├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── colmap-helpers ├── README.md ├── colmap_model_from_nvm.py ├── create_cmu_query_db.py ├── example_scripts │ ├── run_aachen.sh │ ├── run_aachen_sift.sh │ ├── run_cmu_slice.sh │ ├── run_cmu_slice_sift.sh │ ├── run_robotcar.sh │ └── run_robotcar_sift.sh ├── export_for_sfm.py ├── features_from_npz.py ├── internal │ ├── __init__.py │ ├── db_handling.py │ ├── db_matching_images.py │ ├── frame_matching.py │ └── nvm_to_colmap_helper.py ├── magic_cmu_to_db.py ├── match_features_with_db_prior.py ├── nvm_to_model.py ├── robotcar_db_png_to_jpg.py ├── update_db_cmu_with_intrinsics.py ├── update_db_intrinsics_from_another_db.py └── update_db_with_nvm_intrinsics.py ├── demo.ipynb ├── doc ├── assets │ ├── hfnet.jpg │ ├── pipeline.jpg │ └── teaser.jpg ├── datasets.md ├── demo │ ├── db1.jpg │ ├── db2.jpg │ ├── db3.jpg │ ├── db4.jpg │ ├── db5.jpg │ ├── query1.jpg │ ├── query2.jpg │ └── query3.jpg ├── local_evaluation.md └── training.md ├── hfnet ├── __init__.py ├── configs │ ├── doap_export_aachen.yaml │ ├── doap_export_sfm.yaml │ ├── hfnet_export_aachen_db.yaml │ ├── hfnet_export_aachen_queries.yaml │ ├── hfnet_export_cmu_db.yaml │ ├── hfnet_export_cmu_queries.yaml │ ├── hfnet_export_hpatches.yaml │ ├── hfnet_export_model.yaml │ ├── hfnet_export_robotcar_db.yaml │ ├── hfnet_export_robotcar_queries.yaml │ ├── hfnet_export_sfm.yaml │ ├── hfnet_train_distill.yaml │ ├── lfnet_export_hpatches.yaml │ ├── lfnet_export_sfm.yaml │ ├── mobilenetvlad_export_aachen.yaml │ ├── mobilenetvlad_export_hpatches.yaml │ ├── mobilenetvlad_export_model.yaml │ ├── mobilenetvlad_export_nclt.yaml │ ├── mobilenetvlad_export_sfm.yaml │ ├── mobilenetvlad_train_distill.yaml │ ├── netvlad_export_aachen.yaml │ ├── netvlad_export_cmu.yaml │ ├── netvlad_export_distill.yaml │ ├── netvlad_export_hpatches.yaml │ ├── netvlad_export_nclt.yaml │ ├── netvlad_export_robotcar.yaml │ ├── netvlad_export_sfm.yaml │ ├── superpoint_export_aachen_db.yaml │ ├── superpoint_export_aachen_queries.yaml │ ├── superpoint_export_cmu_db.yaml │ ├── superpoint_export_cmu_queries.yaml │ ├── superpoint_export_distill.yaml │ ├── superpoint_export_hpatches.yaml │ ├── superpoint_export_robotcar_db.yaml │ ├── superpoint_export_robotcar_queries.yaml │ └── superpoint_export_sfm.yaml ├── datasets │ ├── __init__.py │ ├── aachen.py │ ├── base_dataset.py │ ├── cmu.py │ ├── colmap_utils │ │ ├── __init__.py │ │ ├── read_dense.py │ │ └── read_model.py │ ├── distillation.py │ ├── hpatches.py │ ├── nclt.py │ ├── robotcar.py │ ├── sfm.py │ └── utils │ │ ├── __init__.py │ │ ├── homographies.py │ │ ├── photometric_augmentation.py │ │ └── pipeline.py ├── evaluate_aachen.py ├── evaluate_cmu.py ├── evaluate_robotcar.py ├── evaluation │ ├── __init__.py │ ├── cpp_localization.py │ ├── image_retrieval.py │ ├── keypoint_detectors.py │ ├── loaders.py │ ├── local_descriptors.py │ ├── localization.py │ ├── utils │ │ ├── __init__.py │ │ ├── db_management.py │ │ ├── descriptors.py │ │ ├── keypoints.py │ │ ├── localization.py │ │ ├── metrics.py │ │ └── misc.py │ └── visualize.py ├── export_model.py ├── export_predictions.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── mobilenet_v2.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── conv_blocks.py │ │ │ └── mobilenet.py │ ├── base_model.py │ ├── doap.py │ ├── hf_net.py │ ├── lf_net.py │ ├── lfnet_utils │ │ ├── __init__.py │ │ ├── det_tools.py │ │ ├── inference.py │ │ ├── spatial_transformer.py │ │ ├── tf_layer_utils.py │ │ └── tf_train_utils.py │ ├── mobilenetvlad.py │ ├── netvlad_original.py │ ├── super_point.py │ ├── super_point_pytorch.py │ └── utils │ │ ├── __init__.py │ │ ├── layers.py │ │ └── transformer.py ├── time_model.py ├── train.py └── utils │ ├── __init__.py │ ├── stdout_capturing.py │ └── tools.py ├── hloc-cpp ├── CMakeLists.txt ├── include │ └── hloc │ │ └── nanoflann.hpp ├── package.xml ├── python │ └── test.py ├── setup.py └── src │ └── hloc.cc ├── makefile ├── notebooks ├── __init__.py ├── evaluation_descriptors_hpatches.ipynb ├── evaluation_descriptors_sfm.ipynb ├── evaluation_detectors_hpatches.ipynb ├── evaluation_detectors_sfm.ipynb ├── evaluation_retrieval_nclt.ipynb ├── model_quality.ipynb ├── scale_annotation.ipynb ├── summarize_timings.ipynb ├── time_matching.ipynb ├── utils.py ├── visualize_distillation_dataset.ipynb ├── visualize_hpatches.ipynb ├── visualize_keypoints_hpatches.ipynb ├── visualize_keypoints_sfm.ipynb ├── visualize_localization_aachen.ipynb ├── visualize_localization_cmu.ipynb ├── visualize_localization_robotcar.ipynb ├── visualize_matches_hpatches.ipynb ├── visualize_matches_sfm.ipynb └── visualize_sfm.ipynb ├── setup.py ├── setup ├── requirements.txt ├── scripts │ ├── download_google_landmarks.py │ ├── generate_robotcar_query_list.py │ └── import_superpoint_weights.py └── setup.sh └── utils ├── env_cluster.sh ├── env_cluster_cpu.sh └── launch_cluster.sh /.gitattributes: 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