├── .gitignore ├── .gitmodules ├── README.md ├── assets ├── WGLBS │ └── maidan │ │ ├── 01.png │ │ ├── 02.png │ │ └── 03.png ├── figures │ └── matches_figure.png ├── siteACC0002-mall │ ├── siteACC0002-camA005-2023-10-17-15-29-00-000283.jpg │ ├── siteACC0002-camA005-2023-10-17-15-29-00-000293.jpg │ ├── siteACC0002-camA005-2023-10-17-15-29-00-000398.jpg │ ├── siteACC0002-camA005-2023-10-17-15-50-00-000171.jpg │ ├── siteACC0002-camA005-2023-10-19-10-48-18-000001.jpg │ ├── siteACC0002-camA010-2023-12-21-19-29-06-000486.jpg │ └── siteACC0002-camA010-2023-12-21-19-29-06-000932.jpg ├── siteACC0003-finearts │ ├── siteACC0003-camA005-2023-10-16-12-33-00-000267.jpg │ ├── siteACC0003-camA005-2023-10-16-13-32-00-000181.jpg │ ├── siteACC0003-camA005-2023-10-16-13-32-00-000201.jpg │ ├── siteACC0003-camA005-2023-10-16-14-03-00-000176.jpg │ ├── siteACC0003-camA005-2023-10-19-11-38-16-000205.jpg │ ├── siteACC0003-camA010-2023-12-21-19-43-25-000307.jpg │ ├── siteACC0003-camA010-2023-12-21-19-43-25-000309.jpg │ └── siteACC0003-camA010-2023-12-21-19-43-25-000704.jpg ├── siteACC0153-austin-rec-center │ ├── siteACC0153-camA006-2024-04-23-09-35-14-000234.jpg │ └── siteACC0153-camA011-2024-04-24-12-07-02-000258.jpg ├── t03_v07_s00_r01_ReconstructedArea_WACV_test_A09 │ ├── 00399.jpg │ └── 00412.jpg ├── t04_v07_s02_r02_VaryingAltitudes_M07_building_1_door │ ├── image_000003.jpg │ └── image_000020.jpg └── t04_v13_s00_r01_VaryingAltitudes_WACV_test_A10 │ ├── 00563.jpg │ ├── 00572.jpg │ └── 00616.jpg ├── data_generation ├── README.md ├── datasets_preprocess │ ├── megadepth_image_list.npz │ ├── preprocess_aerialmegadepth.py │ ├── preprocess_ge.py │ ├── preprocess_megadepth.py │ └── utils.py ├── do_colmap_localization.py ├── download_data.py ├── download_data_hf.py ├── ges_utils.py ├── hloc │ ├── __init__.py │ ├── colmap_from_nvm.py │ ├── extract_features.py │ ├── extractors │ │ ├── __init__.py │ │ ├── aliked.py │ │ ├── d2net.py │ │ ├── dir.py │ │ ├── disk.py │ │ ├── dog.py │ │ ├── megaloc.py │ │ ├── netvlad.py │ │ ├── openibl.py │ │ ├── r2d2.py │ │ └── superpoint.py │ ├── localization_colmap.py │ ├── localize_inloc.py │ ├── localize_sfm.py │ ├── match_dense.py │ ├── match_features.py │ ├── matchers │ │ ├── __init__.py │ │ ├── adalam.py │ │ ├── lightglue.py │ │ ├── loftr.py │ │ ├── nearest_neighbor.py │ │ └── superglue.py │ ├── pairs_from_covisibility.py │ ├── pairs_from_exhaustive.py │ ├── pairs_from_poses.py │ ├── pairs_from_retrieval.py │ ├── pipelines │ │ ├── 4Seasons │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── localize.py │ │ │ ├── prepare_reference.py │ │ │ └── utils.py │ │ ├── 7Scenes │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── create_gt_sfm.py │ │ │ ├── pipeline.py │ │ │ └── utils.py │ │ ├── Aachen │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ └── pipeline.py │ │ ├── Aachen_v1_1 │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── pipeline.py │ │ │ └── pipeline_loftr.py │ │ ├── CMU │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ └── pipeline.py │ │ ├── Cambridge │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── pipeline.py │ │ │ └── utils.py │ │ ├── RobotCar │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── colmap_from_nvm.py │ │ │ └── pipeline.py │ │ └── __init__.py │ ├── reconstruction.py │ ├── triangulation.py │ ├── utils │ │ ├── __init__.py │ │ ├── base_model.py │ │ ├── database.py │ │ ├── geometry.py │ │ ├── io.py │ │ ├── parsers.py │ │ ├── read_write_dense.py │ │ ├── read_write_model.py │ │ ├── viz.py │ │ └── viz_3d.py │ └── visualization.py └── misc │ └── megadepth_aerial.py └── mast3r ├── CHECKPOINTS_NOTICE ├── LICENSE ├── NOTICE ├── README.md ├── assets ├── NLE_tower │ ├── 01D90321-69C8-439F-B0B0-E87E7634741C-83120-000041DAE419D7AE.jpg │ ├── 1AD85EF5-B651-4291-A5C0-7BDB7D966384-83120-000041DADF639E09.jpg │ ├── 2679C386-1DC0-4443-81B5-93D7EDE4AB37-83120-000041DADB2EA917.jpg │ ├── 28EDBB63-B9F9-42FB-AC86-4852A33ED71B-83120-000041DAF22407A1.jpg │ ├── 91E9B685-7A7D-42D7-B933-23A800EE4129-83120-000041DAE12C8176.jpg │ ├── CDBBD885-54C3-4EB4-9181-226059A60EE0-83120-000041DAE0C3D612.jpg │ └── FF5599FD-768B-431A-AB83-BDA5FB44CB9D-83120-000041DADDE35483.jpg ├── demo.jpg ├── examples.jpg ├── mast3r.jpg ├── mast3r_archi.jpg └── matching.jpg ├── colmap_utils.py ├── demo.py ├── demo_dust3r_ga.py ├── demo_dust3r_nongradio.py ├── demo_glomap.py ├── demo_mast3r_nongradio.py ├── docker ├── docker-compose-cpu.yml ├── docker-compose-cuda.yml ├── files │ ├── cpu.Dockerfile │ ├── cuda.Dockerfile │ └── entrypoint.sh └── run.sh ├── dust3r ├── .gitignore ├── .gitmodules ├── LICENSE ├── NOTICE ├── README.md ├── assets │ ├── demo.jpg │ ├── dust3r.jpg │ ├── dust3r_archi.jpg │ ├── matching.jpg │ └── pipeline1.jpg ├── croco │ ├── LICENSE │ ├── NOTICE │ ├── README.MD │ ├── assets │ │ ├── Chateau1.png │ │ ├── Chateau2.png │ │ └── arch.jpg │ ├── croco-stereo-flow-demo.ipynb │ ├── datasets │ │ ├── __init__.py │ │ ├── crops │ │ │ ├── README.MD │ │ │ └── extract_crops_from_images.py │ │ ├── habitat_sim │ │ │ ├── README.MD │ │ │ ├── __init__.py │ │ │ ├── generate_from_metadata.py │ │ │ ├── generate_from_metadata_files.py │ │ │ ├── generate_multiview_images.py │ │ │ ├── multiview_habitat_sim_generator.py │ │ │ ├── pack_metadata_files.py │ │ │ └── paths.py │ │ ├── pairs_dataset.py │ │ └── transforms.py │ ├── demo.py │ ├── interactive_demo.ipynb │ ├── models │ │ ├── blocks.py │ │ ├── criterion.py │ │ ├── croco.py │ │ ├── croco_downstream.py │ │ ├── curope │ │ │ ├── __init__.py │ │ │ ├── curope.cpp │ │ │ ├── curope2d.py │ │ │ ├── kernels.cu │ │ │ └── setup.py │ │ ├── dpt_block.py │ │ ├── head_downstream.py │ │ ├── masking.py │ │ └── pos_embed.py │ ├── pretrain.py │ ├── stereoflow │ │ ├── README.MD │ │ ├── augmentor.py │ │ ├── criterion.py │ │ ├── datasets_flow.py │ │ ├── datasets_stereo.py │ │ ├── download_model.sh │ │ ├── engine.py │ │ ├── test.py │ │ └── train.py │ └── utils │ │ └── misc.py ├── datasets_preprocess │ ├── habitat │ │ ├── README.md │ │ ├── find_scenes.py │ │ ├── habitat_renderer │ │ │ ├── __init__.py │ │ │ ├── habitat_sim_envmaps_renderer.py │ │ │ ├── multiview_crop_generator.py │ │ │ ├── projections.py │ │ │ └── projections_conversions.py │ │ └── preprocess_habitat.py │ ├── path_to_root.py │ ├── preprocess_arkitscenes.py │ ├── preprocess_blendedMVS.py │ ├── preprocess_co3d.py │ ├── preprocess_megadepth.py │ ├── preprocess_scannetpp.py │ ├── preprocess_staticthings3d.py │ ├── preprocess_waymo.py │ └── preprocess_wildrgbd.py ├── demo.py ├── docker │ ├── docker-compose-cpu.yml │ ├── docker-compose-cuda.yml │ ├── files │ │ ├── cpu.Dockerfile │ │ ├── cuda.Dockerfile │ │ └── entrypoint.sh │ └── run.sh ├── dust3r │ ├── __init__.py │ ├── cloud_opt │ │ ├── __init__.py │ │ ├── base_opt.py │ │ ├── commons.py │ │ ├── init_im_poses.py │ │ ├── modular_optimizer.py │ │ ├── optimizer.py │ │ └── pair_viewer.py │ ├── datasets │ │ ├── __init__.py │ │ ├── arkitscenes.py │ │ ├── base │ │ │ ├── __init__.py │ │ │ ├── base_stereo_view_dataset.py │ │ │ ├── batched_sampler.py │ │ │ └── easy_dataset.py │ │ ├── blendedmvs.py │ │ ├── co3d.py │ │ ├── habitat.py │ │ ├── megadepth.py │ │ ├── scannetpp.py │ │ ├── staticthings3d.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── cropping.py │ │ │ └── transforms.py │ │ ├── waymo.py │ │ └── wildrgbd.py │ ├── demo.py │ ├── heads │ │ ├── __init__.py │ │ ├── dpt_head.py │ │ ├── linear_head.py │ │ └── postprocess.py │ ├── image_pairs.py │ ├── inference.py │ ├── losses.py │ ├── model.py │ ├── optim_factory.py │ ├── patch_embed.py │ ├── post_process.py │ ├── training.py │ ├── utils │ │ ├── __init__.py │ │ ├── device.py │ │ ├── geometry.py │ │ ├── image.py │ │ ├── misc.py │ │ ├── parallel.py │ │ └── path_to_croco.py │ └── viz.py ├── dust3r_visloc │ ├── README.md │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ ├── aachen_day_night.py │ │ ├── base_colmap.py │ │ ├── base_dataset.py │ │ ├── cambridge_landmarks.py │ │ ├── inloc.py │ │ ├── sevenscenes.py │ │ └── utils.py │ ├── evaluation.py │ └── localization.py ├── requirements.txt ├── requirements_optional.txt ├── train.py └── visloc.py ├── eval.py ├── eval_utils.py ├── hloc_viz.py ├── kapture_mast3r_mapping.py ├── make_pairs.py ├── mast3r ├── __init__.py ├── catmlp_dpt_head.py ├── cloud_opt │ ├── __init__.py │ ├── sparse_ga.py │ ├── triangulation.py │ ├── tsdf_optimizer.py │ └── utils │ │ ├── __init__.py │ │ ├── losses.py │ │ └── schedules.py ├── colmap │ ├── __init__.py │ ├── database.py │ └── mapping.py ├── datasets │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ └── mast3r_base_stereo_view_dataset.py │ └── utils │ │ ├── __init__.py │ │ └── cropping.py ├── demo.py ├── demo_glomap.py ├── fast_nn.py ├── image_pairs.py ├── losses.py ├── model.py ├── retrieval │ ├── graph.py │ ├── model.py │ └── processor.py └── utils │ ├── __init__.py │ ├── coarse_to_fine.py │ ├── collate.py │ ├── misc.py │ └── path_to_dust3r.py ├── requirements.txt ├── train.py └── visloc.py /.gitignore: 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