├── .gitignore ├── .gitmodules ├── License.txt ├── README.md ├── imgs └── overview.jpg ├── nerf_loc ├── __init__.py ├── configs │ ├── 12scenes │ │ ├── apt1_kitchen.yaml │ │ ├── apt1_living.yaml │ │ ├── apt2_bed.yaml │ │ ├── apt2_kitchen.yaml │ │ ├── apt2_living.yaml │ │ ├── apt2_luke.yaml │ │ ├── office1_gates362.yaml │ │ ├── office1_gates381.yaml │ │ ├── office1_lounge.yaml │ │ ├── office1_manolis.yaml │ │ ├── office2_5a.yaml │ │ └── office2_5b.yaml │ ├── 12scenes_all.yaml │ ├── 7scenes │ │ ├── chess.yaml │ │ ├── fire.yaml │ │ ├── heads.yaml │ │ ├── office.yaml │ │ ├── pumpkin.yaml │ │ ├── redkitchen.yaml │ │ └── stairs.yaml │ ├── 7scenes_all.yaml │ ├── __init__.py │ ├── ablation_study │ │ ├── 7scenes_from_scratch │ │ │ ├── chess.txt │ │ │ ├── fire.txt │ │ │ ├── heads.txt │ │ │ ├── office.txt │ │ │ ├── pumpkin.txt │ │ │ ├── redkitchen.txt │ │ │ └── stairs.txt │ │ ├── 7scenes_ft_no_coord │ │ │ ├── chess.txt │ │ │ ├── fire.txt │ │ │ ├── heads.txt │ │ │ ├── office.txt │ │ │ ├── pumpkin.txt │ │ │ ├── redkitchen.txt │ │ │ └── stairs.txt │ │ ├── 7scenes_simple.txt │ │ └── cambridge_simple.txt │ ├── blender │ │ └── lego.txt │ ├── cambridge │ │ ├── GreatCourt.yaml │ │ ├── KingsCollege.yaml │ │ ├── OldHospital.yaml │ │ ├── ShopFacade.yaml │ │ └── StMarysChurch.yaml │ ├── cambridge_all.yaml │ ├── data │ │ ├── 12scenes.yaml │ │ ├── 7scenes.yaml │ │ ├── cambridge.yaml │ │ └── onepose.yaml │ ├── dtu.txt │ ├── generalize.txt │ ├── llff │ │ └── horns.txt │ ├── mario.txt │ ├── onepose │ │ ├── 0447.yaml │ │ ├── 0450.yaml │ │ ├── 0488.yaml │ │ ├── 0493.yaml │ │ ├── 0494.yaml │ │ └── 0594.yaml │ └── onepose_all.yaml ├── datasets │ ├── __init__.py │ ├── colmap │ │ ├── cli.py │ │ ├── database.py │ │ └── read_write_model.py │ ├── colmap_dataset.py │ ├── neuray_base_dataset.py │ └── video │ │ ├── __init__.py │ │ ├── covisibility_sampler.py │ │ ├── dataset.py │ │ ├── furthest_pose_sampler.py │ │ ├── fusion.py │ │ ├── geometry.py │ │ ├── image.py │ │ ├── multi_scene_dataset.py │ │ ├── preprocess_12scenes.py │ │ ├── preprocess_7scenes.py │ │ ├── preprocess_cambridge.py │ │ ├── preprocess_onepose.py │ │ ├── reader.py │ │ └── transform.py ├── models │ ├── COTR │ │ ├── __init__.py │ │ ├── backbone2d.py │ │ ├── fpn.py │ │ ├── misc.py │ │ ├── position_encoding.py │ │ ├── resnet.py │ │ └── transformer.py │ ├── __init__.py │ ├── appearance_embedding.py │ ├── conditional_nerf │ │ ├── __init__.py │ │ ├── depth_fusion.py │ │ ├── losses.py │ │ ├── model.py │ │ ├── model_simple.py │ │ ├── multiview_aggregator.py │ │ ├── neuray_ops.py │ │ ├── ray_unet.py │ │ ├── utils.py │ │ └── visibility_decoder.py │ ├── ibrnet │ │ └── ibrnet.py │ ├── image_retrieval │ │ ├── __init__.py │ │ ├── base_model.py │ │ ├── dir.py │ │ ├── netvlad.py │ │ ├── run.py │ │ └── vis.py │ ├── matcher.py │ ├── matching │ │ ├── __init__.py │ │ ├── coarse_matching.py │ │ ├── fine_matching.py │ │ └── sparse_to_dense.py │ ├── nerf_pose_estimator.py │ ├── ops │ │ └── knn │ │ │ ├── knn_utils.py │ │ │ └── src │ │ │ ├── knn.cu │ │ │ ├── knn.h │ │ │ ├── knn_api.cpp │ │ │ ├── knn_cpu.cpp │ │ │ └── utils │ │ │ ├── dispatch.cuh │ │ │ ├── index_utils.cuh │ │ │ ├── mink.cuh │ │ │ └── pytorch3d_cutils.h │ ├── pose_optimizer.py │ └── utils.py └── utils │ ├── __init__.py │ ├── common.py │ ├── metrics.py │ ├── transform │ ├── __init__.py │ ├── math.py │ ├── rotation_conversions.py │ ├── se3.py │ └── so3.py │ └── visualization.py ├── pl ├── model.py ├── test.py └── train.py └── requirements.txt /.gitignore: -------------------------------------------------------------------------------- 1 | *__pycache__* 2 | *.ckpt 3 | *.pth -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JenningsL/nerf-loc/HEAD/.gitmodules -------------------------------------------------------------------------------- /License.txt: 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