├── Images ├── Graphical.png └── __init__.py ├── LICENSE ├── README.md ├── config ├── __init__.py ├── cfg_kitti_autoencoder.py └── cfg_kitti_fm.py ├── mono ├── __init__.py ├── apis │ ├── __init__.py │ ├── env.py │ └── trainer.py ├── core │ ├── __init__.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── eval_hooks.py │ │ └── pixel_error.py │ └── utils │ │ ├── __init__.py │ │ ├── dist_utils.py │ │ └── misc.py ├── datasets │ ├── __init__.py │ ├── euroc_dataset.py │ ├── get_dataset.py │ ├── gt_pose │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 06.txt │ │ ├── 07.txt │ │ ├── 08.txt │ │ ├── 09.txt │ │ ├── 10.txt │ │ └── 12.txt │ ├── kitti_dataset.py │ ├── kitti_utils.py │ ├── loader │ │ ├── __init__.py │ │ ├── build_loader.py │ │ └── sampler.py │ ├── mono_dataset.py │ ├── splits │ │ ├── __init__.py │ │ ├── benchmark │ │ │ ├── eigen_to_benchmark_ids.npy │ │ │ ├── test_files.txt │ │ │ ├── train_files.txt │ │ │ └── val_files.txt │ │ ├── cityscape │ │ │ ├── gen_cityscape_split.py │ │ │ ├── test.txt │ │ │ ├── train.txt │ │ │ ├── train_files.txt │ │ │ └── val.txt │ │ ├── eigen_benchmark │ │ │ └── test_files.txt │ │ ├── eigen_full │ │ │ ├── train_files.txt │ │ │ └── val_files.txt │ │ ├── exp │ │ │ ├── __init__.py │ │ │ ├── train_files.txt │ │ │ └── val_files.txt │ │ ├── kitti_archives_to_download.txt │ │ ├── kitti_shot_sequence │ │ │ ├── gen_split.py │ │ │ └── val_files.txt │ │ ├── odom │ │ │ ├── test_files_09.txt │ │ │ ├── test_files_10.txt │ │ │ ├── train_files.txt │ │ │ └── val_files.txt │ │ ├── short │ │ │ ├── train_files.txt │ │ │ └── val_files.txt │ │ └── test │ │ │ ├── train_files.txt │ │ │ └── val_files.txt │ └── utils.py ├── model │ ├── __init__.py │ ├── mono_autoencoder │ │ ├── __init__.py │ │ ├── decoder.py │ │ ├── encoder.py │ │ ├── layers.py │ │ ├── net.py │ │ └── resnet.py │ ├── mono_baseline │ │ ├── __init__.py │ │ ├── depth_decoder.py │ │ ├── depth_encoder.py │ │ ├── layers.py │ │ ├── net.py │ │ ├── pose_decoder.py │ │ ├── pose_encoder.py │ │ └── resnet.py │ ├── mono_fm │ │ ├── __init__.py │ │ ├── depth_decoder.py │ │ ├── depth_encoder.py │ │ ├── layers.py │ │ ├── net.py │ │ ├── pose_decoder.py │ │ ├── pose_encoder.py │ │ └── resnet.py │ ├── mono_fm_joint │ │ ├── __init__.py │ │ ├── decoder.py │ │ ├── depth_decoder.py │ │ ├── depth_encoder.py │ │ ├── encoder.py │ │ ├── layers.py │ │ ├── net.py │ │ ├── pose_decoder.py │ │ ├── pose_encoder.py │ │ └── resnet.py │ └── registry.py └── tools │ ├── __init__.py │ ├── file_interface.py │ ├── geometry.py │ ├── kitti_evaluation_toolkit.py │ ├── lie_algebra.py │ ├── pose_evaluation_utils.py │ ├── trajectory.py │ └── transformations.py ├── requirements.txt ├── run.py ├── scripts ├── __init__.py ├── draw_odometry.py ├── eval_depth.py ├── eval_depth_pp.py ├── eval_pose.py ├── infer.py └── infer_singleimage.py └── train.py /Images/Graphical.png: -------------------------------------------------------------------------------- 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