├── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── doc └── teaser_web.svg ├── requirements.txt └── snap ├── __init__.py ├── configs ├── defaults.py ├── eval_localization.py ├── eval_semantics.py ├── train_localization.py ├── train_occupancy.py └── train_semantics.py ├── data ├── loader.py └── types.py ├── evaluate.py ├── evaluator.py ├── models ├── __init__.py ├── base.py ├── bev_localizer.py ├── bev_mapper.py ├── image_encoder.py ├── layers.py ├── occupancy_net.py ├── pose_estimation.py ├── pose_exhaustive_voting.py ├── resnet.py ├── semantic_net.py ├── semantic_raster_encoder.py ├── streetview_encoder.py └── types.py ├── train.py ├── trainer.py ├── utils ├── configs.py ├── geometry.py ├── grids.py └── misc.py └── viz ├── bev.py └── image.py /.gitignore: -------------------------------------------------------------------------------- 1 | **/.DS_Store 2 | **/__pycache__ 3 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: 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