Code to accompany our paper "Learning Maximally Matchable Image Transformations for Long-term Metric Visual Localization".
run_vkitti.py
- Top-level script for training and testing models using the Virtual KITTI dataset.run_inthedark.py
- Top-level script for training and testing models using the UTIAS In The Dark dataset.matchability/
- Main codebase.
datasets/
- Modules for loading and pre-processing the Virtual KITTI and UTIAS In The Dark datasets for use with PyTorch.experiment.py
- General training, validation and testing loops.models.py
- Definitions for matcher proxy and image transformation models.networks.py
- General-purpose neural network classes, specialized in models.py
.options.py
- Defines a container class to store configuration parameters and provides common defaults.transforms.py
- Custom image/tensor transformations.utils.py
- Miscellaneous utility functions.scripts/
- Scripts for producing figures and videos used in the paper.