├── LICENSE ├── README.md ├── __init__.py ├── conda_requirements.txt ├── config ├── eval_Airloc.yaml ├── eval_airloc_prauc.yaml ├── generate_reference.yaml ├── preprocess_reloc.yaml ├── superpoint_extraction_airloc.yaml ├── train_airloc.yaml └── train_netvlad.yaml ├── datasets ├── __pycache__ │ └── preprocess_reloc_database.cpython-38.pyc ├── mp3d_airloc │ ├── __pycache__ │ │ ├── mp3d_triplet_v3.cpython-38.pyc │ │ └── mp3d_triplet_v3_edge.cpython-38.pyc │ ├── mp3d_triplet_v3_edge.py │ └── mp3d_triplet_v3_realworld.py ├── preprocess_reloc.py ├── preprocess_reloc_database.py ├── readme.md └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── batch_collator.cpython-38.pyc │ ├── postprocess.cpython-38.pyc │ ├── preprocess.cpython-38.pyc │ └── transforms.cpython-38.pyc │ ├── batch_collator.py │ ├── postprocess.py │ ├── preprocess.py │ └── transforms.py ├── eval_airloc.py ├── eval_airloc_prauc.py ├── model ├── Disc │ └── discriminator.py ├── __pycache__ │ ├── airobject.cpython-38.pyc │ ├── build_model.cpython-38.pyc │ ├── inference.cpython-38.pyc │ ├── netvlad.cpython-38.pyc │ └── seqnet.cpython-38.pyc ├── backbone │ ├── __pycache__ │ │ ├── fcn.cpython-38.pyc │ │ └── resnet_fpn.cpython-38.pyc │ ├── fcn.py │ └── resnet_fpn.py ├── build_model.py ├── geometry │ ├── __pycache__ │ │ ├── attention.cpython-38.pyc │ │ ├── edge_geometry.cpython-38.pyc │ │ └── edge_loss.cpython-38.pyc │ ├── attention.py │ ├── edge_geometry.py │ └── edge_loss.py ├── graph_models │ ├── __pycache__ │ │ ├── attention.cpython-38.pyc │ │ ├── object_descriptor.cpython-38.pyc │ │ └── room_descriptor_v3.cpython-38.pyc │ ├── attention.py │ ├── gat.py │ ├── gcn.py │ └── object_descriptor.py ├── inference.py ├── mask_rcnn │ ├── __pycache__ │ │ └── mask_rcnn.cpython-38.pyc │ ├── mask_rcnn.py │ └── transform.py ├── netvlad.py └── superpoint │ ├── __pycache__ │ └── vgg_like.cpython-38.pyc │ └── vgg_like.py ├── superpoint_extraction_airloc.py ├── train ├── __init__.py └── 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