├── .gitignore ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── assets ├── finetuning_benchmarking.png ├── gradio_example.png └── teaser.png ├── bash_scripts ├── benchmark │ ├── ablations │ │ ├── 1_output_representation │ │ │ ├── 1a_pm_conf_mask.sh │ │ │ ├── 1b_campm_pose_conf_mask.sh │ │ │ └── 1c_rdp_conf_mask.sh │ │ ├── 2_attention │ │ │ ├── 2a_gat.sh │ │ │ └── 2b_aat_w_pe.sh │ │ ├── 3_loss │ │ │ ├── 3a_no_log_scaling.sh │ │ │ ├── 3b_no_robust_loss.sh │ │ │ ├── 3c_entangled_metric_loss.sh │ │ │ ├── 3d_up_to_scale_loss.sh │ │ │ ├── 3e_no_points_loss.sh │ │ │ ├── 3f_no_ray_dirs_loss.sh │ │ │ ├── 3g_no_depth_loss.sh │ │ │ └── 3h_no_pose_loss.sh │ │ ├── 4_curriculum │ │ │ └── 4a_direct_24v.sh │ │ ├── 5_finetuning_img_only │ │ │ └── 5a_finetune_for_geometric_inputs.sh │ │ ├── 6_expert_training_img │ │ │ ├── 6_expert_img.sh │ │ │ └── 6_universal_img.sh │ │ ├── 6_expert_training_mvs │ │ │ ├── 6_expert_mvs.sh │ │ │ └── 6_universal_mvs.sh │ │ ├── 6_expert_training_registration │ │ │ ├── 6_expert_registration.sh │ │ │ └── 6_universal_registration.sh │ │ ├── a1_img │ │ │ ├── a1a_img_pm_conf_mask.sh │ │ │ ├── a1b_img_campm_pose_conf_mask.sh │ │ │ ├── a1c_img_rdp_conf_mask.sh │ │ │ ├── a1d_img_mapa.sh │ │ │ └── a1e_img_campm_pose_conf_mask_scale.sh │ │ ├── a1_mvs │ │ │ ├── a1a_mvs_pm_conf_mask.sh │ │ │ ├── a1b_mvs_campm_pose_conf_mask.sh │ │ │ ├── a1c_mvs_rdp_conf_mask.sh │ │ │ ├── a1d_mvs_mapa.sh │ │ │ └── a1e_mvs_campm_pose_conf_mask_scale.sh │ │ └── base │ │ │ ├── base_img_only_curri_24v.sh │ │ │ └── base_img_only_curri_4v.sh │ ├── calibration │ │ ├── anycalib.sh │ │ ├── mapanything.sh │ │ ├── moge_2.sh │ │ └── vggt.sh │ ├── dense_2_view │ │ ├── dust3r.sh │ │ ├── mapa_24v.sh │ │ ├── mapa_4v.sh │ │ ├── mast3r.sh │ │ ├── metric_dust3r.sh │ │ ├── pi3.sh │ │ ├── pow3r.sh │ │ └── vggt.sh │ ├── dense_n_view │ │ ├── dust3r.sh │ │ ├── mapa_24v.sh │ │ ├── mapa_24v_apache.sh │ │ ├── mapa_24v_csfm.sh │ │ ├── mapa_24v_csfm_apache.sh │ │ ├── mapa_24v_dc.sh │ │ ├── mapa_24v_dc_apache.sh │ │ ├── mapa_24v_mvs.sh │ │ ├── mapa_24v_mvs_apache.sh │ │ ├── mapa_24v_mvs_nm.sh │ │ ├── mapa_24v_nmp_md.sh │ │ ├── mapa_24v_nmp_md_sparse.sh │ │ ├── mapa_24v_nmp_nmd.sh │ │ ├── mapa_24v_nmp_nmd_sparse.sh │ │ ├── mapa_24v_psfm.sh │ │ ├── mapa_24v_psfm_nm.sh │ │ ├── mapa_24v_pt.sh │ │ ├── mapa_24v_pt_apache.sh │ │ ├── mapa_24v_reg.sh │ │ ├── mapa_24v_reg_apache.sh │ │ ├── mapa_24v_reg_sparse.sh │ │ ├── mapa_4v.sh │ │ ├── mapa_4v_apache.sh │ │ ├── mast3r.sh │ │ ├── metric_dust3r.sh │ │ ├── must3r.sh │ │ ├── pi3.sh │ │ ├── pow3r.sh │ │ ├── pow3r_csfm.sh │ │ ├── pow3r_dc.sh │ │ ├── pow3r_mvs.sh │ │ ├── pow3r_pt.sh │ │ ├── pow3r_reg.sh │ │ ├── vggt.sh │ │ └── vggt_commercial.sh │ └── rmvd_mvs_benchmark │ │ └── generate_benchmark_scripts.py └── train │ ├── ablations │ ├── 1_output_representation │ │ ├── 1a_pm_conf_mask.sh │ │ ├── 1b_campm_pose_conf_mask.sh │ │ └── 1c_rdp_conf_mask.sh │ ├── 2_attention │ │ ├── 2a_gat.sh │ │ └── 2b_aat_w_pe.sh │ ├── 3_loss │ │ ├── 3a_no_log_scaling.sh │ │ ├── 3b_no_robust_loss.sh │ │ ├── 3c_entangled_metric_loss.sh │ │ ├── 3d_up_to_scale_loss.sh │ │ ├── 3e_no_points_loss.sh │ │ ├── 3f_no_ray_dirs_loss.sh │ │ ├── 3g_no_depth_loss.sh │ │ └── 3h_no_pose_loss.sh │ ├── 4_curriculum │ │ └── 4a_direct_24v.sh │ ├── 5_finetuning_img_only │ │ └── 5a_finetune_for_geometric_inputs.sh │ ├── 6_expert_training │ │ ├── 6a_mvs.sh │ │ ├── 6b_registration.sh │ │ └── 6c_universal.sh │ ├── a1_output_representation_universal │ │ ├── a1a_pm_conf_mask.sh │ │ ├── a1b_campm_pose_conf_mask.sh │ │ ├── a1c_rdp_conf_mask.sh │ │ ├── a1d_mapa.sh │ │ └── a1e_campm_pose_conf_mask_scale.sh │ └── base │ │ ├── base_mapa_img_only_curri_24v.sh │ │ └── base_mapa_img_only_curri_4v.sh │ ├── examples │ ├── mapa_curri_4v_bmvs_48ipg_8g.sh │ └── mapa_img_only_4v_bmvs_48ipg_8g.sh │ ├── finetuning │ ├── moge2_finetuning.sh │ ├── pi3_finetuning.sh │ └── vggt_finetuning.sh │ └── main │ ├── mapa_curri_24v_13d_48ipg_64g.sh │ ├── mapa_curri_24v_6d_48ipg_64g_apache.sh │ ├── mapa_curri_4v_13d_48ipg_64g.sh │ └── mapa_curri_4v_6d_48ipg_8g_apache.sh ├── benchmarking ├── calibration │ ├── README.md │ └── benchmark.py ├── dense_n_view │ ├── README.md │ ├── benchmark.py │ └── benchmark_global_pm_only.py └── rmvd_mvs_benchmark │ ├── README.md │ ├── adaptors.py │ └── benchmark.py ├── configs ├── calibration_benchmark.yaml ├── dataset │ ├── ase_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── benchmark_512_eth3d_snpp_tav2.yaml │ ├── benchmark_518_eth3d_snpp_tav2.yaml │ ├── benchmark_sv_calib_518_many_ar_eth3d_snpp_tav2.yaml │ ├── blendedmvs_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── bmvs_518_many_ar_48ipg_8g.yaml │ ├── default.yaml │ ├── dl3dv_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── dynamicreplica_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── eth3d_wai │ │ ├── default.yaml │ │ └── test │ │ │ └── default.yaml │ ├── megadepth_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── megatrain_13d_512_many_ar_24ipg_16g.yaml │ ├── megatrain_13d_518_many_ar_24ipg_16g.yaml │ ├── megatrain_13d_518_many_ar_24ipg_8g.yaml │ ├── megatrain_13d_518_many_ar_48ipg_64g.yaml │ ├── megatrain_13d_518_many_ar_48ipg_8g_mono.yaml │ ├── megatrain_6d_518_many_ar_48ipg_64g.yaml │ ├── megatrain_6d_518_many_ar_48ipg_8g.yaml │ ├── mpsd_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── mvs_synth_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── paralleldomain4d_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── resolution_options │ │ └── default.yaml │ ├── sailvos3d_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── scannetpp_wai │ │ ├── default.yaml │ │ ├── test │ │ │ └── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── spring_wai │ │ ├── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ ├── tav2_wb_wai │ │ ├── default.yaml │ │ ├── test │ │ │ └── default.yaml │ │ ├── train │ │ │ └── default.yaml │ │ └── val │ │ │ └── default.yaml │ └── unrealstereo4k_wai │ │ ├── default.yaml │ │ ├── train │ │ └── default.yaml │ │ └── val │ │ └── default.yaml ├── dense_n_view_benchmark.yaml ├── distributed │ └── default.yaml ├── loss │ ├── conf_pm_mask_loss.yaml │ ├── conf_pm_mask_scale_loss.yaml │ ├── default.yaml │ ├── entangled_metric_loss.yaml │ ├── moge2_loss.yaml │ ├── no_depth_loss.yaml │ ├── no_log_scaling.yaml │ ├── no_points_loss.yaml │ ├── no_pose_loss.yaml │ ├── no_ray_dirs_loss.yaml │ ├── no_robust_loss.yaml │ ├── overall_disentangled_loss.yaml │ ├── overall_loss.yaml │ ├── overall_loss_weigh_pm_higher.yaml │ ├── pi3_loss.yaml │ ├── up_to_scale_loss.yaml │ └── vggt_loss.yaml ├── machine │ ├── aws.yaml │ ├── default.yaml │ ├── psc.yaml │ └── xri_dgx.yaml ├── model │ ├── anycalib.yaml │ ├── default.yaml │ ├── dust3r.yaml │ ├── encoder │ │ ├── croco_512.yaml │ │ ├── croco_512_data_norm_dust3r.yaml │ │ ├── dinov2_large.yaml │ │ └── radio_v2_5_large.yaml │ ├── info_sharing │ │ ├── aat_ifr_24_layers.yaml │ │ ├── aat_ifr_24_layers_escaling.yaml │ │ ├── aat_ifr_24_layers_no_ref_view.yaml │ │ ├── aat_ifr_24_layers_w_view_pe.yaml │ │ ├── aat_ifr_48_layers.yaml │ │ ├── aat_ifr_48_layers_escaling.yaml │ │ ├── aat_ifr_48_layers_no_ref_view.yaml │ │ ├── cat_ifr_dust3r.yaml │ │ ├── gat_ifr_24_layers.yaml │ │ └── gat_ifr_24_layers_escaling.yaml │ ├── mapanything.yaml │ ├── mapanything_ablations.yaml │ ├── mast3r.yaml │ ├── metric_dust3r.yaml │ ├── modular_dust3r_512_dpt.yaml │ ├── moge_1.yaml │ ├── moge_2.yaml │ ├── must3r.yaml │ ├── pi3.yaml │ ├── pow3r.yaml │ ├── pow3r_ba.yaml │ ├── pred_head │ │ ├── adaptor_config │ │ │ ├── campointmap_pose_confidence_mask.yaml │ │ │ ├── campointmap_pose_confidence_mask_scale.yaml │ │ │ ├── pointmap_confidence.yaml │ │ │ ├── pointmap_confidence_mask.yaml │ │ │ ├── pointmap_confidence_mask_scale.yaml │ │ │ ├── pointmap_factored_raydirs_depth_pose_confidence_mask_scale.yaml │ │ │ ├── pointmap_raydirs_depth_pose_confidence_mask_scale.yaml │ │ │ ├── raydirs_depth_pose_confidence_mask.yaml │ │ │ └── raydirs_depth_pose_confidence_mask_scale.yaml │ │ ├── dpt.yaml │ │ ├── dpt_pose.yaml │ │ ├── dpt_pose_scale.yaml │ │ └── dpt_scale.yaml │ ├── task │ │ ├── aug_training.yaml │ │ ├── calibrated_sfm.yaml │ │ ├── default.yaml │ │ ├── depth_completion.yaml │ │ ├── images_only.yaml │ │ ├── mvs.yaml │ │ ├── mvs_non_metric.yaml │ │ ├── mvs_training.yaml │ │ ├── non_metric_poses_metric_depth.yaml │ │ ├── non_metric_poses_metric_depth_sparse.yaml │ │ ├── non_metric_poses_non_metric_depth.yaml │ │ ├── non_metric_poses_non_metric_depth_sparse.yaml │ │ ├── pass_through.yaml │ │ ├── posed_sfm.yaml │ │ ├── posed_sfm_non_metric.yaml │ │ ├── registration.yaml │ │ ├── registration_sparse.yaml │ │ └── registration_training.yaml │ ├── vggt.yaml │ ├── vggt_commercial.yaml │ └── vggt_non_pretrained.yaml ├── rmvd_benchmark.yaml ├── train.yaml └── train_params │ ├── default.yaml │ ├── finetune_with_lower_encoder_lr.yaml │ ├── finetune_with_lower_encoder_lr_64g.yaml │ ├── freeze_encoder.yaml │ ├── lower_encoder_lr.yaml │ ├── lower_encoder_lr_64g.yaml │ ├── moge2_finetune.yaml │ ├── pi3_finetune.yaml │ └── vggt_finetune.yaml ├── data_processing ├── README.md ├── aggregate_metadata.py ├── aggregate_scene_names.py ├── viz_data.py └── wai_processing │ ├── configs │ ├── conversion │ │ ├── ase.yaml │ │ ├── blendedmvs.yaml │ │ ├── dl3dv.yaml │ │ ├── dynamicreplica.yaml │ │ ├── eth3d.yaml │ │ ├── megadepth.yaml │ │ ├── mpsd.yaml │ │ ├── mvs_synth.yaml │ │ ├── paralleldomain4d.yaml │ │ ├── sailvos3d.yaml │ │ ├── scannetppv2.yaml │ │ ├── spring.yaml │ │ ├── tav2_wb.yaml │ │ └── unrealstereo4k.yaml │ ├── covisibility │ │ ├── covisibility_gt_depth.yaml │ │ ├── covisibility_gt_depth_224x224.yaml │ │ ├── covisibility_gt_depth_mvs.yaml │ │ ├── covisibility_gt_depth_mvs_126x224.yaml │ │ ├── covisibility_pred_depth_moge.yaml │ │ └── covisibility_pred_depth_mvsa.yaml │ ├── depth_consistency_confidence │ │ └── depth_consistency_confidence_mvsa.yaml │ ├── launch │ │ ├── ase.yaml │ │ ├── blendedmvs.yaml │ │ ├── dl3dv.yaml │ │ ├── dynamicreplica.yaml │ │ ├── eth3d.yaml │ │ ├── megadepth.yaml │ │ ├── mpsd.yaml │ │ ├── mvs_synth.yaml │ │ ├── paralleldomain4d.yaml │ │ ├── sailvos3d.yaml │ │ ├── scannetppv2.yaml │ │ ├── spring.yaml │ │ ├── tav2_wb.yaml │ │ └── unrealstereo4k.yaml │ ├── moge │ │ └── default.yaml │ ├── mvs_anywhere │ │ └── default.yaml │ ├── rendering.yaml │ └── undistortion │ │ ├── default.yaml │ │ └── scannetppv2.yaml │ ├── download_scripts │ ├── README.md │ ├── download_bmvs.py │ ├── download_dynamicreplica.py │ ├── download_eth3d.py │ ├── download_megadepth.py │ ├── download_mvs_synth.py │ ├── download_paralleldomain4d.py │ ├── download_sailvos3d.py │ ├── download_tav2_wb.py │ └── download_unrealstereo4k.py │ ├── launch │ ├── __init__.py │ ├── launch_utils.py │ └── slurm_stage.py │ ├── pyproject.toml │ ├── scripts │ ├── __init__.py │ ├── conversion │ │ ├── ase.py │ │ ├── blendedmvs.py │ │ ├── dl3dv.py │ │ ├── dynamicreplica.py │ │ ├── eth3d.py │ │ ├── megadepth.py │ │ ├── mpsd.py │ │ ├── mvs_synth.py │ │ ├── paralleldomain4d.py │ │ ├── sailvos3d.py │ │ ├── scannetppv2.py │ │ ├── spring.py │ │ ├── tav2_wb.py │ │ └── unrealstereo4k.py │ ├── covisibility.py │ ├── depth_consistency_confidence.py │ ├── run_moge.py │ ├── run_mvsanywhere.py │ ├── run_rendering.py │ └── undistort.py │ └── utils │ ├── __init__.py │ ├── covis_utils.py │ ├── distributed_h5.py │ ├── download.py │ ├── globals.py │ ├── mapper.py │ ├── parallel.py │ ├── state.py │ └── wrapper.py ├── mapanything ├── __init__.py ├── datasets │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ ├── base_dataset.py │ │ ├── batched_sampler.py │ │ └── easy_dataset.py │ ├── utils │ │ ├── __init__.py │ │ └── data_splits.py │ └── wai │ │ ├── __init__.py │ │ ├── ase.py │ │ ├── blendedmvs.py │ │ ├── dl3dv.py │ │ ├── dynamicreplica.py │ │ ├── eth3d.py │ │ ├── megadepth.py │ │ ├── mpsd.py │ │ ├── mvs_synth.py │ │ ├── paralleldomain4d.py │ │ ├── sailvos3d.py │ │ ├── scannetpp.py │ │ ├── spring.py │ │ ├── tav2_wb.py │ │ └── unrealstereo4k.py ├── models │ ├── __init__.py │ ├── external │ │ ├── README.md │ │ ├── __init__.py │ │ ├── anycalib │ │ │ └── __init__.py │ │ ├── dinov2 │ │ │ ├── __init__.py │ │ │ ├── hub │ │ │ │ ├── __init__.py │ │ │ │ ├── backbones.py │ │ │ │ └── utils.py │ │ │ ├── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── attention.py │ │ │ │ ├── block.py │ │ │ │ ├── dino_head.py │ │ │ │ ├── drop_path.py │ │ │ │ ├── layer_scale.py │ │ │ │ ├── mlp.py │ │ │ │ ├── patch_embed.py │ │ │ │ └── swiglu_ffn.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ └── vision_transformer.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── cluster.py │ │ │ │ ├── config.py │ │ │ │ ├── dtype.py │ │ │ │ ├── param_groups.py │ │ │ │ └── utils.py │ │ ├── dust3r │ │ │ └── __init__.py │ │ ├── mast3r │ │ │ └── __init__.py │ │ ├── moge │ │ │ ├── __init__.py │ │ │ └── models │ │ │ │ ├── modules.py │ │ │ │ ├── utils.py │ │ │ │ ├── v1.py │ │ │ │ └── v2.py │ │ ├── must3r │ │ │ └── __init__.py │ │ ├── pi3 │ │ │ ├── __init__.py │ │ │ ├── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── attention.py │ │ │ │ ├── block.py │ │ │ │ ├── camera_head.py │ │ │ │ ├── pos_embed.py │ │ │ │ └── transformer_head.py │ │ │ └── models │ │ │ │ ├── __init__.py │ │ │ │ └── pi3.py │ │ ├── pow3r │ │ │ └── __init__.py │ │ └── vggt │ │ │ ├── __init__.py │ │ │ ├── heads │ │ │ ├── __init__.py │ │ │ ├── camera_head.py │ │ │ ├── dpt_head.py │ │ │ ├── head_act.py │ │ │ ├── track_head.py │ │ │ ├── track_modules │ │ │ │ ├── __init__.py │ │ │ │ ├── base_track_predictor.py │ │ │ │ ├── blocks.py │ │ │ │ ├── modules.py │ │ │ │ └── utils.py │ │ │ └── utils.py │ │ │ ├── layers │ │ │ ├── __init__.py │ │ │ ├── attention.py │ │ │ ├── block.py │ │ │ ├── drop_path.py │ │ │ ├── layer_scale.py │ │ │ ├── mlp.py │ │ │ ├── patch_embed.py │ │ │ ├── rope.py │ │ │ ├── swiglu_ffn.py │ │ │ └── vision_transformer.py │ │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── aggregator.py │ │ │ └── vggt.py │ │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── geometry.py │ │ │ ├── load_fn.py │ │ │ ├── pose_enc.py │ │ │ ├── rotation.py │ │ │ └── visual_track.py │ └── mapanything │ │ ├── __init__.py │ │ ├── ablations.py │ │ ├── model.py │ │ └── modular_dust3r.py ├── third_party │ ├── README.md │ ├── __init__.py │ ├── distortion.py │ ├── np_to_pycolmap.py │ ├── projection.py │ ├── track_modules │ │ ├── __init__.py │ │ ├── base_track_predictor.py │ │ ├── blocks.py │ │ ├── modules.py │ │ ├── track_refine.py │ │ └── utils.py │ ├── track_predict.py │ ├── vggsfm_tracker.py │ └── vggsfm_utils.py ├── train │ ├── __init__.py │ ├── losses.py │ ├── profile_dataloading.py │ └── training.py └── utils │ ├── __init__.py │ ├── colmap.py │ ├── cropping.py │ ├── device.py │ ├── geometry.py │ ├── hf_utils │ ├── __init__.py │ ├── css_and_html.py │ ├── hf_helpers.py │ └── viz.py │ ├── image.py │ ├── inference.py │ ├── metrics.py │ ├── misc.py │ ├── parallel.py │ ├── timing.py │ ├── train_tools.py │ ├── viz.py │ ├── wai │ ├── __init__.py │ ├── basic_dataset.py │ ├── camera.py │ ├── colormaps │ │ └── colors_fps_5k.npz │ ├── core.py │ ├── intersection_check.py │ ├── io.py │ ├── m_ops.py │ ├── ops.py │ ├── scene_frame.py │ └── semantics.py │ └── warnings.py ├── pyproject.toml ├── scripts ├── convert_hf_to_benchmark_checkpoint.py ├── demo_colmap.py ├── demo_images_only_inference.py ├── demo_inference_on_colmap_outputs.py ├── demo_local_weight.py ├── gradio_app.py ├── profile_dataloading.py └── 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