├── .dockerignore ├── .gitignore ├── .gitmodules ├── LICENSE.md ├── README.md ├── doc └── vloc_scheme.png ├── docker ├── Dockerfile ├── build.sh ├── content │ └── ros_entrypoint.sh └── run.sh ├── install_dependencies.sh ├── requirements.txt ├── third_party └── hloc │ ├── COLCON_IGNORE │ ├── MANIFEST.in │ ├── install_additional_dependencies.sh │ └── setup.py ├── visual_localization_interfaces ├── CMakeLists.txt ├── msg │ ├── KBestPRMatches.msg │ ├── VisualLocalizerStatus.msg │ └── VisualPoseEstimate.msg └── package.xml └── visual_robot_localization ├── launch ├── place_recognition.launch.py └── visual_pose_estimator.launch.py ├── package.xml ├── resource └── visual_robot_localization ├── scripts ├── SfM_from_camera_poses.py ├── __init__.py └── colmap_poses_from_odometry.py ├── setup.cfg ├── setup.py ├── test ├── dir_image_visualization.py ├── example_dir │ ├── .gitignore │ ├── im_0001.png │ ├── im_0001_odometry_camera.json │ ├── im_0002.png │ ├── im_0002_odometry_camera.json │ ├── im_0003.png │ ├── im_0003_odometry_camera.json │ ├── im_0004.png │ ├── im_0004_odometry_camera.json │ ├── im_0005.png │ └── im_0005_odometry_camera.json ├── gallery_db_test.py ├── hloc_models_test.py ├── place_recognition_querier_test.py ├── ros2colmap_test.py ├── sensor_offset_compensator_test.py ├── tf3_images │ ├── tf3_debug │ │ ├── frame02140.jpg │ │ ├── frame02170.jpg │ │ ├── frame02200.jpg │ │ ├── frame02230.jpg │ │ ├── frame02260.jpg │ │ ├── frame02290.jpg │ │ ├── frame02320.jpg │ │ ├── frame02350.jpg │ │ └── frame02380.jpg │ └── tf3_s1_images │ │ ├── .gitignore │ │ ├── frame00329.jpg │ │ ├── frame00329_odometry_camera.json │ │ ├── frame00330.jpg │ │ ├── frame00330_odometry_camera.json │ │ ├── frame00331.jpg │ │ ├── frame00331_odometry_camera.json │ │ ├── frame00332.jpg │ │ ├── frame00332_odometry_camera.json │ │ ├── frame00333.jpg │ │ ├── frame00333_odometry_camera.json │ │ ├── frame00334.jpg │ │ ├── frame00334_odometry_camera.json │ │ ├── frame00335.jpg │ │ ├── frame00335_odometry_camera.json │ │ ├── frame00336.jpg │ │ ├── frame00336_odometry_camera.json │ │ ├── frame00337.jpg │ │ ├── frame00337_odometry_camera.json │ │ ├── frame00338.jpg │ │ ├── frame00338_odometry_camera.json │ │ ├── frame00339.jpg │ │ ├── frame00339_odometry_camera.json │ │ └── resource │ │ └── 3_grey.png ├── visual_6dof_localize_test.py ├── visual_localizer_node_test_node.py └── visual_pose_estimator_test.launch.py ├── utils ├── do_SfM.sh └── visualize_colmap.sh └── visual_robot_localization ├── __init__.py ├── coordinate_transforms.py ├── gallery_db.py ├── hloc_models.py ├── place_recognition_exp_filter.py ├── place_recognition_node.py ├── place_recognition_querier.py ├── place_recognition_sliding_window.py ├── place_recognition_topological_filter.py ├── visual_6dof_localize.py └── visual_localizer_node.py /.dockerignore: -------------------------------------------------------------------------------- 1 | /image-gallery/ 2 | 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