├── .gitignore ├── LICENSE ├── README.md ├── config ├── config_cs-campus3d.txt ├── config_cs-wild-places.txt ├── config_oxford.txt └── config_wild-places.txt ├── data └── .gitkeep ├── datasets ├── CSCampus3D │ └── save_queries_HOTFormerLoc_format.py ├── CSWildPlaces │ ├── CSWildPlaces_raw.py │ ├── CSWildPlaces_train.py │ ├── generate_train_test_tuples.py │ ├── postprocess_submaps.py │ ├── postprocess_wildplaces_ground.py │ └── processing_utils.py ├── WildPlaces │ ├── fix_broken_timestamps.py │ ├── generate_test_sets.py │ ├── generate_training_tuples.py │ └── utils.py ├── augmentation.py ├── base_datasets.py ├── coordinate_utils.py ├── dataset_utils.py ├── pointnetvlad │ ├── generate_test_sets.py │ ├── generate_training_tuples_baseline.py │ ├── generate_training_tuples_refine.py │ ├── pnv_raw.py │ └── pnv_train.py └── samplers.py ├── eval ├── pnv_evaluate.py ├── pnv_evaluate_splits.py ├── utils.py └── visualise_embeddings.py ├── libs ├── __init__.py └── dwconv │ ├── .gitignore │ ├── LISCENCE │ ├── README.md │ ├── csrc │ ├── dwconv.cu │ ├── dwconv.h │ ├── pybind.cpp │ └── utils.h │ ├── dwconv │ ├── __init__.py │ └── nn.py │ ├── setup.py │ └── test │ ├── __init__.py │ ├── data │ ├── batch_45.npz │ ├── interp.npz │ ├── octree │ │ ├── test_001.npz │ │ ├── test_002.npz │ │ ├── test_003.npz │ │ ├── test_004.npz │ │ └── test_005.npz │ ├── octree_nn.npz │ ├── pts.npy │ └── search_key.npz │ ├── test_octree_dwconv.py │ ├── test_time.py │ └── utils.py ├── media ├── CSWildPlaces_overview.png ├── CS_Wild_Places_README.pdf ├── dataset_cswp_baseline.png ├── dataset_cswp_unseen.png ├── hotformerloc_architecture.png └── radar_plot.svg ├── misc ├── compute_ground_aerial_overlap.py ├── octree_window_visualisation.py ├── octree_window_visualisation_positives.py ├── torch_utils.py ├── utils.py └── visualisation_positives.py ├── models ├── hotformerloc.py ├── hotformerloc_backbone.py ├── hotformerloc_cs-campus3d_cfg.txt ├── hotformerloc_cs-wild-places_cfg.txt ├── hotformerloc_oxford_cfg.txt ├── hotformerloc_wild-places_cfg.txt ├── layers │ ├── mask_powernorm.py │ ├── netvlad.py │ ├── octformer_layers.py │ ├── pooling.py │ ├── pooling_wrapper.py │ └── salsa.py ├── losses │ ├── loss.py │ ├── loss_utils.py │ └── truncated_smoothap.py ├── model_factory.py ├── octformer_backbone.py ├── octree.py └── relay_token_utils.py ├── requirements.txt ├── training ├── submitit_train_job_single_node.py ├── train.py └── trainer.py └── weights └── .gitkeep /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csiro-robotics/HOTFormerLoc/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csiro-robotics/HOTFormerLoc/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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