├── .gitignore ├── README.md ├── dataloaders ├── __init__.py ├── composite.py ├── seven_scenes.py ├── seven_scenes.py.bak └── utils.py ├── datasets └── data │ └── 7Scenes │ ├── chess │ ├── dso_poses │ │ ├── seq-01.txt │ │ ├── seq-02.txt │ │ ├── seq-03.txt │ │ ├── seq-04.txt │ │ ├── seq-05.txt │ │ └── seq-06.txt │ ├── pose_stats.txt │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-03 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-04 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-05 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-06 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ └── stats.txt │ ├── crop_size.txt │ ├── fire │ ├── dso_poses │ │ ├── seq-01.txt │ │ ├── seq-02.txt │ │ ├── seq-03.txt │ │ └── seq-04.txt │ ├── pose_stats.txt │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-03 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-04 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ └── stats.txt │ ├── heads │ ├── dso_poses │ │ ├── seq-01.txt │ │ └── seq-02.txt │ ├── pose_stats.txt │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ └── stats.txt │ ├── office │ ├── dso_poses │ │ ├── seq-01.txt │ │ ├── seq-02.txt │ │ ├── seq-03.txt │ │ ├── seq-04.txt │ │ ├── seq-05.txt │ │ ├── seq-06.txt │ │ ├── seq-07.txt │ │ ├── seq-08.txt │ │ ├── seq-09.txt │ │ ├── seq-09_rev.txt │ │ └── seq-10.txt │ ├── pose_stats.txt │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-03 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-04 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-05 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-06 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-07 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-08 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-09 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-10 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ └── stats.txt │ ├── pumpkin │ ├── dso_poses │ │ ├── seq-01.txt │ │ ├── seq-02.txt │ │ ├── seq-03.txt │ │ ├── seq-06.txt │ │ ├── seq-07.txt │ │ ├── seq-08.txt │ │ └── seq-10.txt │ ├── pose_stats.txt │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-03 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-06 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-07 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-08 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ └── stats.txt │ ├── redkitchen │ ├── dso_poses │ │ ├── seq-01.txt │ │ ├── seq-02.txt │ │ ├── seq-03.txt │ │ ├── seq-04.txt │ │ ├── seq-05.txt │ │ ├── seq-06.txt │ │ ├── seq-07.txt │ │ ├── seq-08.txt │ │ ├── seq-11.txt │ │ ├── seq-12.txt │ │ ├── seq-13.txt │ │ └── seq-14.txt │ ├── pose_stats.txt │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-03 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-04 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-05 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-06 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-07 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-08 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-11 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-12 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-13 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ ├── seq-14 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ └── stats.txt │ └── stairs │ ├── dso_poses │ ├── seq-01.txt │ ├── seq-02.txt │ ├── seq-03.txt │ ├── seq-04.txt │ ├── seq-05.txt │ └── seq-06.txt │ ├── pose_stats.txt │ ├── seq-01 │ ├── dso_vo_stats.pkl │ ├── libviso2_vo_stats.pkl │ └── orbslam_vo_stats.pkl │ ├── seq-02 │ ├── dso_vo_stats.pkl │ ├── libviso2_vo_stats.pkl │ └── orbslam_vo_stats.pkl │ ├── seq-03 │ ├── dso_vo_stats.pkl │ ├── libviso2_vo_stats.pkl │ └── orbslam_vo_stats.pkl │ ├── seq-04 │ ├── dso_vo_stats.pkl │ └── libviso2_vo_stats.pkl │ ├── seq-05 │ ├── dso_vo_stats.pkl │ └── libviso2_vo_stats.pkl │ ├── seq-06 │ ├── dso_vo_stats.pkl │ └── libviso2_vo_stats.pkl │ └── stats.txt ├── model ├── ResNet │ ├── __init__.py │ └── resnet_elu.py ├── __init__.py ├── criterion.py ├── criterion_lstm.py ├── evaluator.py ├── optimizer.py ├── trainer.py ├── vlocnet.py ├── vlocnet_lstm.py └── vlocnet_recur.py ├── scripts └── Transfer ResNet-50.ipynb ├── test.py ├── test.sh ├── train.py ├── train.sh └── utils ├── Logger.py ├── __init__.py ├── layers.py ├── quaternion_math.py ├── quaternion_math.py.bak └── tensorboardx_summary.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DecaYale/VLocNet/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DecaYale/VLocNet/HEAD/README.md -------------------------------------------------------------------------------- /dataloaders/__init__.py: -------------------------------------------------------------------------------- 1 | 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