    method __call__ (line 40) | def __call__(self, coords):
    method cat (line 52) | def cat(self, other):
    method __getitem__ (line 57) | def __getitem__(self, index):
    method corr (line 64) | def corr(fmap1, fmap2):
  class CorrLayer (line 74) | class CorrLayer(torch.autograd.Function):
    method forward (line 76) | def forward(ctx, fmap1, fmap2, coords, r):
    method backward (line 83) | def backward(ctx, grad_corr):
  class AltCorrBlock (line 91) | class AltCorrBlock:
    method __init__ (line 92) | def __init__(self, fmaps, num_levels=4, radius=3):
    method corr_fn (line 106) | def corr_fn(self, coords, ii, jj):
    method __call__ (line 128) | def __call__(self, coords, ii, jj):

FILE: dbaf/modules/extractor.py
  class ResidualBlock (line 6) | class ResidualBlock(nn.Module):
    method __init__ (line 7) | def __init__(self, in_planes, planes, norm_fn='group', stride=1):
    method forward (line 47) | def forward(self, x):
  class BottleneckBlock (line 58) | class BottleneckBlock(nn.Module):
    method __init__ (line 59) | def __init__(self, in_planes, planes, norm_fn='group', stride=1):
    method forward (line 104) | def forward(self, x):
  class BasicEncoder (line 118) | class BasicEncoder(nn.Module):
    method __init__ (line 119) | def __init__(self, output_dim=128, norm_fn='batch', dropout=0.0, multi...
    method _make_layer (line 175) | def _make_layer(self, dim, stride=1):
    method forward (line 183) | def forward(self, x):

FILE: dbaf/modules/gru.py
  class ConvGRU (line 5) | class ConvGRU(nn.Module):
    method __init__ (line 6) | def __init__(self, h_planes=128, i_planes=128):
    method forward (line 19) | def forward(self, net, *inputs):

FILE: dbaf/motion_filter.py
  class MotionFilter (line 12) | class MotionFilter:
    method __init__ (line 15) | def __init__(self, net, video, thresh=2.5, device="cuda:0"):
    method __context_encoder (line 33) | def __context_encoder(self, image):
    method context_encoder (line 39) | def context_encoder(self, image):
    method __feature_encoder (line 45) | def __feature_encoder(self, image):
    method feature_encoder (line 50) | def feature_encoder(self, image):
    method track (line 56) | def track(self, tstamp, image, depth=None, intrinsics=None):

FILE: dbaf/multi_sensor.py
  class MultiSensorState (line 7) | class MultiSensorState:
    method __init__ (line 8) | def __init__(self):
    method set_imu_params (line 32) | def set_imu_params(self, noise = None):
    method init_first_state (line 71) | def init_first_state(self,t,pos,R,vel):
    method append_imu (line 86) | def append_imu(self, t, measuredAcc, measuredOmega):
    method append_imu_temp (line 105) | def append_imu_temp(self, t, measuredAcc, measuredOmega, predict_pose ...
    method append_img (line 114) | def append_img(self, t):
    method append_gnss (line 138) | def append_gnss(self,t,pos):
    method append_odo (line 145) | def append_odo(self,t,vel):
    method predict (line 152) | def predict(self):

FILE: demo_vio_kitti360.py
  function show_image (line 20) | def show_image(image):
  function image_stream (line 25) | def image_stream(imagedir, imagestamp, enable_h5, h5path, calib, stride):

FILE: demo_vio_subt.py
  function show_image (line 19) | def show_image(image):
  function image_stream (line 24) | def image_stream(imagedir, imagestamp, enable_h5, h5path, calib, stride):

FILE: demo_vio_tumvi.py
  function show_image (line 19) | def show_image(image):
  function image_stream (line 24) | def image_stream(imagedir, imagestamp, enable_h5, h5path, calib, stride):

FILE: demo_vio_whu.py
  function show_image (line 19) | def show_image(image):
  function image_stream (line 24) | def image_stream(imagedir, imagestamp, enable_h5, h5path, calib, stride):

FILE: evaluation_scripts/evaluate_kitti.py
  function ape (line 25) | def ape(traj_ref: PosePath3D, traj_est: PosePath3D,

FILE: evaluation_scripts/evaluate_tumvi.py
  function ape (line 43) | def ape(traj_ref: PosePath3D, traj_est: PosePath3D,

FILE: src/bacore.h
  function class (line 4) | class BACore

FILE: src/droid.cpp
  function ba (line 109) | std::vector<torch::Tensor> ba(
  function ba_extend (line 140) | std::vector<torch::Tensor> ba_extend(
  function frame_distance (line 181) | torch::Tensor frame_distance(
  function projmap (line 200) | std::vector<torch::Tensor> projmap(
  function iproj (line 218) | torch::Tensor iproj(
  function corr_index_forward (line 231) | std::vector<torch::Tensor> corr_index_forward(
  function corr_index_backward (line 241) | std::vector<torch::Tensor> corr_index_backward(
  function altcorr_forward (line 254) | std::vector<torch::Tensor> altcorr_forward(
  function altcorr_backward (line 266) | std::vector<torch::Tensor> altcorr_backward(
  function depth_filter (line 281) | torch::Tensor depth_filter(
  function PYBIND11_MODULE (line 297) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: visualization/check_reconstruction_kitti.py
  function create_camera_actor (line 24) | def create_camera_actor(g, scale=0.05):
  function create_point_actor (line 34) | def create_point_actor(points, colors):
  function str2array (line 44) | def str2array(ss):
  function key_action_callback (line 62) | def key_action_callback(vis, action, mods):
  function save_callback (line 70) | def save_callback(vis, action, mods):

FILE: visualization/check_reconstruction_kitti_animation.py
  function create_camera_actor (line 25) | def create_camera_actor(g, scale=0.05):
  function create_point_actor (line 35) | def create_point_actor(points, colors):
  function str2array (line 45) | def str2array(ss):
  function key_action_callback (line 63) | def key_action_callback(vis, action, mods):

FILE: visualization/check_reconstruction_tumvi.py
  function create_camera_actor (line 24) | def create_camera_actor(g, scale=0.05):
  function create_point_actor (line 34) | def create_point_actor(points, colors):
  function str2array (line 44) | def str2array(ss):
  function key_action_callback (line 63) | def key_action_callback(vis, action, mods):

FILE: visualization/check_reconstruction_tumvi_animation.py
  function create_camera_actor (line 25) | def create_camera_actor(g, scale=0.05):
  function create_point_actor (line 35) | def create_point_actor(points, colors):
  function str2array (line 45) | def str2array(ss):
  function key_action_callback (line 63) | def key_action_callback(vis, action, mods):