├── LICENSE ├── README.md ├── Robust-Depth ├── datasets │ ├── NuScenes_eval.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── NuScenes_eval.cpython-37.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── cityscapes_dataset.cpython-37.pyc │ │ ├── cityscapes_evaldataset.cpython-37.pyc │ │ ├── cityscapes_preprocessed_dataset.cpython-37.pyc │ │ ├── corruptions.cpython-37.pyc │ │ ├── corruptions.cpython-39.pyc │ │ ├── driving_stereo.cpython-37.pyc │ │ ├── kitti_dataset.cpython-37.pyc │ │ ├── mixed_dataset.cpython-37.pyc │ │ ├── mono_dataset.cpython-37.pyc │ │ └── nuScenes_dataset.cpython-37.pyc │ ├── cityscapes_dataset.py │ ├── driving_stereo.py │ ├── frost │ │ ├── frost1.png │ │ ├── frost2.png │ │ ├── frost3.png │ │ ├── frost4.jpg │ │ ├── frost5.jpg │ │ └── frost6.jpg │ ├── kitti_dataset.py │ ├── mono_dataset.py │ └── nuscenes │ │ ├── LICENSE.txt │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── nuscenes.cpython-37.pyc │ │ ├── can_bus │ │ ├── README.md │ │ └── can_bus_api.py │ │ ├── eval │ │ ├── __init__.py │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── data_classes.py │ │ │ ├── loaders.py │ │ │ ├── render.py │ │ │ └── utils.py │ │ ├── detection │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── algo.py │ │ │ ├── config.py │ │ │ ├── configs │ │ │ │ └── detection_cvpr_2019.json │ │ │ ├── constants.py │ │ │ ├── data_classes.py │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_algo.py │ │ │ │ ├── test_data_classes.py │ │ │ │ ├── test_evaluate.py │ │ │ │ ├── test_loader.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── lidarseg │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ │ └── __init__.py │ │ │ ├── utils.py │ │ │ └── validate_submission.py │ │ ├── panoptic │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── baselines.py │ │ │ ├── evaluate.py │ │ │ ├── get_panoptic_from_seg_det_or_track.py │ │ │ ├── panoptic_seg_evaluator.py │ │ │ ├── panoptic_track_evaluator.py │ │ │ └── utils.py │ │ ├── prediction │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── baseline_model_inference.py │ │ │ ├── compute_metrics.py │ │ │ ├── config.py │ │ │ ├── configs │ │ │ │ └── predict_2020_icra.json │ │ │ ├── data_classes.py │ │ │ ├── docker_container │ │ │ │ ├── README.md │ │ │ │ └── docker │ │ │ │ │ ├── Dockerfile │ │ │ │ │ └── docker-compose.yml │ │ │ ├── metrics.py │ │ │ ├── splits.py │ │ │ ├── submission │ │ │ │ ├── __init__.py │ │ │ │ ├── do_inference.py │ │ │ │ └── extra_packages.txt │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_dataclasses.py │ │ │ │ └── test_metrics.py │ │ └── tracking │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── algo.py │ │ │ ├── configs │ │ │ └── tracking_nips_2019.json │ │ │ ├── constants.py │ │ │ ├── data_classes.py │ │ │ ├── evaluate.py │ │ │ ├── loaders.py │ │ │ ├── metrics.py │ │ │ ├── mot.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── scenarios.py │ │ │ ├── test_algo.py │ │ │ └── test_evaluate.py │ │ │ └── utils.py │ │ ├── lidarseg │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── lidarseg_utils.cpython-37.pyc │ │ ├── class_histogram.py │ │ └── lidarseg_utils.py │ │ ├── map_expansion │ │ ├── __init__.py │ │ ├── arcline_path_utils.py │ │ ├── bitmap.py │ │ ├── map_api.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── test_all_maps.py │ │ │ └── test_arcline_path_utils.py │ │ └── utils.py │ │ ├── nuscenes.py │ │ ├── panoptic │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── panoptic_utils.cpython-37.pyc │ │ ├── generate_panoptic_labels.py │ │ └── panoptic_utils.py │ │ ├── prediction │ │ ├── __init__.py │ │ ├── helper.py │ │ ├── input_representation │ │ │ ├── __init__.py │ │ │ ├── agents.py │ │ │ ├── combinators.py │ │ │ ├── interface.py │ │ │ ├── static_layers.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_agents.py │ │ │ │ ├── test_combinators.py │ │ │ │ ├── test_static_layers.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── backbone.py │ │ │ ├── covernet.py │ │ │ ├── mtp.py │ │ │ └── physics.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── run_covernet.py │ │ │ ├── run_image_generation.py │ │ │ ├── run_mtp.py │ │ │ ├── test_backbone.py │ │ │ ├── test_covernet.py │ │ │ ├── test_mtp.py │ │ │ ├── test_mtp_loss.py │ │ │ ├── test_physics_models.py │ │ │ └── test_predict_helper.py │ │ ├── scripts │ │ ├── README.md │ │ ├── __init__.py │ │ ├── export_2d_annotations_as_json.py │ │ ├── export_egoposes_on_map.py │ │ ├── export_instance_videos.py │ │ ├── export_kitti.py │ │ ├── export_pointclouds_as_obj.py │ │ ├── export_poses.py │ │ └── export_scene_videos.py │ │ ├── tests │ │ ├── __init__.py │ │ ├── assert_download.py │ │ ├── test_lidarseg.py │ │ ├── test_nuscenes.py │ │ └── test_predict_helper.py │ │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── color_map.cpython-37.pyc │ │ ├── data_classes.cpython-37.pyc │ │ ├── data_io.cpython-37.pyc │ │ ├── geometry_utils.cpython-37.pyc │ │ ├── map_mask.cpython-37.pyc │ │ └── splits.cpython-37.pyc │ │ ├── color_map.py │ │ ├── data_classes.py │ │ ├── data_io.py │ │ ├── geometry_utils.py │ │ ├── kitti.py │ │ ├── map_mask.py │ │ ├── splits.py │ │ └── tests │ │ ├── __init__.py │ │ ├── test_data_classes.py │ │ ├── test_geometry_utils.py │ │ └── test_map_mask.py ├── evaluate_depth.py ├── evaluate_pose.py ├── experiments │ └── train_all.sh ├── export_gt_depth.py ├── kitti_utils.py ├── layers.py ├── networks │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── depth_decoder.cpython-37.pyc │ │ ├── depth_decoder.cpython-38.pyc │ │ ├── hr_decoder.cpython-37.pyc │ │ ├── hr_decoder.cpython-38.pyc │ │ ├── hr_layers.cpython-37.pyc │ │ ├── hr_layers.cpython-38.pyc │ │ ├── mpvit.cpython-37.pyc │ │ ├── mpvit.cpython-38.pyc │ │ ├── nets.cpython-37.pyc │ │ ├── nets.cpython-38.pyc │ │ ├── pose_cnn.cpython-37.pyc │ │ ├── pose_decoder.cpython-37.pyc │ │ ├── pose_decoder.cpython-38.pyc │ │ ├── resnet_encoder.cpython-37.pyc │ │ └── resnet_encoder.cpython-38.pyc │ ├── depth_decoder.py │ ├── pose_decoder.py │ └── resnet_encoder.py ├── networksvit │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── depth_decoder.cpython-37.pyc │ │ ├── depth_decoder.cpython-38.pyc │ │ ├── hr_decoder.cpython-37.pyc │ │ ├── hr_decoder.cpython-38.pyc │ │ ├── hr_layers.cpython-37.pyc │ │ ├── hr_layers.cpython-38.pyc │ │ ├── mpvit.cpython-37.pyc │ │ ├── mpvit.cpython-38.pyc │ │ ├── nets.cpython-37.pyc │ │ ├── nets.cpython-38.pyc │ │ ├── pose_cnn.cpython-37.pyc │ │ ├── pose_decoder.cpython-37.pyc │ │ ├── pose_decoder.cpython-38.pyc │ │ ├── resnet_encoder.cpython-37.pyc │ │ └── resnet_encoder.cpython-38.pyc │ ├── hr_decoder.py │ ├── hr_layers.py │ ├── mpvit.py │ └── nets.py ├── options.py ├── rigid_warp.py ├── test_simple.py ├── train.py ├── trainer.py └── utils.py ├── assets ├── badge-website.svg ├── movie.gif └── youtube.svg ├── corruption ├── __init__.py ├── corruptions.py └── frost │ ├── frost1.png │ ├── frost2.png │ ├── frost3.png │ ├── frost4.jpg │ ├── frost5.jpg │ └── frost6.jpg ├── environment.yml ├── images_test ├── bremen_000001_000019_leftImg8bit_foggy_beta_0.02.png ├── bremen_000001_000019_leftImg8bit_foggy_beta_0.02_Robust-Depth-MonoVit_disp.jpeg ├── bremen_000001_000019_leftImg8bit_foggy_beta_0.02_Robust-Depth_disp.jpeg ├── hanover_000000_002357_leftImg8bit_foggy_beta_0.02.png ├── hanover_000000_002357_leftImg8bit_foggy_beta_0.02_Robust-Depth-MonoVit_disp.jpeg └── hanover_000000_002357_leftImg8bit_foggy_beta_0.02_Robust-Depth_disp.jpeg ├── scripts ├── KITTI_RAW.py ├── SimplexNoise.py ├── comogan.sh ├── corruption.py ├── depth_simple.py ├── fogRenderOffical.py ├── kitti_archives_to_download.txt ├── run_kitti_rain.sh ├── run_rain_sim.sh └── 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