├── .gitignore ├── .gitmodules ├── LICENSE.md ├── Makefile ├── README.md ├── configs ├── overfit │ └── kitti │ │ ├── selfsup_resnet18.yaml │ │ ├── selfsup_resnet18_ucm.yaml │ │ └── sup_resnet18.yaml ├── papers │ ├── define │ │ ├── hub_define_temporal.yaml │ │ ├── inference_scannet_stereo.yaml │ │ └── inference_scannet_temporal.yaml │ ├── depthformer │ │ └── inference_kitti.yaml │ ├── fsm │ │ └── inference_ddad.yaml │ ├── packnet │ │ ├── hub_packnet.yaml │ │ ├── inference_packnet.yaml │ │ └── inference_resnet.yaml │ ├── selfcalib │ │ ├── ucm_euroc.yaml │ │ └── ucm_kitti.yaml │ ├── sesc │ │ └── inference_ddad.yaml │ ├── sginit │ │ └── inference_resnet18s.yaml │ └── zerodepth │ │ ├── hub_zerodepth.yaml │ │ └── inference_outdoor.yaml └── recipes │ ├── checkpoint.yaml │ ├── datasets │ ├── ddad.yaml │ ├── ddad_tiny.yaml │ ├── euroc.yaml │ ├── kitti.yaml │ └── kitti_tiny.yaml │ ├── evaluation │ ├── depth.yaml │ └── zerodepth.yaml │ ├── losses │ ├── depth.yaml │ ├── normals.yaml │ └── rgb.yaml │ ├── networks │ ├── conv_pose_net.yaml │ ├── focal_mono_depth_net.yaml │ ├── match_module.yaml │ ├── mono_depth_net.yaml │ ├── multi_depth_net.yaml │ ├── packnet.yaml │ ├── pose_net.yaml │ └── zerodepth_net.yaml │ ├── optimizers.yaml │ ├── save.yaml │ ├── wandb.yaml │ └── wrapper.yaml ├── data └── masks │ └── ddad │ ├── 01.png │ ├── 05.png │ ├── 06.png │ ├── 07.png │ ├── 08.png │ └── 09.png ├── docker ├── Dockerfile └── Dockerfile.tmc ├── examples ├── ddad_intrinsics.npy └── ddad_sample.png ├── hubconf.py ├── media ├── figs │ ├── camviz_ddad.jpg │ ├── camviz_kitti.jpg │ ├── define.gif │ ├── depthformer.gif │ ├── fsm.gif │ ├── overfit_kitti.jpg │ ├── packnet.gif │ ├── self-calibration.gif │ ├── sesc_teaser.gif │ ├── tri-logo.png │ └── zerodepth.gif └── tests │ ├── ddad.png │ └── kitti.png ├── scripts ├── launch.py ├── launch_ddp.py └── sesc_view.py └── vidar ├── __init__.py ├── arch ├── __init__.py ├── blocks │ ├── depth │ │ ├── SigmoidToInvDepth.py │ │ └── SigmoidToLogDepth.py │ └── image │ │ ├── ViewSynthesis.py │ │ └── ViewSynthesisSelfSup.py ├── losses │ ├── BaseLoss.py │ ├── ConsistencyLoss.py │ ├── MultiCamPhotometricLoss.py │ ├── MultiViewPhotometricLoss.py │ ├── PhotometricLoss.py │ ├── PoseConsistencyLoss.py │ ├── ReprojectionLoss.py │ ├── SSIMLoss.py │ ├── SmoothnessLoss.py │ ├── SupervisedDepthLoss.py │ ├── SupervisedImageLoss.py │ ├── SupervisedNormalsLoss.py │ ├── SupervisedOpticalFlowLoss.py │ └── SupervisedSemanticLoss.py ├── models │ ├── BaseModel.py │ ├── __init__.py │ ├── define │ │ ├── DefineGenericModel.py │ │ ├── DefineInferenceModel.py │ │ └── DefineModel.py │ ├── depth │ │ ├── DepthFormerModel.py │ │ ├── DepthModel.py │ │ ├── FSMModel.py │ │ ├── SelfSupervisedModel.py │ │ ├── SelfSupervisedModelInference.py │ │ ├── SelfSupervisedVOModel.py │ │ ├── SupervisedModel.py │ │ └── __init__.py │ ├── generic │ │ ├── GenericModel.py │ │ ├── GenericModel_display.py │ │ ├── GenericModel_losses.py │ │ ├── GenericModel_predictions.py │ │ ├── GenericModel_utils.py │ │ └── GenericModel_warps.py │ ├── perceiver │ │ ├── DeFiNeModel.py │ │ └── DefineInferenceModel.py │ ├── pose │ │ └── PoseModel.py │ ├── releaseSesc │ │ ├── BaseFSM.py │ │ ├── SelfCalibFSM.py │ │ └── SescInference.py │ ├── transformers │ │ └── PerceiverModel.py │ └── utils.py └── networks │ ├── BaseNet.py │ ├── MVGD │ ├── AutoEncoderGeometryKL.py │ ├── AutoEncoderKL.py │ ├── MVGD.py │ └── RIN │ │ └── rin_pytorch │ │ ├── DDIM.py │ │ ├── DDPM.py │ │ ├── __init__.py │ │ ├── diffusuion_stable.py │ │ ├── openai_diffsuion.py │ │ ├── rin_pytorch.py │ │ └── vq_model.py │ ├── __init__.py │ ├── decoders │ ├── DepthDecoder.py │ └── PoseDecoder.py │ ├── depth │ ├── FocalMonoDepthNet.py │ ├── MonoDepthNet.py │ ├── MultiDepthNet.py │ └── PackNet.py │ ├── encoders │ ├── MultiResNetEncoder.py │ └── ResNetEncoder.py │ ├── extrinsics │ ├── ExtEvaluatorModule.py │ ├── ExtGtWrapper.py │ ├── RelativePoseNet.py │ ├── representations │ │ └── tvec_euler.py │ └── utils.py │ ├── intrinsics │ └── IntrinsicsNet.py │ ├── layers │ ├── __init__.py │ ├── activations.py │ ├── convolution.py │ ├── define │ │ ├── __init__.py │ │ ├── decoders │ │ │ ├── __init__.py │ │ │ ├── depth.py │ │ │ ├── rgb.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── base_decoder.py │ │ │ │ ├── conv_decoder.py │ │ │ │ ├── implicit_net.py │ │ │ │ ├── mlp.py │ │ │ │ ├── res_mlp.py │ │ │ │ └── upsample_tensor.py │ │ │ └── volumetric.py │ │ ├── embeddings │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── camera.py │ │ │ ├── depth.py │ │ │ ├── image.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ └── fourier_position_encoding.py │ │ │ └── volumetric.py │ │ └── perceiver │ │ │ ├── __init__.py │ │ │ ├── activations.py │ │ │ ├── attention.py │ │ │ ├── decoder.py │ │ │ ├── embeddings.py │ │ │ ├── encoder.py │ │ │ ├── encoder_mod.py │ │ │ ├── flash.py │ │ │ ├── layer.py │ │ │ ├── mlp.py │ │ │ ├── model.py │ │ │ ├── self_attention.py │ │ │ └── self_output.py │ ├── depthformer │ │ ├── context_adjustment.py │ │ ├── feature_extraction.py │ │ ├── regression.py │ │ ├── tokenizer.py │ │ ├── transformer.py │ │ └── transformer_net.py │ ├── fsm │ │ ├── camera.py │ │ ├── camera_utils.py │ │ ├── pose.py │ │ └── utils.py │ ├── inits.py │ ├── packnet.py │ ├── resnet_encoder.py │ └── selffsm │ │ ├── dataset_interface_method.py │ │ ├── implemented_dataset_cfg.py │ │ └── metrics.py │ ├── perceiver │ ├── DeFiNeNet.py │ ├── ZeroDepthNet.py │ └── externals │ │ └── modeling_perceiver.py │ ├── pose │ ├── ConvPoseNet.py │ └── PoseNet.py │ └── transformers │ ├── MatchModule.py │ └── PerceiverNet.py ├── core ├── __init__.py ├── checkpoint.py ├── evaluator.py ├── logger.py ├── saver.py ├── trainer.py └── wrapper.py ├── datasets ├── BaseDataset.py ├── EUROCDataset.py ├── ScanNetTemporalDataset.py ├── augmentations │ ├── __init__.py │ ├── crop.py │ ├── image.py │ ├── misc.py │ ├── resize.py │ ├── scale.py │ └── tensor.py └── utils │ ├── FolderTree.py │ ├── __init__.py │ ├── colmap_utils.py │ ├── flow.py │ ├── misc.py │ └── transforms.py ├── geometry ├── camera.py ├── camera_ds.py ├── camera_eucm.py ├── camera_motion.py ├── camera_nerf.py ├── camera_ucm.py ├── camera_utils.py ├── cameras │ ├── base.py │ ├── pinhole.py │ ├── rays.py │ └── ucm.py ├── pose.py └── pose_utils.py ├── metrics ├── base.py ├── depth.py ├── extrinsics.py ├── optical_flow.py ├── rgb.py └── utils.py ├── ontologies ├── cityscapes.json ├── convert.py ├── ddad.json ├── parallel_domain.json └── vkitti2.json └── utils ├── augmentations.py ├── colmap.py ├── config.py ├── data.py ├── decorators.py ├── depth.py ├── distributed.py ├── flip.py ├── flow.py ├── flow_triangulation_support.py ├── logging.py ├── nerf.py ├── networks.py ├── optimizers.py ├── read.py ├── reduce.py ├── setup.py ├── tensor.py ├── types.py ├── viz.py ├── volume.py └── write.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TRI-ML/vidar/HEAD/.gitignore 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