├── .gitignore
├── Dockerfile
├── LICENSE.txt
├── README.md
├── config
├── config_icra2023
│ ├── maicity_batch.yaml
│ └── ncd_batch.yaml
├── kitti
│ ├── docker_kitti_batch.yaml
│ ├── kitti_batch.yaml
│ ├── kitti_incre_reg.yaml
│ └── kitti_incre_replay.yaml
├── maicity
│ ├── maicity_batch.yaml
│ ├── maicity_incre_reg.yaml
│ └── maicity_incre_replay.yaml
├── ncd
│ ├── ncd_batch.yaml
│ ├── ncd_incre_reg.yaml
│ └── ncd_incre_replay.yaml
└── rgbd
│ ├── rgbd_batch.yaml
│ ├── rgbd_incre_reg.yaml
│ └── rgbd_incre_replay.yaml
├── dataset
├── lidar_dataset.py
└── rgbd_to_kitti_format.py
├── eval
├── crop_intersection.py
├── eval_utils.py
└── evaluator.py
├── model
├── __init__.py
├── decoder.py
└── feature_octree.py
├── pretrained
└── geo_decoder_8dim.pth
├── scripts
├── convert_rgbd_to_kitti_format.sh
├── download_kitti_example.sh
├── download_maicity.sh
├── download_ncd_example.sh
└── download_neural_rgbd_data.sh
├── shine_batch.py
├── shine_incre.py
└── utils
├── __init__.py
├── config.py
├── data_sampler.py
├── incre_learning.py
├── loss.py
├── mesher.py
├── pose.py
├── semantic_kitti_utils.py
├── tools.py
└── visualizer.py
/.gitignore:
--------------------------------------------------------------------------------
1 | __pycache__/
2 | .vscode/
3 | *.key
4 | *.label
5 | *.txt
6 | *.ply
7 | *.bin
8 | *.pth
9 | ./experiments/
10 | ./data/
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/Dockerfile:
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1 | # Build: docker build --tag shine .
2 | #
3 | # Make sure you have the input directory (MY_DATA_DIR) prepared as can be seen in kitti/docker_kitti_config.yaml
4 | #
5 | # Run: docker run --rm -v .:/repository -v ${MY_DATA_DIR}:/data -it --gpus all shine bash
6 | # Run: (with vis): xhost local:root && docker run --rm -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY -v .:/repository -v ${MY_DATA_DIR}:/data -it --gpus 'all,"capabilities=compute,utility,graphics"' shine
7 |
8 | FROM nvidia/cuda:11.6.2-devel-ubuntu20.04
9 |
10 | ARG FORCE_CUDA=1
11 | ENV FORCE_CUDA=${FORCE_CUDA}
12 |
13 | RUN apt-get update && apt-get install --no-install-recommends -y \
14 | python3 \
15 | python3-dev \
16 | python3-pip \
17 | wget \
18 | git \
19 | libgl1-mesa-glx \
20 | vim \
21 | && apt-get clean
22 |
23 | RUN python3 -m pip install --upgrade pip
24 | RUN pip3 install torch==1.12.1+cu116 torchvision==0.13.1+cu116 torchaudio==0.12.1 --extra-index-url https://download.pytorch.org/whl/cu116
25 | RUN pip3 install open3d==0.17.0 scikit-image wandb tqdm natsort pyquaternion
26 |
27 | SHELL ["/bin/bash", "-c"]
28 |
29 | WORKDIR /opt
30 | RUN git clone --recursive https://github.com/NVIDIAGameWorks/kaolin
31 |
32 | WORKDIR /opt/kaolin
33 | RUN git checkout v0.13.0
34 | RUN pip3 install -r ./tools/requirements.txt
35 | RUN python3 setup.py develop
36 |
37 | WORKDIR /repository
38 |
39 | CMD ["bash", "-c", ". ./scripts/download_kitti_example.sh && mv /repository/data/kitti_example/sequences/00/* /data/ && mkdir -p /data/results && cd /repository && python3 shine_batch.py ./config/kitti/docker_kitti_batch.yaml"]
40 |
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/LICENSE.txt:
--------------------------------------------------------------------------------
1 | MIT License
2 |
3 | # Copyright (c) 2022 Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss, University of Bonn
4 |
5 | Permission is hereby granted, free of charge, to any person obtaining a copy
6 | of this software and associated documentation files (the "Software"), to deal
7 | in the Software without restriction, including without limitation the rights
8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 |
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 |
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 |
2 |
3 |
✨ SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations
4 |
5 | Xingguang Zhong*
6 | ·
7 | Yue Pan*
8 | ·
9 | Jens Behley
10 | ·
11 | Cyrill Stachniss
12 |
13 | University of Bonn
14 |
(* Equal Contribution)
15 |
16 |
17 |
18 |
19 |
20 | 
21 |
22 |
23 |
24 | Incremental Mapping | Reconstruction Results |
25 | :-: | :-: |
26 |