├── .gitignore ├── LICENSE ├── README.md ├── assets └── pull_figure.png ├── dataloader ├── __init__.py └── dataloader.py ├── dsacstar ├── dsacstar.cpp ├── dsacstar_derivative.h ├── dsacstar_loss.h ├── dsacstar_types.h ├── dsacstar_util.h ├── dsacstar_util_rgbd.h ├── setup.py ├── setup_super.py ├── stop_watch.h ├── thread_rand.cpp └── thread_rand.h ├── finetune_decoder_single_task.py ├── loss ├── coord.py ├── depth.py ├── normal.py └── semantics.py ├── networks └── networks.py ├── notes_crossloc_full_steps.md ├── script_clean_training ├── decoder_finetune.sh ├── decoder_finetune_pairwise_only.sh ├── decoder_finetune_plus_semantics.sh ├── decoder_finetune_real_only.sh ├── encoder_finetune.sh ├── encoder_pretrain.sh ├── encoder_pretrain_pairwise_only.sh └── encoder_pretrain_real_only.sh ├── script_clean_validation ├── select_ckpt.py ├── validate_decoder_finetune.sh ├── validate_encoder_finetune.sh ├── validate_encoder_pretrain.sh ├── validate_encoder_pretrain_pairwise_only.sh └── validate_encoder_pretrain_real_only.sh ├── setup ├── environment.yml └── requirements.txt ├── test_single_task.py ├── train_single_task.py ├── utils ├── evaluation.py ├── io.py └── learning.py └── visualize.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/README.md -------------------------------------------------------------------------------- /assets/pull_figure.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/assets/pull_figure.png -------------------------------------------------------------------------------- /dataloader/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dataloader/__init__.py -------------------------------------------------------------------------------- /dataloader/dataloader.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dataloader/dataloader.py -------------------------------------------------------------------------------- /dsacstar/dsacstar.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/dsacstar.cpp -------------------------------------------------------------------------------- /dsacstar/dsacstar_derivative.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/dsacstar_derivative.h -------------------------------------------------------------------------------- /dsacstar/dsacstar_loss.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/dsacstar_loss.h -------------------------------------------------------------------------------- /dsacstar/dsacstar_types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/dsacstar_types.h -------------------------------------------------------------------------------- /dsacstar/dsacstar_util.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/dsacstar_util.h -------------------------------------------------------------------------------- /dsacstar/dsacstar_util_rgbd.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/dsacstar_util_rgbd.h -------------------------------------------------------------------------------- /dsacstar/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/setup.py -------------------------------------------------------------------------------- /dsacstar/setup_super.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/setup_super.py -------------------------------------------------------------------------------- /dsacstar/stop_watch.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/stop_watch.h -------------------------------------------------------------------------------- /dsacstar/thread_rand.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/thread_rand.cpp -------------------------------------------------------------------------------- /dsacstar/thread_rand.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/dsacstar/thread_rand.h -------------------------------------------------------------------------------- /finetune_decoder_single_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/finetune_decoder_single_task.py -------------------------------------------------------------------------------- /loss/coord.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/loss/coord.py -------------------------------------------------------------------------------- /loss/depth.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/loss/depth.py -------------------------------------------------------------------------------- /loss/normal.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/loss/normal.py -------------------------------------------------------------------------------- /loss/semantics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/loss/semantics.py -------------------------------------------------------------------------------- /networks/networks.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/networks/networks.py -------------------------------------------------------------------------------- /notes_crossloc_full_steps.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/notes_crossloc_full_steps.md -------------------------------------------------------------------------------- /script_clean_training/decoder_finetune.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/decoder_finetune.sh -------------------------------------------------------------------------------- /script_clean_training/decoder_finetune_pairwise_only.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/decoder_finetune_pairwise_only.sh -------------------------------------------------------------------------------- /script_clean_training/decoder_finetune_plus_semantics.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/decoder_finetune_plus_semantics.sh -------------------------------------------------------------------------------- /script_clean_training/decoder_finetune_real_only.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/decoder_finetune_real_only.sh -------------------------------------------------------------------------------- /script_clean_training/encoder_finetune.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/encoder_finetune.sh -------------------------------------------------------------------------------- /script_clean_training/encoder_pretrain.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/encoder_pretrain.sh -------------------------------------------------------------------------------- /script_clean_training/encoder_pretrain_pairwise_only.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/encoder_pretrain_pairwise_only.sh -------------------------------------------------------------------------------- /script_clean_training/encoder_pretrain_real_only.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_training/encoder_pretrain_real_only.sh -------------------------------------------------------------------------------- /script_clean_validation/select_ckpt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_validation/select_ckpt.py -------------------------------------------------------------------------------- /script_clean_validation/validate_decoder_finetune.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_validation/validate_decoder_finetune.sh -------------------------------------------------------------------------------- /script_clean_validation/validate_encoder_finetune.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_validation/validate_encoder_finetune.sh -------------------------------------------------------------------------------- /script_clean_validation/validate_encoder_pretrain.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_validation/validate_encoder_pretrain.sh -------------------------------------------------------------------------------- /script_clean_validation/validate_encoder_pretrain_pairwise_only.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_validation/validate_encoder_pretrain_pairwise_only.sh -------------------------------------------------------------------------------- /script_clean_validation/validate_encoder_pretrain_real_only.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/script_clean_validation/validate_encoder_pretrain_real_only.sh -------------------------------------------------------------------------------- /setup/environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/setup/environment.yml -------------------------------------------------------------------------------- /setup/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/setup/requirements.txt -------------------------------------------------------------------------------- /test_single_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/test_single_task.py -------------------------------------------------------------------------------- /train_single_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/train_single_task.py -------------------------------------------------------------------------------- /utils/evaluation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/utils/evaluation.py -------------------------------------------------------------------------------- /utils/io.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/utils/io.py -------------------------------------------------------------------------------- /utils/learning.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/utils/learning.py -------------------------------------------------------------------------------- /visualize.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TOPO-EPFL/CrossLoc/HEAD/visualize.py --------------------------------------------------------------------------------