├── LICENSE ├── Makefile ├── README.md ├── configs ├── default_config.py ├── overfit_kitti_mf_gt.yaml ├── train_demon_mf_gt.yaml ├── train_kitti_mf_gt.yaml ├── train_kitti_mf_selfsup.yaml ├── train_nyu_mf_gt.yaml ├── train_rgbd_mf_gt.yaml ├── train_scannet_mf_gt_view2.yaml ├── train_scannet_mf_gt_view3.yaml ├── train_scannet_mf_gt_view5.yaml ├── train_scannet_mf_selfsup_view3.yaml ├── train_scannet_mf_selfsup_view5.yaml ├── train_scene11_mf_gt.yaml ├── train_sun3d_mf_gt.yaml └── train_video_mf_selfsup_out_random.yaml ├── docker └── Dockerfile ├── dro_sfm ├── __init__.py ├── datasets │ ├── __init__.py │ ├── augmentations.py │ ├── demon_dataset.py │ ├── demon_mf_dataset.py │ ├── dgp_dataset.py │ ├── image_dataset.py │ ├── kitti_dataset.py │ ├── kitti_dataset_utils.py │ ├── nyu_dataset_processed.py │ ├── nyu_dataset_test_processed.py │ ├── scannet_banet_dataset.py │ ├── scannet_dataset.py │ ├── scannet_test_dataset.py │ ├── transforms.py │ ├── video_dataset.py │ └── video_random_dataset.py ├── geometry │ ├── __init__.py │ ├── camera.py │ ├── camera_utils.py │ ├── pose.py │ ├── pose_trans.py │ └── pose_utils.py ├── loggers │ ├── __init__.py │ └── wandb_logger.py ├── losses │ ├── __init__.py │ ├── loss_base.py │ ├── multiview_photometric_loss_mf.py │ └── supervised_loss.py ├── models │ ├── SelfSupModelMF.py │ ├── SemiSupModelMF.py │ ├── SfmModel.py │ ├── SfmModelMF.py │ ├── SupModelMF.py │ ├── __init__.py │ ├── model_checkpoint.py │ ├── model_utils.py │ └── model_wrapper.py ├── networks │ ├── __init__.py │ ├── depth_pose │ │ └── DepthPoseNet.py │ ├── layers │ │ ├── PercepNet.py │ │ └── resnet │ │ │ ├── depth_decoder.py │ │ │ ├── layers.py │ │ │ ├── pose_decoder.py │ │ │ ├── pose_res_decoder.py │ │ │ └── resnet_encoder.py │ └── optim │ │ ├── __init__.py │ │ ├── extractor.py │ │ └── update.py ├── trainers │ ├── __init__.py │ ├── base_trainer.py │ └── horovod_trainer.py └── utils │ ├── __init__.py │ ├── config.py │ ├── depth.py │ ├── horovod.py │ ├── image.py │ ├── image_gt.py │ ├── load.py │ ├── logging.py │ ├── misc.py │ ├── reduce.py │ ├── save.py │ └── types.py ├── media └── figs │ ├── demo_kitti.gif │ └── demo_scannet.gif ├── run.sh └── scripts ├── eval.py ├── evaluate_depth_maps.py ├── infer.py ├── infer_pose.py ├── infer_pose.sh ├── infer_video.py ├── train.py └── vis.py /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/LICENSE -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/Makefile -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/README.md -------------------------------------------------------------------------------- /configs/default_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/default_config.py -------------------------------------------------------------------------------- /configs/overfit_kitti_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/overfit_kitti_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_demon_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_demon_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_kitti_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_kitti_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_kitti_mf_selfsup.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_kitti_mf_selfsup.yaml -------------------------------------------------------------------------------- /configs/train_nyu_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_nyu_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_rgbd_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_rgbd_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_scannet_mf_gt_view2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_scannet_mf_gt_view2.yaml -------------------------------------------------------------------------------- /configs/train_scannet_mf_gt_view3.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_scannet_mf_gt_view3.yaml -------------------------------------------------------------------------------- /configs/train_scannet_mf_gt_view5.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_scannet_mf_gt_view5.yaml -------------------------------------------------------------------------------- /configs/train_scannet_mf_selfsup_view3.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_scannet_mf_selfsup_view3.yaml -------------------------------------------------------------------------------- /configs/train_scannet_mf_selfsup_view5.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_scannet_mf_selfsup_view5.yaml -------------------------------------------------------------------------------- /configs/train_scene11_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_scene11_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_sun3d_mf_gt.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_sun3d_mf_gt.yaml -------------------------------------------------------------------------------- /configs/train_video_mf_selfsup_out_random.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/configs/train_video_mf_selfsup_out_random.yaml -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/docker/Dockerfile -------------------------------------------------------------------------------- /dro_sfm/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /dro_sfm/datasets/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /dro_sfm/datasets/augmentations.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/augmentations.py -------------------------------------------------------------------------------- /dro_sfm/datasets/demon_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/demon_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/demon_mf_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/demon_mf_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/dgp_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/dgp_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/image_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/image_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/kitti_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/kitti_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/kitti_dataset_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/kitti_dataset_utils.py -------------------------------------------------------------------------------- /dro_sfm/datasets/nyu_dataset_processed.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/nyu_dataset_processed.py -------------------------------------------------------------------------------- /dro_sfm/datasets/nyu_dataset_test_processed.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/nyu_dataset_test_processed.py -------------------------------------------------------------------------------- /dro_sfm/datasets/scannet_banet_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/scannet_banet_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/scannet_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/scannet_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/scannet_test_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/scannet_test_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/transforms.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/transforms.py -------------------------------------------------------------------------------- /dro_sfm/datasets/video_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/video_dataset.py -------------------------------------------------------------------------------- /dro_sfm/datasets/video_random_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/datasets/video_random_dataset.py -------------------------------------------------------------------------------- /dro_sfm/geometry/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /dro_sfm/geometry/camera.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/geometry/camera.py -------------------------------------------------------------------------------- /dro_sfm/geometry/camera_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/geometry/camera_utils.py -------------------------------------------------------------------------------- /dro_sfm/geometry/pose.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/geometry/pose.py -------------------------------------------------------------------------------- /dro_sfm/geometry/pose_trans.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/geometry/pose_trans.py -------------------------------------------------------------------------------- /dro_sfm/geometry/pose_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/geometry/pose_utils.py -------------------------------------------------------------------------------- /dro_sfm/loggers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/loggers/__init__.py -------------------------------------------------------------------------------- /dro_sfm/loggers/wandb_logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/loggers/wandb_logger.py -------------------------------------------------------------------------------- /dro_sfm/losses/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /dro_sfm/losses/loss_base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/losses/loss_base.py -------------------------------------------------------------------------------- /dro_sfm/losses/multiview_photometric_loss_mf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/losses/multiview_photometric_loss_mf.py -------------------------------------------------------------------------------- /dro_sfm/losses/supervised_loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/losses/supervised_loss.py -------------------------------------------------------------------------------- /dro_sfm/models/SelfSupModelMF.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/SelfSupModelMF.py -------------------------------------------------------------------------------- /dro_sfm/models/SemiSupModelMF.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/SemiSupModelMF.py -------------------------------------------------------------------------------- /dro_sfm/models/SfmModel.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/SfmModel.py -------------------------------------------------------------------------------- /dro_sfm/models/SfmModelMF.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/SfmModelMF.py -------------------------------------------------------------------------------- /dro_sfm/models/SupModelMF.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/SupModelMF.py -------------------------------------------------------------------------------- /dro_sfm/models/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/__init__.py -------------------------------------------------------------------------------- /dro_sfm/models/model_checkpoint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/model_checkpoint.py -------------------------------------------------------------------------------- /dro_sfm/models/model_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/model_utils.py -------------------------------------------------------------------------------- /dro_sfm/models/model_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/models/model_wrapper.py -------------------------------------------------------------------------------- /dro_sfm/networks/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /dro_sfm/networks/depth_pose/DepthPoseNet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/depth_pose/DepthPoseNet.py -------------------------------------------------------------------------------- /dro_sfm/networks/layers/PercepNet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/layers/PercepNet.py -------------------------------------------------------------------------------- /dro_sfm/networks/layers/resnet/depth_decoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/layers/resnet/depth_decoder.py -------------------------------------------------------------------------------- /dro_sfm/networks/layers/resnet/layers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/layers/resnet/layers.py -------------------------------------------------------------------------------- /dro_sfm/networks/layers/resnet/pose_decoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/layers/resnet/pose_decoder.py -------------------------------------------------------------------------------- /dro_sfm/networks/layers/resnet/pose_res_decoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/layers/resnet/pose_res_decoder.py -------------------------------------------------------------------------------- /dro_sfm/networks/layers/resnet/resnet_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/layers/resnet/resnet_encoder.py -------------------------------------------------------------------------------- /dro_sfm/networks/optim/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /dro_sfm/networks/optim/extractor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/optim/extractor.py -------------------------------------------------------------------------------- /dro_sfm/networks/optim/update.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/networks/optim/update.py -------------------------------------------------------------------------------- /dro_sfm/trainers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/trainers/__init__.py -------------------------------------------------------------------------------- /dro_sfm/trainers/base_trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/trainers/base_trainer.py -------------------------------------------------------------------------------- /dro_sfm/trainers/horovod_trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/trainers/horovod_trainer.py -------------------------------------------------------------------------------- /dro_sfm/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /dro_sfm/utils/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/config.py -------------------------------------------------------------------------------- /dro_sfm/utils/depth.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/depth.py -------------------------------------------------------------------------------- /dro_sfm/utils/horovod.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/horovod.py -------------------------------------------------------------------------------- /dro_sfm/utils/image.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/image.py -------------------------------------------------------------------------------- /dro_sfm/utils/image_gt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/image_gt.py -------------------------------------------------------------------------------- /dro_sfm/utils/load.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/load.py -------------------------------------------------------------------------------- /dro_sfm/utils/logging.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/logging.py -------------------------------------------------------------------------------- /dro_sfm/utils/misc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/misc.py -------------------------------------------------------------------------------- /dro_sfm/utils/reduce.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/reduce.py -------------------------------------------------------------------------------- /dro_sfm/utils/save.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/save.py -------------------------------------------------------------------------------- /dro_sfm/utils/types.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/dro_sfm/utils/types.py -------------------------------------------------------------------------------- /media/figs/demo_kitti.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/media/figs/demo_kitti.gif -------------------------------------------------------------------------------- /media/figs/demo_scannet.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/media/figs/demo_scannet.gif -------------------------------------------------------------------------------- /run.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/run.sh -------------------------------------------------------------------------------- /scripts/eval.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/eval.py -------------------------------------------------------------------------------- /scripts/evaluate_depth_maps.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/evaluate_depth_maps.py -------------------------------------------------------------------------------- /scripts/infer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/infer.py -------------------------------------------------------------------------------- /scripts/infer_pose.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/infer_pose.py -------------------------------------------------------------------------------- /scripts/infer_pose.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/infer_pose.sh -------------------------------------------------------------------------------- /scripts/infer_video.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/infer_video.py -------------------------------------------------------------------------------- /scripts/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/train.py -------------------------------------------------------------------------------- /scripts/vis.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/weihaosky/dro-sfm/HEAD/scripts/vis.py --------------------------------------------------------------------------------