├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── benchmark ├── config.py ├── extended_datasets.md ├── mapfree.py ├── metrics.py ├── reprojection.py ├── scannet.py ├── sevenscenes.py ├── test_metrics.py └── utils.py ├── config ├── default.py ├── mapfree.yaml ├── mapfree_multi.yaml ├── matching │ ├── mapfree │ │ ├── loftr_emat_dptkitti.yaml │ │ ├── loftr_emat_dptnyu.yaml │ │ ├── loftr_pnp_dptkitti.yaml │ │ ├── loftr_pnp_dptnyu.yaml │ │ ├── sg_emat_dptkitti.yaml │ │ ├── sg_emat_dptnyu.yaml │ │ ├── sg_pnp_dptkitti.yaml │ │ ├── sg_pnp_dptnyu.yaml │ │ ├── sg_procrustes_dptkitti.yaml │ │ ├── sift_emat_dptkitti.yaml │ │ ├── sift_emat_dptnyu.yaml │ │ ├── sift_pnp_dptkitti.yaml │ │ └── sift_pnp_dptnyu.yaml │ ├── scannet │ │ ├── loftr_emat_dpt.yaml │ │ ├── loftr_emat_gt.yaml │ │ ├── loftr_emat_planercnn.yaml │ │ ├── loftr_pnp_dpt.yaml │ │ ├── loftr_pnp_gt.yaml │ │ ├── loftr_pnp_planercnn.yaml │ │ ├── loftr_procrustes_dpt.yaml │ │ ├── loftr_procrustes_dpt_icp.yaml │ │ ├── loftr_procrustes_gt.yaml │ │ ├── loftr_procrustes_gt_icp.yaml │ │ ├── loftr_procrustes_planercnn.yaml │ │ ├── loftr_procrustes_planercnn_icp.yaml │ │ ├── sg_emat_dpt.yaml │ │ ├── sg_emat_gt.yaml │ │ ├── sg_emat_planercnn.yaml │ │ ├── sg_pnp_dpt.yaml │ │ ├── sg_pnp_gt.yaml │ │ ├── sg_pnp_planercnn.yaml │ │ ├── sg_procrustes_dpt.yaml │ │ ├── sg_procrustes_gt.yaml │ │ ├── sg_procrustes_planercnn.yaml │ │ ├── sift_emat_dpt.yaml │ │ ├── sift_emat_gt.yaml │ │ ├── sift_emat_planercnn.yaml │ │ ├── sift_pnp_dpt.yaml │ │ ├── sift_pnp_gt.yaml │ │ ├── sift_pnp_planercnn.yaml │ │ ├── sift_procrustes_dpt.yaml │ │ ├── sift_procrustes_dpt_icp.yaml │ │ ├── sift_procrustes_gtdepth.yaml │ │ ├── sift_procrustes_gtdepth_icp.yaml │ │ ├── sift_procrustes_planercnn.yaml │ │ ├── sift_procrustes_planercnn_icp.yaml │ │ └── sift_procrustes_smdp.yaml │ └── sevenscenes │ │ ├── loftr_emat_planercnn.yaml │ │ ├── loftr_pnp_planercnn.yaml │ │ ├── sg_emat_planercnn.yaml │ │ ├── sg_pnp_planercnn.yaml │ │ ├── sift_emat_planercnn.yaml │ │ └── sift_pnp_planercnn.yaml ├── regression │ ├── mapfree │ │ ├── 3d3d.yaml │ │ ├── 3d3d_lowoverlap.yaml │ │ ├── 3d3d_no_posencoder.yaml │ │ ├── 3d3d_no_warping.yaml │ │ ├── 3d3d_weighted_loss.yaml │ │ ├── multiframe │ │ │ └── 3d3d_multi.yaml │ │ ├── rot6d_trans.yaml │ │ ├── rotbin_trans.yaml │ │ ├── rotbin_transdirectionbin_scale.yaml │ │ ├── rotbin_transdirectionbin_scale_lowoverlap.yaml │ │ ├── rotbin_transdirectionbin_scale_qkv.yaml │ │ ├── rotquat_trans.yaml │ │ └── rotquat_transdirection_scale.yaml │ └── scannet │ │ ├── 3d3d.yaml │ │ ├── 3d3d_dual_posenc.yaml │ │ ├── 3d3d_dual_posenc_upsampling.yaml │ │ ├── 3d3d_half_cv.yaml │ │ ├── 3d3d_lowoverlap.yaml │ │ ├── 3d3d_no_avgpool.yaml │ │ ├── 3d3d_qkv.yaml │ │ ├── 3d3d_with_dustbin.yaml │ │ └── rotbin_transdirectionbin_scale.yaml ├── scannet.yaml ├── sevenscenes.yaml └── utils.py ├── environment.yml ├── environment_eccv22.yml ├── etc ├── feature_matching_baselines │ ├── compute.py │ ├── matchers.py │ └── utils.py └── teaser.png ├── lib ├── datasets │ ├── datamodules.py │ ├── mapfree.py │ ├── sampler.py │ ├── scannet.py │ ├── sevenscenes.py │ └── utils.py ├── models │ ├── builder.py │ ├── matching │ │ ├── feature_matching.py │ │ ├── model.py │ │ └── pose_solver.py │ └── regression │ │ ├── aggregator.py │ │ ├── encoder │ │ ├── preact.py │ │ ├── resnet.py │ │ └── resunet.py │ │ ├── head.py │ │ └── model.py └── utils │ ├── data.py │ ├── localize.py │ ├── logger.py │ ├── loss.py │ ├── metrics.py │ ├── rotationutils.py │ ├── solver.py │ └── visualisation.py ├── pyrightconfig.json ├── submission.py ├── train.py └── visualisation ├── README.md ├── environment.yml ├── lazy_camera.py ├── render_estimates.py ├── render_scene.py └── render_util.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nianticlabs/map-free-reloc/HEAD/.gitignore -------------------------------------------------------------------------------- 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