├── .gitignore ├── LICENSE.md ├── Makefile ├── README.md ├── configs ├── default_config.py ├── eval_ddad.yaml ├── eval_image.yaml ├── eval_kitti.yaml ├── overfit_ddad.yaml ├── overfit_kitti.yaml ├── train_ddad.yaml ├── train_kitti.yaml ├── train_omnicam.yaml ├── train_packnet_san_ddad.yaml └── train_packnet_san_kitti.yaml ├── docker └── Dockerfile ├── docs ├── .nojekyll ├── README.html ├── _modules │ ├── index.html │ ├── packnet_sfm │ │ ├── datasets │ │ │ ├── augmentations.html │ │ │ ├── dgp_dataset.html │ │ │ ├── image_dataset.html │ │ │ ├── kitti_dataset.html │ │ │ ├── kitti_dataset_utils.html │ │ │ └── transforms.html │ │ ├── geometry │ │ │ ├── camera.html │ │ │ ├── camera_utils.html │ │ │ ├── pose.html │ │ │ └── pose_utils.html │ │ ├── losses │ │ │ ├── loss_base.html │ │ │ ├── multiview_photometric_loss.html │ │ │ └── supervised_loss.html │ │ ├── models │ │ │ ├── SelfSupModel.html │ │ │ ├── SemiSupModel.html │ │ │ ├── SfmModel.html │ │ │ ├── model_checkpoint.html │ │ │ ├── model_utils.html │ │ │ └── model_wrapper.html │ │ ├── networks │ │ │ ├── depth │ │ │ │ ├── DepthResNet.html │ │ │ │ └── PackNet01.html │ │ │ ├── layers │ │ │ │ ├── packnet │ │ │ │ │ └── layers01.html │ │ │ │ └── resnet │ │ │ │ │ ├── depth_decoder.html │ │ │ │ │ ├── layers.html │ │ │ │ │ ├── pose_decoder.html │ │ │ │ │ └── resnet_encoder.html │ │ │ └── pose │ │ │ │ ├── PoseNet.html │ │ │ │ └── PoseResNet.html │ │ ├── trainers │ │ │ └── base_trainer.html │ │ └── utils │ │ │ ├── config.html │ │ │ ├── depth.html │ │ │ ├── horovod.html │ │ │ ├── image.html │ │ │ ├── load.html │ │ │ ├── logging.html │ │ │ ├── misc.html │ │ │ ├── reduce.html │ │ │ ├── save.html │ │ │ └── types.html │ └── scripts │ │ ├── eval.html │ │ ├── infer.html │ │ └── train.html ├── _sources │ ├── README.rst.txt │ ├── configs │ │ ├── configs.default_config.rst.txt │ │ ├── configs.eval_ddad.rst.txt │ │ ├── configs.eval_kitti.rst.txt │ │ ├── configs.overfit_ddad.rst.txt │ │ ├── configs.overfit_kitti.rst.txt │ │ ├── configs.rst.txt │ │ ├── configs.train_ddad.rst.txt │ │ └── configs.train_kitti.rst.txt │ ├── datasets │ │ ├── KITTIDataset.rst.txt │ │ ├── datasets.DGPDataset.rst.txt │ │ ├── datasets.ImageDataset.rst.txt │ │ ├── datasets.KITTIDataset.rst.txt │ │ ├── datasets.KITTIDataset_utils.rst.txt │ │ ├── datasets.augmentations.rst.txt │ │ ├── datasets.rst.txt │ │ └── datasets.transforms.rst.txt │ ├── geometry │ │ ├── camera.rst.txt │ │ ├── geometry.camera.camera.rst.txt │ │ ├── geometry.camera.camera_utils.rst.txt │ │ ├── geometry.pose.pose.rst.txt │ │ ├── geometry.pose.pose_utils.rst.txt │ │ ├── geometry.rst.txt │ │ └── pose.rst.txt │ ├── index.rst.txt │ ├── loggers │ │ ├── loggers.WandbLogger.rst.txt │ │ └── loggers.rst.txt │ ├── losses │ │ ├── losses.loss_base.rst.txt │ │ ├── losses.multiview_photometric_loss.rst.txt │ │ ├── losses.rst.txt │ │ └── losses.supervised_loss.rst.txt │ ├── models │ │ ├── models.Checkpoint.rst.txt │ │ ├── models.SelfSupModel.rst.txt │ │ ├── models.SemiSupModel.rst.txt │ │ ├── models.SfmModel.rst.txt │ │ ├── models.Utilities.rst.txt │ │ ├── models.Wrapper.rst.txt │ │ └── models.rst.txt │ ├── networks │ │ ├── depth │ │ │ ├── depth.rst.txt │ │ │ ├── networks.depth.DepthResNet.rst.txt │ │ │ └── networks.depth.PackNet01.rst.txt │ │ ├── layers │ │ │ ├── layers.rst.txt │ │ │ ├── packnet │ │ │ │ ├── layers01.rst.txt │ │ │ │ └── packnet.rst.txt │ │ │ └── resnet │ │ │ │ ├── depth_decoder.rst.txt │ │ │ │ ├── layers.rst.txt │ │ │ │ ├── pose_decoder.rst.txt │ │ │ │ ├── resnet.rst.txt │ │ │ │ └── resnet_encoder.rst.txt │ │ ├── networks.rst.txt │ │ └── pose │ │ │ ├── networks.pose.PoseNet.rst.txt │ │ │ ├── networks.pose.PoseResNet.rst.txt │ │ │ └── pose.rst.txt │ ├── scripts │ │ ├── scripts.eval.rst.txt │ │ ├── scripts.infer.rst.txt │ │ ├── scripts.rst.txt │ │ └── scripts.train.rst.txt │ ├── trainers │ │ ├── trainers.BaseTrainer.rst.txt │ │ ├── trainers.HorovodTrainer.rst.txt │ │ └── trainers.rst.txt │ └── utils │ │ ├── utils.config.rst.txt │ │ ├── utils.depth.rst.txt │ │ ├── utils.horovod.rst.txt │ │ ├── utils.image.rst.txt │ │ ├── utils.load.rst.txt │ │ ├── utils.logging.rst.txt │ │ ├── utils.misc.rst.txt │ │ ├── utils.reduce.rst.txt │ │ ├── utils.rst.txt │ │ ├── utils.save.rst.txt │ │ └── utils.types.rst.txt ├── _static │ ├── basic.css │ ├── css │ │ ├── badge_only.css │ │ └── theme.css │ ├── custom.css │ ├── doctools.js │ ├── documentation_options.js │ ├── file.png │ ├── fonts │ │ ├── Inconsolata-Bold.ttf │ │ ├── Inconsolata-Regular.ttf │ │ ├── Inconsolata.ttf │ │ ├── Lato-Bold.ttf │ │ ├── Lato-Regular.ttf │ │ ├── Lato │ │ │ ├── lato-bold.eot │ │ │ ├── lato-bold.ttf │ │ │ ├── lato-bold.woff │ │ │ ├── lato-bold.woff2 │ │ │ ├── lato-bolditalic.eot │ │ │ ├── lato-bolditalic.ttf │ │ │ ├── lato-bolditalic.woff │ │ │ ├── lato-bolditalic.woff2 │ │ │ ├── lato-italic.eot │ │ │ ├── lato-italic.ttf │ │ │ ├── lato-italic.woff │ │ │ ├── lato-italic.woff2 │ │ │ ├── lato-regular.eot │ │ │ ├── lato-regular.ttf │ │ │ ├── lato-regular.woff │ │ │ └── lato-regular.woff2 │ │ ├── RobotoSlab-Bold.ttf │ │ ├── RobotoSlab-Regular.ttf │ │ ├── RobotoSlab │ │ │ ├── roboto-slab-v7-bold.eot │ │ │ ├── roboto-slab-v7-bold.ttf │ │ │ ├── roboto-slab-v7-bold.woff │ │ │ ├── roboto-slab-v7-bold.woff2 │ │ │ ├── roboto-slab-v7-regular.eot │ │ │ ├── roboto-slab-v7-regular.ttf │ │ │ ├── roboto-slab-v7-regular.woff │ │ │ └── roboto-slab-v7-regular.woff2 │ │ ├── fontawesome-webfont.eot │ │ ├── fontawesome-webfont.svg │ │ ├── fontawesome-webfont.ttf │ │ ├── fontawesome-webfont.woff │ │ └── fontawesome-webfont.woff2 │ ├── jquery-3.5.1.js │ ├── jquery.js │ ├── js │ │ ├── modernizr.min.js │ │ └── theme.js │ ├── language_data.js │ ├── logo.png │ ├── minus.png │ ├── plus.png │ ├── pygments.css │ ├── searchtools.js │ ├── underscore-1.3.1.js │ └── underscore.js ├── configs │ ├── configs.default_config.html │ ├── configs.eval_ddad.html │ ├── configs.eval_kitti.html │ ├── configs.html │ ├── configs.overfit_ddad.html │ ├── configs.overfit_kitti.html │ ├── configs.train_ddad.html │ └── configs.train_kitti.html ├── datasets │ ├── KITTIDataset.html │ ├── datasets.DGPDataset.html │ ├── datasets.ImageDataset.html │ ├── datasets.KITTIDataset.html │ ├── datasets.KITTIDataset_utils.html │ ├── datasets.augmentations.html │ ├── datasets.html │ └── datasets.transforms.html ├── genindex.html ├── geometry │ ├── camera.html │ ├── geometry.camera.camera.html │ ├── geometry.camera.camera_utils.html │ ├── geometry.html │ ├── geometry.pose.pose.html │ ├── geometry.pose.pose_utils.html │ └── pose.html ├── index.html ├── loggers │ ├── loggers.WandbLogger.html │ └── loggers.html ├── losses │ ├── losses.html │ ├── losses.loss_base.html │ ├── losses.multiview_photometric_loss.html │ └── losses.supervised_loss.html ├── models │ ├── models.Checkpoint.html │ ├── models.SelfSupModel.html │ ├── models.SemiSupModel.html │ ├── models.SfmModel.html │ ├── models.Utilities.html │ ├── models.Wrapper.html │ └── models.html ├── networks │ ├── depth │ │ ├── depth.html │ │ ├── networks.depth.DepthResNet.html │ │ └── networks.depth.PackNet01.html │ ├── layers │ │ ├── layers.html │ │ ├── packnet │ │ │ ├── layers01.html │ │ │ └── packnet.html │ │ └── resnet │ │ │ ├── depth_decoder.html │ │ │ ├── layers.html │ │ │ ├── pose_decoder.html │ │ │ ├── resnet.html │ │ │ └── resnet_encoder.html │ ├── networks.html │ └── pose │ │ ├── networks.pose.PoseNet.html │ │ ├── networks.pose.PoseResNet.html │ │ └── pose.html ├── objects.inv ├── py-modindex.html ├── scripts │ ├── scripts.eval.html │ ├── scripts.html │ ├── scripts.infer.html │ └── scripts.train.html ├── search.html ├── searchindex.js ├── trainers │ ├── trainers.BaseTrainer.html │ ├── trainers.HorovodTrainer.html │ └── trainers.html └── utils │ ├── utils.config.html │ ├── utils.depth.html │ ├── utils.horovod.html │ ├── utils.html │ ├── utils.image.html │ ├── utils.load.html │ ├── utils.logging.html │ ├── utils.misc.html │ ├── utils.reduce.html │ ├── utils.save.html │ └── utils.types.html ├── media ├── figs │ ├── packnet-ddad.gif │ └── tri-logo.png └── tests │ ├── ddad.png │ └── kitti.png ├── packnet_sfm ├── __init__.py ├── datasets │ ├── __init__.py │ ├── augmentations.py │ ├── dgp_dataset.py │ ├── image_dataset.py │ ├── kitti_dataset.py │ ├── kitti_dataset_utils.py │ └── transforms.py ├── geometry │ ├── __init__.py │ ├── camera.py │ ├── camera_generic.py │ ├── camera_utils.py │ ├── pose.py │ └── pose_utils.py ├── loggers │ ├── __init__.py │ └── wandb_logger.py ├── losses │ ├── __init__.py │ ├── generic_multiview_photometric_loss.py │ ├── loss_base.py │ ├── multiview_photometric_loss.py │ ├── supervised_loss.py │ └── velocity_loss.py ├── models │ ├── GenericSelfSupModel.py │ ├── GenericSfmModel.py │ ├── SelfSupModel.py │ ├── SemiSupCompletionModel.py │ ├── SemiSupModel.py │ ├── SfmModel.py │ ├── VelSupModel.py │ ├── __init__.py │ ├── base_model.py │ ├── model_checkpoint.py │ ├── model_utils.py │ └── model_wrapper.py ├── networks │ ├── __init__.py │ ├── depth │ │ ├── DepthResNet.py │ │ ├── PackNet01.py │ │ ├── PackNetSAN01.py │ │ ├── PackNetSlim01.py │ │ └── RaySurfaceResNet.py │ ├── layers │ │ ├── minkowski.py │ │ ├── minkowski_encoder.py │ │ ├── packnet │ │ │ └── layers01.py │ │ └── resnet │ │ │ ├── depth_decoder.py │ │ │ ├── layers.py │ │ │ ├── pose_decoder.py │ │ │ ├── raysurface_decoder.py │ │ │ └── resnet_encoder.py │ └── pose │ │ ├── PoseNet.py │ │ └── PoseResNet.py ├── trainers │ ├── __init__.py │ ├── base_trainer.py │ └── horovod_trainer.py └── utils │ ├── __init__.py │ ├── config.py │ ├── depth.py │ ├── horovod.py │ ├── image.py │ ├── load.py │ ├── logging.py │ ├── misc.py │ ├── reduce.py │ ├── save.py │ └── types.py └── scripts ├── eval.py ├── evaluate_depth_maps.py ├── infer.py └── train.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TRI-ML/packnet-sfm/HEAD/.gitignore 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