diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..fea7e72b5ee96b7254a67fa1f4fa4accf07b6c0c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+.idea
+temp
+temp.py
+weight
diff --git a/conf/maplocnet.yaml b/conf/maplocnet.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..df0be9a09848e49803bb2049c2cffeffde771084
--- /dev/null
+++ b/conf/maplocnet.yaml
@@ -0,0 +1,100 @@
+data:
+  root: '/root/DATASET/UAV2MAP/UAV/'
+  train_citys:
+  - Paris
+  - Berlin
+  - London
+  - Tokyo
+  - NewYork
+  val_citys:
+  - Toronto
+  image_size: 256
+  train:
+    batch_size: 12
+    num_workers: 4
+  val:
+    batch_size: ${..train.batch_size}
+    num_workers: ${.batch_size}
+  num_classes:
+    areas: 7
+    ways: 10
+    nodes: 33
+  pixel_per_meter: 1
+  crop_size_meters: 64
+  max_init_error: 48
+  add_map_mask: true
+  resize_image: 512
+  pad_to_square: true
+  rectify_pitch: true
+  augmentation:
+    rot90: true
+    flip: true
+    image:
+      apply: true
+      brightness: 0.5
+      contrast: 0.4
+      saturation: 0.4
+      hue": 0.5/3.14
+model:
+  image_size: ${data.image_size}
+  latent_dim: 128
+  val_citys: ${data.val_citys}
+  image_encoder:
+    name: feature_extractor_v2
+    backbone:
+      encoder: resnet50
+      pretrained: true
+      output_dim: 8
+      num_downsample: null
+      remove_stride_from_first_conv: false
+  name: orienternet
+  matching_dim: 8
+  z_max: 32
+  x_max: 32
+  pixel_per_meter: 1
+  num_scale_bins: 33
+  num_rotations: 64
+  map_encoder:
+    embedding_dim: 16
+    output_dim: 8
+    num_classes:
+      areas: 7
+      ways: 10
+      nodes: 33
+    backbone:
+      encoder: vgg19
+      pretrained: false
+      output_scales:
+      - 0
+      num_downsample: 3
+      decoder:
+      - 128
+      - 64
+      - 64
+      padding: replicate
+    unary_prior: false
+  bev_net:
+    num_blocks: 4
+    latent_dim: 128
+    output_dim: 8
+    confidence: true
+experiment:
+  name: maplocanet_0906_diffhight
+  gpus: 6
+  seed: 0
+training:
+  lr: 0.0001
+  lr_scheduler: null
+  finetune_from_checkpoint: null
+  trainer:
+    val_check_interval: 1000
+    log_every_n_steps: 100
+#    limit_val_batches: 1000
+    max_steps: 200000
+    devices: ${experiment.gpus}
+  checkpointing:
+    monitor: "loss/total/val"
+    save_top_k: 10
+    mode: min
+
+#    filename: '{epoch}-{step}-{loss_SanFrancisco:.2f}'
\ No newline at end of file
diff --git a/dataset/UAV/dataset.py b/dataset/UAV/dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..1dbc8121bb355dcbee2ed7f2bc68e85e25b2b808
--- /dev/null
+++ b/dataset/UAV/dataset.py
@@ -0,0 +1,116 @@
+import torch
+from torch.utils.data import Dataset
+import os
+import cv2
+# @Time : 2023-02-13 22:56
+# @Author : Wang Zhen
+# @Email : frozenzhencola@163.com
+# @File : SatelliteTool.py
+# @Project : TGRS_seqmatch_2023_1
+import numpy as np
+import random
+from utils.geo import BoundaryBox, Projection
+from osm.tiling import TileManager,MapTileManager
+from pathlib import Path
+from torchvision import transforms
+from torch.utils.data import DataLoader
+
+class UavMapPair(Dataset):
+    def __init__(
+        self,
+        root: Path,
+        city:str,
+            training:bool,
+            transform
+    ):
+        super().__init__()
+
+        # self.root = root
+
+        # city = 'Manhattan'
+        # root = '/root/DATASET/CrossModel/'
+        # root=Path(root)
+        self.uav_image_path = root/city/'uav'
+        self.map_path = root/city/'map'
+        self.map_vis = root / city / 'map_vis'
+        info_path = root / city / 'info.csv'
+
+        self.info = np.loadtxt(str(info_path), dtype=str, delimiter=",", skiprows=1)
+
+        self.transform=transform
+        self.training=training
+
+    def random_center_crop(self,image):
+        height, width = image.shape[:2]
+
+        # 随机生成剪裁尺寸
+        crop_size = random.randint(min(height, width) // 2, min(height, width))
+
+        # 计算剪裁的起始坐标
+        start_x = (width - crop_size) // 2
+        start_y = (height - crop_size) // 2
+
+        # 进行剪裁
+        cropped_image = image[start_y:start_y + crop_size, start_x:start_x + crop_size]
+
+        return cropped_image
+    def __getitem__(self, index: int):
+        id, uav_name, map_name, \
+            uav_long, uav_lat, \
+            map_long, map_lat, \
+            tile_size_meters, pixel_per_meter, \
+            u, v, yaw,dis=self.info[index]
+
+
+        uav_image=cv2.imread(str(self.uav_image_path/uav_name))
+        if self.training:
+            uav_image =self.random_center_crop(uav_image)
+        uav_image=cv2.cvtColor(uav_image,cv2.COLOR_BGR2RGB)
+        if self.transform:
+            uav_image=self.transform(uav_image)
+        map=np.load(str(self.map_path/map_name))
+
+        return {
+            'map':torch.from_numpy(np.ascontiguousarray(map)).long(),
+            'image':torch.tensor(uav_image),
+            'roll_pitch_yaw':torch.tensor((0, 0, float(yaw))).float(),
+            'pixels_per_meter':torch.tensor(float(pixel_per_meter)).float(),
+            "uv":torch.tensor([float(u), float(v)]).float(),
+        }
+    def __len__(self):
+        return len(self.info)
+if __name__ == '__main__':
+
+    root=Path('/root/DATASET/OrienterNet/UavMap/')
+    city='NewYork'
+
+    transform = transforms.Compose([
+        transforms.ToTensor(),
+        transforms.Resize(256),
+        transforms.Normalize(mean=(0.5, 0.5, 0.5), std=(0.5, 0.5, 0.5))
+    ])
+
+    dataset=UavMapPair(
+        root=root,
+        city=city,
+        transform=transform
+    )
+    datasetloder = DataLoader(dataset, batch_size=3)
+    for batch, i in enumerate(datasetloder):
+        pass
+        # 将PyTorch张量转换为PIL图像
+        # pil_image = Image.fromarray(i['uav_image'][0].permute(1, 2, 0).byte().numpy())
+
+        # 显示图像
+        # 将PyTorch张量转换为NumPy数组
+        # numpy_array = i['uav_image'][0].numpy()
+        #
+        # # 显示图像
+        # plt.imshow(numpy_array.transpose(1, 2, 0))
+        # plt.axis('off')
+        # plt.show()
+        #
+        # map_viz, label = Colormap.apply(i['map'][0])
+        # map_viz = map_viz * 255
+        # map_viz = map_viz.astype(np.uint8)
+        # plot_images([map_viz], titles=["OpenStreetMap raster"])
diff --git a/dataset/UAV/prepara_dataset.py b/dataset/UAV/prepara_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..7ed607eafd6e8678688570db999755d136f381db
--- /dev/null
+++ b/dataset/UAV/prepara_dataset.py
@@ -0,0 +1,270 @@
+import torch
+from torch.utils.data import Dataset
+import os
+import cv2
+# @Time : 2023-02-13 22:56
+# @Author : Wang Zhen
+# @Email : frozenzhencola@163.com
+# @File : SatelliteTool.py
+# @Project : TGRS_seqmatch_2023_1
+import numpy as np
+import random
+from utils.geo import BoundaryBox, Projection
+from osm.tiling import TileManager,MapTileManager
+from pathlib import Path
+from torchvision import transforms
+from tqdm import tqdm
+import time
+import math
+import random
+from geopy import Point, distance
+from osm.viz import Colormap, plot_nodes
+
+def generate_random_coordinate(latitude, longitude, dis):
+    # 生成一个随机方向角
+    random_angle = random.uniform(0, 360)
+    # print("random_angle",random_angle)
+    # 计算目标点的经纬度
+    start_point = Point(latitude, longitude)
+    destination = distance.distance(kilometers=dis/1000).destination(start_point, random_angle)
+
+    return destination.latitude, destination.longitude
+
+def rotate_corp(src,angle):
+    # 原图的高、宽 以及通道数
+    rows, cols, channel = src.shape
+
+    # 绕图像的中心旋转
+    # 参数：旋转中心 旋转度数 scale
+    M = cv2.getRotationMatrix2D((cols / 2, rows / 2), angle, 1)
+    # rows, cols=700,700
+    # 自适应图片边框大小
+    cos = np.abs(M[0, 0])
+    sin = np.abs(M[0, 1])
+    new_w = rows * sin + cols * cos
+    new_h = rows * cos + cols * sin
+    M[0, 2] += (new_w - cols) * 0.5
+    M[1, 2] += (new_h - rows) * 0.5
+    w = int(np.round(new_w))
+    h = int(np.round(new_h))
+    rotated = cv2.warpAffine(src, M, (w, h))
+
+    # rotated = cv2.warpAffine(src, M, (cols, rows))
+
+    c=int(w / 2)
+    w=int(rows*math.sqrt(2)/4)
+    rotated2=rotated[c-w:c+w,c-w:c+w,:]
+    return rotated2
+
+class SatelliteGeoTools:
+    """
+    用于读取卫星图tfw文件，执行 像素坐标-Mercator-GPS坐标 的转化
+    """
+    def __init__(self, tfw_path):
+        self.SatelliteParameter=self.Parsetfw(tfw_path)
+    def Parsetfw(self, tfw_path):
+        info = []
+        f = open(tfw_path)
+        for _ in range(6):
+            line = f.readline()
+            line = line.strip('\n')
+            info.append(float(line))
+        f.close()
+        return info
+    def Pix2Geo(self, x, y):
+        A, D, B, E, C, F = self.SatelliteParameter
+        x1 = A * x + B * y + C
+        y1 = D * x + E * y + F
+        # print(x1,y1)
+        s_long, s_lat = self.MercatorTolonlat(x1, y1)
+        return s_long, s_lat
+
+    def Geo2Pix(self, lon, lat):
+        """
+        https://baike.baidu.com/item/TFW%E6%A0%BC%E5%BC%8F/6273151?fr=aladdin
+        x'=Ax+By+C
+        y'=Dx+Ey+F
+        :return:
+        """
+        x1, y1 = self.LonlatToMercator(lon, lat)
+        A, D, B, E, C, F = self.SatelliteParameter
+        M = np.array([[A, B, C],
+                      [D, E, F],
+                      [0, 0, 1]])
+        M_INV = np.linalg.inv(M)
+        XY = np.matmul(M_INV, np.array([x1, y1, 1]).T)
+        return int(XY[0]), int(XY[1])
+    def MercatorTolonlat(self,mx,my):
+        x = mx/20037508.3427892*180
+        y = my/20037508.3427892*180
+        # y= 180/math.pi*(2*math.atan(math.exp(y*math.pi/180))-math.pi/2)
+        y = 180.0 / np.pi * (2.0 * np.arctan(np.exp(y * np.pi / 180.0)) - np.pi / 2.0)
+        return x,y
+    def LonlatToMercator(self,lon, lat):
+        x = lon * 20037508.342789 / 180
+        y = np.log(np.tan((90 + lat) * np.pi / 360)) / (np.pi / 180)
+        y = y * 20037508.34789 / 180
+        return x, y
+
+def geodistance(lng1, lat1, lng2, lat2):
+    lng1, lat1, lng2, lat2 = map(np.radians, [lng1, lat1, lng2, lat2])
+    dlon = lng2 - lng1
+    dlat = lat2 - lat1
+    a = np.sin(dlat / 2) ** 2 + np.cos(lat1) * np.cos(lat2) * np.sin(dlon / 2) ** 2
+    distance = 2 * np.arcsin(np.sqrt(a)) * 6371 * 1000  # 地球平均半径，6371km
+    return distance
+
+class PreparaDataset:
+    def __init__(
+        self,
+        root: Path,
+        city:str,
+        patch_size:int,
+        tile_size_meters:float
+    ):
+        super().__init__()
+
+        # self.root = root
+
+        # city = 'Manhattan'
+        # root = '/root/DATASET/CrossModel/'
+        imagepath = root/city/ '{}.tif'.format(city)
+        tfwpath = root/city/'{}.tfw'.format(city)
+
+        self.osmpath = root/city/'{}.osm'.format(city)
+
+        self.TileManager=MapTileManager(self.osmpath)
+        image = cv2.imread(str(imagepath))
+        self.image=cv2.cvtColor(image,cv2.COLOR_BGR2RGB)
+
+        self.ST = SatelliteGeoTools(str(tfwpath))
+
+        self.patch_size=patch_size
+        self.tile_size_meters=tile_size_meters
+
+
+
+    def get_osm(self,prior_latlon,uav_latlon):
+        latlon = np.array(prior_latlon)
+        proj = Projection(*latlon)
+        center = proj.project(latlon)
+
+        uav_latlon=np.array(uav_latlon)
+
+        XY=proj.project(uav_latlon)
+        # tile_size_meters = 128
+        bbox = BoundaryBox(center, center) + self.tile_size_meters
+        # bbox= BoundaryBox(center, center)
+        # Query OpenStreetMap for this area
+        self.pixel_per_meter = 1
+        start_time = time.time()
+        canvas = self.TileManager.from_bbox(proj, bbox, self.pixel_per_meter)
+        end_time = time.time()
+        execution_time = end_time - start_time
+        # print("方法执行时间：", execution_time, "秒")
+        # canvas = tiler.query(bbox)
+        XY=[XY[0]+self.tile_size_meters,-XY[1]+self.tile_size_meters]
+        return canvas,XY
+    def random_corp(self):
+
+        # 根据随机裁剪尺寸计算出裁剪区域的左上角坐标
+        x = random.randint(1000, self.image.shape[1] - self.patch_size-1000)
+        y = random.randint(1000, self.image.shape[0] - self.patch_size-1000)
+        x1 = x + self.patch_size
+        y1 = y + self.patch_size
+        return x,x1,y,y1
+
+    def generate(self):
+        x,x1,y,y1 = self.random_corp()
+        uav_center_x,uav_center_y=int((x+x1)//2),int((y+y1)//2)
+        uav_center_long,uav_center_lat=self.ST.Pix2Geo(uav_center_x,uav_center_y)
+        # print(uav_center_long,uav_center_lat)
+        self.image_patch = self.image[y:y1, x:x1]
+
+        map_center_lat, map_center_long = generate_random_coordinate(uav_center_lat, uav_center_long, self.tile_size_meters)
+        map,XY=self.get_osm([map_center_lat,map_center_long],[uav_center_lat, uav_center_long])
+
+
+        yaw=np.random.random()*360
+        self.image_patch=rotate_corp(self.image_patch,yaw)
+        # return self.image_patch,self.osm_patch
+        # XY=[X+self.tile_size_meters
+        return {
+            'uav_image':self.image_patch,
+            'uav_long_lat':[uav_center_long,uav_center_lat],
+            'map_long_lat': [map_center_long,map_center_lat],
+            'tile_size_meters': map.raster.shape[1],
+            'pixel_per_meter':self.pixel_per_meter,
+            'yaw':yaw,
+            'map':map.raster,
+            "uv":XY
+        }
+if __name__ == '__main__':
+
+    import argparse
+
+    parser = argparse.ArgumentParser(description='manual to this script')
+    parser.add_argument('--city', type=str, default=None,required=True)
+    parser.add_argument('--num', type=int, default=10000)
+    args = parser.parse_args()
+
+
+    root=Path('/root/DATASET/OrienterNet/UavMap/')
+    city=args.city
+    dataset = PreparaDataset(
+        root=root,
+        city=city,
+        patch_size=512,
+        tile_size_meters=128,
+    )
+
+    uav_path=root/city/'uav'
+    if not uav_path.exists():
+        uav_path.mkdir(parents=True)
+
+    map_path = root / city / 'map'
+    if not map_path.exists():
+        map_path.mkdir(parents=True)
+
+    map_vis_path = root / city / 'map_vis'
+    if not map_vis_path.exists():
+        map_vis_path.mkdir(parents=True)
+
+    info_path = root / city / 'info.csv'
+
+    # num=1000
+    num = args.num
+    info=[['id','uav_name','map_name','uav_long','uav_lat','map_long','map_lat','tile_size_meters','pixel_per_meter','u','v','yaw']]
+    # info =[]
+    for i in tqdm(range(num)):
+        data=dataset.generate()
+        # print(str(uav_path/"{:05d}.jpg".format(i)))
+
+        cv2.imwrite(str(uav_path/"{:05d}.jpg".format(i)),cv2.cvtColor(data['uav_image'],cv2.COLOR_RGB2BGR))
+
+        np.save(str(map_path/"{:05d}.npy".format(i)),data['map'])
+
+        map_viz, label = Colormap.apply(data['map'])
+        map_viz = map_viz * 255
+        map_viz = map_viz.astype(np.uint8)
+        cv2.imwrite(str(map_vis_path / "{:05d}.jpg".format(i)), cv2.cvtColor(map_viz, cv2.COLOR_RGB2BGR))
+
+
+        uav_center_long, uav_center_lat=data['uav_long_lat']
+        map_center_long, map_center_lat = data['map_long_lat']
+        info.append([
+             i,
+             "{:05d}.jpg".format(i),
+             "{:05d}.npy".format(i),
+             uav_center_long,
+             uav_center_lat,
+             map_center_long,
+             map_center_lat,
+             data["tile_size_meters"],
+             data["pixel_per_meter"],
+             data['uv'][0],
+             data['uv'][1],
+             data['yaw']
+             ])
+        # print(info)
+        np.savetxt(info_path,info,delimiter=',',fmt="%s")
\ No newline at end of file
diff --git a/dataset/__init__.py b/dataset/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..3b51bfd2ed3eaf38719d8ee102df779d53d1ffa4
--- /dev/null
+++ b/dataset/__init__.py
@@ -0,0 +1,4 @@
+# from .UAV.dataset import UavMapPair
+from .dataset import UavMapDatasetModule
+
+# modules = {"UAV": UavMapPair}
diff --git a/dataset/dataset.py b/dataset/dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..ec79057f559178a4c7508ab2970bb963dcf4e09a
--- /dev/null
+++ b/dataset/dataset.py
@@ -0,0 +1,93 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from copy import deepcopy
+from pathlib import Path
+from typing import Any, Dict, List
+# from logger import logger
+import numpy as np
+# import torch
+# import torch.utils.data as torchdata
+# import torchvision.transforms as tvf
+from omegaconf import DictConfig, OmegaConf
+import pytorch_lightning as pl
+from dataset.UAV.dataset import UavMapPair
+# from torch.utils.data import Dataset, DataLoader
+# from torchvision import transforms
+from torch.utils.data import Dataset, ConcatDataset
+from torch.utils.data import Dataset, DataLoader, random_split
+import torchvision.transforms as tvf
+
+# 自定义数据模块类，继承自pl.LightningDataModule
+class UavMapDatasetModule(pl.LightningDataModule):
+
+
+    def __init__(self, cfg: Dict[str, Any]):
+        super().__init__()
+
+        # default_cfg = OmegaConf.create(self.default_cfg)
+        # OmegaConf.set_struct(default_cfg, True)  # cannot add new keys
+        # self.cfg = OmegaConf.merge(default_cfg, cfg)
+        self.cfg=cfg
+        # self.transform = tvf.Compose([
+        #     tvf.ToTensor(),
+        #     tvf.Resize(self.cfg.image_size),
+        #     tvf.Normalize(mean=(0.5, 0.5, 0.5), std=(0.5, 0.5, 0.5))
+        # ])
+
+        tfs = []
+        tfs.append(tvf.ToTensor())
+        tfs.append(tvf.Resize(self.cfg.image_size))
+        self.val_tfs = tvf.Compose(tfs)
+
+        #     transforms.Resize(self.cfg.image_size),
+        if cfg.augmentation.image.apply:
+            args = OmegaConf.masked_copy(
+                cfg.augmentation.image, ["brightness", "contrast", "saturation", "hue"]
+            )
+            tfs.append(tvf.ColorJitter(**args))
+        self.train_tfs = tvf.Compose(tfs)
+
+        # self.train_tfs=self.transform
+        # self.val_tfs = self.transform
+        self.init()
+    def init(self):
+        self.train_dataset = ConcatDataset([
+            UavMapPair(root=Path(self.cfg.root),city=city,training=True,transform=self.train_tfs)
+            for city in self.cfg.train_citys
+        ])
+
+        self.val_dataset = ConcatDataset([
+            UavMapPair(root=Path(self.cfg.root),city=city,training=False,transform=self.val_tfs)
+            for city in self.cfg.val_citys
+        ])
+
+        # self.val_datasets = {
+        #     city:UavMapPair(root=Path(self.cfg.root),city=city,transform=self.val_tfs)
+        #     for city in self.cfg.val_citys
+        #     }
+        # logger.info("train data len:{},val data len:{}".format(len(self.train_dataset),len(self.val_dataset)))
+        # # 定义分割比例
+        # train_ratio = 0.8  # 训练集比例
+        # # 计算分割的样本数量
+        # train_size = int(len(self.dataset) * train_ratio)
+        # val_size = len(self.dataset) - train_size
+        # self.train_dataset, self.val_dataset = random_split(self.dataset, [train_size, val_size])
+    def train_dataloader(self):
+        train_loader = DataLoader(self.train_dataset,
+                                  batch_size=self.cfg.train.batch_size,
+                                  num_workers=self.cfg.train.num_workers,
+                                  shuffle=True,pin_memory = True)
+        return train_loader
+
+    def val_dataloader(self):
+        val_loader = DataLoader(self.val_dataset,
+                                batch_size=self.cfg.val.batch_size,
+                                num_workers=self.cfg.val.num_workers,
+                                shuffle=True,pin_memory = True)
+        #
+        # my_dict = {k: v for k, v in self.val_datasets}
+        # val_loaders={city: DataLoader(dataset,
+        #                         batch_size=self.cfg.val.batch_size,
+        #                         num_workers=self.cfg.val.num_workers,
+        #                         shuffle=False,pin_memory = True) for city, dataset in self.val_datasets.items()}
+        return val_loader
diff --git a/dataset/image.py b/dataset/image.py
new file mode 100644
index 0000000000000000000000000000000000000000..75b3dc68cc2481150c5ff938483ae640956bcf0d
--- /dev/null
+++ b/dataset/image.py
@@ -0,0 +1,140 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from typing import Callable, Optional, Union, Sequence
+
+import numpy as np
+import torch
+import torchvision.transforms.functional as tvf
+import collections
+from scipy.spatial.transform import Rotation
+
+from utils.geometry import from_homogeneous, to_homogeneous
+from utils.wrappers import Camera
+
+
+def rectify_image(
+    image: torch.Tensor,
+    cam: Camera,
+    roll: float,
+    pitch: Optional[float] = None,
+    valid: Optional[torch.Tensor] = None,
+):
+    *_, h, w = image.shape
+    grid = torch.meshgrid(
+        [torch.arange(w, device=image.device), torch.arange(h, device=image.device)],
+        indexing="xy",
+    )
+    grid = torch.stack(grid, -1).to(image.dtype)
+
+    if pitch is not None:
+        args = ("ZX", (roll, pitch))
+    else:
+        args = ("Z", roll)
+    R = Rotation.from_euler(*args, degrees=True).as_matrix()
+    R = torch.from_numpy(R).to(image)
+
+    grid_rect = to_homogeneous(cam.normalize(grid)) @ R.T
+    grid_rect = cam.denormalize(from_homogeneous(grid_rect))
+    grid_norm = (grid_rect + 0.5) / grid.new_tensor([w, h]) * 2 - 1
+    rectified = torch.nn.functional.grid_sample(
+        image[None],
+        grid_norm[None],
+        align_corners=False,
+        mode="bilinear",
+    ).squeeze(0)
+    if valid is None:
+        valid = torch.all((grid_norm >= -1) & (grid_norm <= 1), -1)
+    else:
+        valid = (
+            torch.nn.functional.grid_sample(
+                valid[None, None].float(),
+                grid_norm[None],
+                align_corners=False,
+                mode="nearest",
+            )[0, 0]
+            > 0
+        )
+    return rectified, valid
+
+
+def resize_image(
+    image: torch.Tensor,
+    size: Union[int, Sequence, np.ndarray],
+    fn: Optional[Callable] = None,
+    camera: Optional[Camera] = None,
+    valid: np.ndarray = None,
+):
+    """Resize an image to a fixed size, or according to max or min edge."""
+    *_, h, w = image.shape
+    if fn is not None:
+        assert isinstance(size, int)
+        scale = size / fn(h, w)
+        h_new, w_new = int(round(h * scale)), int(round(w * scale))
+        scale = (scale, scale)
+    else:
+        if isinstance(size, (collections.abc.Sequence, np.ndarray)):
+            w_new, h_new = size
+        elif isinstance(size, int):
+            w_new = h_new = size
+        else:
+            raise ValueError(f"Incorrect new size: {size}")
+        scale = (w_new / w, h_new / h)
+    if (w, h) != (w_new, h_new):
+        mode = tvf.InterpolationMode.BILINEAR
+        image = tvf.resize(image, (h_new, w_new), interpolation=mode, antialias=True)
+        image.clip_(0, 1)
+        if camera is not None:
+            camera = camera.scale(scale)
+        if valid is not None:
+            valid = tvf.resize(
+                valid.unsqueeze(0),
+                (h_new, w_new),
+                interpolation=tvf.InterpolationMode.NEAREST,
+            ).squeeze(0)
+    ret = [image, scale]
+    if camera is not None:
+        ret.append(camera)
+    if valid is not None:
+        ret.append(valid)
+    return ret
+
+
+def pad_image(
+    image: torch.Tensor,
+    size: Union[int, Sequence, np.ndarray],
+    camera: Optional[Camera] = None,
+    valid: torch.Tensor = None,
+    crop_and_center: bool = False,
+):
+    if isinstance(size, int):
+        w_new = h_new = size
+    elif isinstance(size, (collections.abc.Sequence, np.ndarray)):
+        w_new, h_new = size
+    else:
+        raise ValueError(f"Incorrect new size: {size}")
+    *c, h, w = image.shape
+    if crop_and_center:
+        diff = np.array([w - w_new, h - h_new])
+        left, top = left_top = np.round(diff / 2).astype(int)
+        right, bottom = diff - left_top
+    else:
+        assert h <= h_new
+        assert w <= w_new
+        top = bottom = left = right = 0
+    slice_out = np.s_[..., : min(h, h_new), : min(w, w_new)]
+    slice_in = np.s_[
+        ..., max(top, 0) : h - max(bottom, 0), max(left, 0) : w - max(right, 0)
+    ]
+    if (w, h) == (w_new, h_new):
+        out = image
+    else:
+        out = torch.zeros((*c, h_new, w_new), dtype=image.dtype)
+        out[slice_out] = image[slice_in]
+        if camera is not None:
+            camera = camera.crop((max(left, 0), max(top, 0)), (w_new, h_new))
+    out_valid = torch.zeros((h_new, w_new), dtype=torch.bool)
+    out_valid[slice_out] = True if valid is None else valid[slice_in]
+    if camera is not None:
+        return out, out_valid, camera
+    else:
+        return out, out_valid
diff --git a/dataset/torch.py b/dataset/torch.py
new file mode 100644
index 0000000000000000000000000000000000000000..9547ca149c606a345e5b8916591e43c26031022c
--- /dev/null
+++ b/dataset/torch.py
@@ -0,0 +1,111 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import collections
+import os
+
+import torch
+from torch.utils.data import get_worker_info
+from torch.utils.data._utils.collate import (
+    default_collate_err_msg_format,
+    np_str_obj_array_pattern,
+)
+from lightning_fabric.utilities.seed import pl_worker_init_function
+from lightning_utilities.core.apply_func import apply_to_collection
+from lightning_fabric.utilities.apply_func import move_data_to_device
+
+
+def collate(batch):
+    """Difference with PyTorch default_collate: it can stack other tensor-like objects.
+    Adapted from PixLoc, Paul-Edouard Sarlin, ETH Zurich
+    https://github.com/cvg/pixloc
+    Released under the Apache License 2.0
+    """
+    if not isinstance(batch, list):  # no batching
+        return batch
+    elem = batch[0]
+    elem_type = type(elem)
+    if isinstance(elem, torch.Tensor):
+        out = None
+        if torch.utils.data.get_worker_info() is not None:
+            # If we're in a background process, concatenate directly into a
+            # shared memory tensor to avoid an extra copy
+            numel = sum(x.numel() for x in batch)
+            storage = elem.storage()._new_shared(numel, device=elem.device)
+            out = elem.new(storage).resize_(len(batch), *list(elem.size()))
+        return torch.stack(batch, 0, out=out)
+    elif (
+        elem_type.__module__ == "numpy"
+        and elem_type.__name__ != "str_"
+        and elem_type.__name__ != "string_"
+    ):
+        if elem_type.__name__ == "ndarray" or elem_type.__name__ == "memmap":
+            # array of string classes and object
+            if np_str_obj_array_pattern.search(elem.dtype.str) is not None:
+                raise TypeError(default_collate_err_msg_format.format(elem.dtype))
+
+            return collate([torch.as_tensor(b) for b in batch])
+        elif elem.shape == ():  # scalars
+            return torch.as_tensor(batch)
+    elif isinstance(elem, float):
+        return torch.tensor(batch, dtype=torch.float64)
+    elif isinstance(elem, int):
+        return torch.tensor(batch)
+    elif isinstance(elem, (str, bytes)):
+        return batch
+    elif isinstance(elem, collections.abc.Mapping):
+        return {key: collate([d[key] for d in batch]) for key in elem}
+    elif isinstance(elem, tuple) and hasattr(elem, "_fields"):  # namedtuple
+        return elem_type(*(collate(samples) for samples in zip(*batch)))
+    elif isinstance(elem, collections.abc.Sequence):
+        # check to make sure that the elements in batch have consistent size
+        it = iter(batch)
+        elem_size = len(next(it))
+        if not all(len(elem) == elem_size for elem in it):
+            raise RuntimeError("each element in list of batch should be of equal size")
+        transposed = zip(*batch)
+        return [collate(samples) for samples in transposed]
+    else:
+        # try to stack anyway in case the object implements stacking.
+        try:
+            return torch.stack(batch, 0)
+        except TypeError as e:
+            if "expected Tensor as element" in str(e):
+                return batch
+            else:
+                raise e
+
+
+def set_num_threads(nt):
+    """Force numpy and other libraries to use a limited number of threads."""
+    try:
+        import mkl
+    except ImportError:
+        pass
+    else:
+        mkl.set_num_threads(nt)
+    torch.set_num_threads(1)
+    os.environ["IPC_ENABLE"] = "1"
+    for o in [
+        "OPENBLAS_NUM_THREADS",
+        "NUMEXPR_NUM_THREADS",
+        "OMP_NUM_THREADS",
+        "MKL_NUM_THREADS",
+    ]:
+        os.environ[o] = str(nt)
+
+
+def worker_init_fn(i):
+    info = get_worker_info()
+    pl_worker_init_function(info.id)
+    num_threads = info.dataset.cfg.get("num_threads")
+    if num_threads is not None:
+        set_num_threads(num_threads)
+
+
+def unbatch_to_device(data, device="cpu"):
+    data = move_data_to_device(data, device)
+    data = apply_to_collection(data, torch.Tensor, lambda x: x.squeeze(0))
+    data = apply_to_collection(
+        data, list, lambda x: x[0] if len(x) == 1 and isinstance(x[0], str) else x
+    )
+    return data
diff --git a/demo.py b/demo.py
new file mode 100644
index 0000000000000000000000000000000000000000..32b54b259de97aa0253b5a81379cd080897ace29
--- /dev/null
+++ b/demo.py
@@ -0,0 +1,354 @@
+
+import matplotlib.pyplot as plt
+# from demo import Demo, read_input_image,read_input_image_test
+from evaluation.viz import plot_example_single
+from dataset.torch import unbatch_to_device
+import matplotlib.pyplot as plt
+from typing import Optional, Tuple
+import cv2
+import torch
+import numpy as np
+import time
+from logger import logger
+from evaluation.run import resolve_checkpoint_path, pretrained_models
+from models.maplocnet import MapLocNet
+from models.voting import fuse_gps, argmax_xyr
+# from data.image import resize_image, pad_image, rectify_image
+from osm.raster import Canvas
+from utils.wrappers import Camera
+from utils.io import read_image
+from utils.geo import BoundaryBox, Projection
+from utils.exif import EXIF
+import requests
+from pathlib import Path
+from utils.exif import EXIF
+from dataset.image import resize_image, pad_image, rectify_image
+# from maploc.demo import Demo, read_input_image
+from dataset import UavMapDatasetModule
+import torchvision.transforms as tvf
+import matplotlib.pyplot as plt
+import numpy as np
+from sklearn.decomposition import PCA
+from PIL import Image
+# import pyproj
+# Query OpenStreetMap for this area
+from osm.tiling import TileManager
+from utils.viz_localization import (
+    likelihood_overlay,
+    plot_dense_rotations,
+    add_circle_inset,
+)
+# Show the inputs to the model: image and raster map
+from osm.viz import Colormap, plot_nodes
+from utils.viz_2d import plot_images
+
+from utils.viz_2d import features_to_RGB
+import random
+from geopy.distance import geodesic
+
+
+def vis_image_feature(F):
+    def normalize(x):
+        return x / np.linalg.norm(x, axis=-1, keepdims=True)
+
+    # F=neural_map.numpy()
+    F = F[:, 0:180, 0:180]
+    flatten = []
+    c, h, w = F.shape
+    print(F.shape)
+    F = np.rollaxis(F, 0, 3)
+    F_flat = F.reshape(-1, c)
+    flatten.append(F_flat)
+    flatten = normalize(flatten)[0]
+
+    flatten = np.nan_to_num(flatten, nan=0)
+    pca = PCA(n_components=3)
+
+    print(flatten.shape)
+    flatten = pca.fit_transform(flatten)
+    flatten = (normalize(flatten) + 1) / 2
+
+    # h, w = F.shape[-2:]
+    F_rgb, flatten = np.split(flatten, [h * w], axis=0)
+    F_rgb = F_rgb.reshape((h, w, 3))
+    return F_rgb
+def distance(lat1, lon1, lat2, lon2):
+    point1 = (lat1, lon1)
+    point2 = (lat2, lon2)
+    distance_km = geodesic(point1, point2).meters
+    return distance_km
+
+# # 示例
+# lat1, lon1 = 39.9, 116.4  # 北京的经纬度
+# lat2, lon2 = 31.2, 121.5  # 上海的经纬度
+
+# distance_km = distance(lat1, lon1, lat2, lon2)
+# print(distance_km)
+def show_result(map_vis_image, pre_uv, pre_yaw):
+    # 创建一个和原始图片大小相同的灰色蒙版图像
+    gray_mask = np.zeros_like(map_vis_image)
+    gray_mask.fill(128)  # 填充灰色
+
+    # 将灰色蒙版图像与原始图像进行融合
+    image = cv2.addWeighted(map_vis_image, 1, gray_mask, 0, 0)
+    # 绘制真实值
+
+    # 绘制预测值
+    u, v = pre_uv
+    x1, y1 = int(u), int(v)  # 替换为实际的起点坐标
+    angle = pre_yaw - 90  # 替换为实际的箭头角度
+    # 计算箭头的终点坐标
+    length = 20
+    x2 = int(x1 + length * np.cos(np.radians(angle)))
+    y2 = int(y1 + length * np.sin(np.radians(angle)))
+    # 在图像上画出箭头
+    cv2.arrowedLine(image, (x1, y1), (x2, y2), (0, 0, 0), 2, 5, 0, 0.3)
+    # cv2.circle(image, (x1, y1), radius=2, color=(255, 0, 255), thickness=-1)
+    return image
+
+
+def xyz_to_latlon(x, y, z):
+    # 定义WGS84投影
+    wgs84 = pyproj.CRS('EPSG:4326')
+
+    # 定义XYZ投影
+    xyz = pyproj.CRS(f'+proj=geocent +datum=WGS84 +units=m +no_defs')
+
+    # 创建坐标转换器
+    transformer = pyproj.Transformer.from_crs(xyz, wgs84)
+
+    # 转换坐标
+    lon, lat, _ = transformer.transform(x, y, z)
+
+    return lat, lon
+
+
+class Demo:
+    def __init__(
+            self,
+            experiment_or_path: Optional[str] = "OrienterNet_MGL",
+            device=None,
+            **kwargs
+    ):
+        if experiment_or_path in pretrained_models:
+            experiment_or_path, _ = pretrained_models[experiment_or_path]
+        path = resolve_checkpoint_path(experiment_or_path)
+        ckpt = torch.load(path, map_location=(lambda storage, loc: storage))
+        config = ckpt["hyper_parameters"]
+        config.model.update(kwargs)
+        config.model.image_encoder.backbone.pretrained = False
+
+        model = MapLocNet(config.model).eval()
+        state = {k[len("model."):]: v for k, v in ckpt["state_dict"].items()}
+        model.load_state_dict(state, strict=True)
+        if device is None:
+            device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+        model = model.to(device)
+
+        self.model = model
+        self.config = config
+        self.device = device
+
+    def prepare_data(
+            self,
+            image: np.ndarray,
+            camera: Camera,
+            canvas: Canvas,
+            roll_pitch: Optional[Tuple[float]] = None,
+    ):
+
+        image = torch.from_numpy(image).permute(2, 0, 1).float().div_(255)
+
+        return {
+            'map': torch.from_numpy(canvas.raster).long(),
+            'image': image,
+            # 'roll_pitch_yaw':torch.tensor((0, 0, float(yaw))).float().unsqueeze(0),
+            # 'pixels_per_meter':torch.tensor(float(pixel_per_meter)).float().unsqueeze(0),
+            # "uv":torch.tensor([float(u), float(v)]).float().unsqueeze(0),
+        }
+        # return dict(
+        #     image=image,
+        #     map=torch.from_numpy(canvas.raster).long(),
+        #     camera=camera.float(),
+        #     valid=valid,
+        # )
+
+    def localize(self, image: np.ndarray, camera: Camera, canvas: Canvas, **kwargs):
+
+        data = self.prepare_data(image, camera, canvas, **kwargs)
+        data_ = {k: v.to(self.device)[None] for k, v in data.items()}
+        # data_np = {k: v.cpu().numpy()[None] for k, v in data.items()}
+        # logger.info(data_)
+        # np.save(data_np, 'data_.npy')
+        start = time.time()
+        with torch.no_grad():
+            pred = self.model(data_)
+
+        end = time.time()
+        xy_gps = canvas.bbox.center
+        uv_gps = torch.from_numpy(canvas.to_uv(xy_gps))
+
+        lp_xyr = pred["log_probs"].squeeze(0)
+        # tile_size = canvas.bbox.size.min() / 2
+        # sigma = tile_size - 20  # 20 meters margin
+        # lp_xyr = fuse_gps(
+        #     lp_xyr,
+        #     uv_gps.to(lp_xyr),
+        #     self.config.model.pixel_per_meter,
+        #     sigma=sigma,
+        # )
+        xyr = argmax_xyr(lp_xyr).cpu()
+
+        prob = lp_xyr.exp().cpu()
+        neural_map = pred["map"]["map_features"][0].squeeze(0).cpu()
+        print('total time:', start - end)
+        return xyr[:2], xyr[2], prob, neural_map, data["image"], data_, pred
+
+
+def load_test_data(
+        root: Path,
+        city: str,
+        index: int,
+):
+    uav_image_path = root / city / 'uav'
+    map_path = root / city / 'map'
+    map_vis = root / city / 'map_vis'
+    info_path = root / city / 'info.csv'
+    osm_path = root / city / '{}.osm'.format(city)
+
+    info = np.loadtxt(str(info_path), dtype=str, delimiter=",", skiprows=1)
+
+    id, uav_name, map_name, \
+        uav_long, uav_lat, \
+        map_long, map_lat, \
+        tile_size_meters, pixel_per_meter, \
+        u, v, yaw, dis = info[index]
+    print(info[index])
+    uav_image_rgb = cv2.imread(str(uav_image_path / uav_name))
+    uav_image_rgb = cv2.cvtColor(uav_image_rgb, cv2.COLOR_BGR2RGB)
+
+    # w,h,c=uav_image_rgb.shape
+    # # 指定裁剪区域的坐标
+    # x = w//2   # 起始横坐标
+    # y = h//2  # 起始纵坐标
+    # w = 150   # 宽度
+    # h = 150   # 高度
+
+    # # 裁剪图像
+    # uav_image_rgb = uav_image_rgb[y-h:y+h, x-w:x+w]
+
+    map_vis_image = cv2.imread(str(map_vis / uav_name))
+    map_vis_image = cv2.cvtColor(map_vis_image, cv2.COLOR_BGR2RGB)
+
+    map = np.load(str(map_path / map_name))
+
+    tfs = []
+    tfs.append(tvf.ToTensor())
+    tfs.append(tvf.Resize(256))
+    val_tfs = tvf.Compose(tfs)
+
+    uav_image = val_tfs(uav_image_rgb)
+    # print(id, uav_name, map_name, \
+    #     uav_long, uav_lat, \
+    #     map_long, map_lat, \
+    #     tile_size_meters, pixel_per_meter, \
+    #     u, v, yaw,dis)
+    uav_path = str(uav_image_path / uav_name)
+    return {
+        'map': torch.from_numpy(np.ascontiguousarray(map)).long().unsqueeze(0),
+        'image': torch.tensor(uav_image).unsqueeze(0),
+        'roll_pitch_yaw': torch.tensor((0, 0, float(yaw))).float().unsqueeze(0),
+        'pixels_per_meter': torch.tensor(float(pixel_per_meter)).float().unsqueeze(0),
+        "uv": torch.tensor([float(u), float(v)]).float().unsqueeze(0),
+    }, uav_image_rgb, map_vis_image, uav_path, [float(map_lat), float(map_long)]
+
+
+def crop_image(image, width, height):
+    # 计算剪裁区域的起始点坐标
+    x = int((image.shape[1] - width) / 2)
+    y = int((image.shape[0] - height) / 2)
+
+    # 剪裁图像
+    cropped_image = image[y:y + height, x:x + width]
+    return cropped_image
+
+
+def crop_square(image):
+    # 获取图像的宽度和高度
+    height, width = image.shape[:2]
+
+    # 确定最小边的长度
+    min_length = min(height, width)
+
+    # 计算剪裁区域的坐标
+    top = (height - min_length) // 2
+    bottom = top + min_length
+    left = (width - min_length) // 2
+    right = left + min_length
+
+    # 剪裁图像为正方形
+    cropped_image = image[top:bottom, left:right]
+
+    return cropped_image
+def read_input_image_test(
+        image,
+        prior_latlon,
+        tile_size_meters,
+):
+    # image = read_image(image_path)
+    # # 剪裁图像
+    # # 指定剪裁的宽度和高度
+    # width = 1080*2
+    # height =1080*2
+    # image = crop_square(image)
+    # # print("input image:",image.shape)
+    # image = crop_image(image, width, height)
+    # # print("crop_image:",image.shape)
+    image = cv2.resize(image,(256,256))
+    roll_pitch = None
+
+
+    latlon = None
+    if prior_latlon is not None:
+        latlon = prior_latlon
+        logger.info("Using prior latlon %s.", prior_latlon)
+
+    if latlon is None:
+        with open(image_path, "rb") as fid:
+            exif = EXIF(fid, lambda: image.shape[:2])
+        geo = exif.extract_geo()
+        if geo:
+            alt = geo.get("altitude", 0)  # read if available
+            latlon = (geo["latitude"], geo["longitude"], alt)
+            logger.info("Using prior location from EXIF.")
+            # print(latlon)
+        else:
+            logger.info("Could not find any prior location in the image EXIF metadata.")
+
+    latlon = np.array(latlon)
+
+    proj = Projection(*latlon)
+    center = proj.project(latlon)
+    bbox = BoundaryBox(center, center) + float(tile_size_meters)
+    camera=None
+    image=cv2.resize(image,(256,256))
+    return image, camera, roll_pitch, proj, bbox, latlon
+if __name__ == '__main__':
+    experiment_or_path = "weight/last-step-checkpointing.ckpt"
+    # experiment_or_path="experiments/maplocanet_0906_diffhight/last-step-checkpointing.ckpt"
+    image_path='images/00000.jpg'
+    prior_latlon=(37.75704325989902,-122.435941445631)
+    tile_size_meters=128
+    demo = Demo(experiment_or_path=experiment_or_path, num_rotations=128, device='cpu')
+    image, camera, gravity, proj, bbox, true_prior_latlon = read_input_image_test(
+        image_path,
+        prior_latlon=prior_latlon,
+        tile_size_meters=tile_size_meters,  # try 64, 256, etc.
+    )
+    tiler = TileManager.from_bbox(projection=proj, bbox=bbox + 10,ppm=1, tile_size=tile_size_meters)
+    # tiler = TileManager.from_bbox(projection=proj, bbox=bbox + 10,ppm=1,path=root/city/'{}.osm'.format(city), tile_size=1)
+    canvas = tiler.query(bbox)
+    uv, yaw, prob, neural_map, image_rectified, data_, pred = demo.localize(
+        image, camera, canvas)
+    prior_latlon_pred = proj.unproject(canvas.to_xy(uv))
+    pass
\ No newline at end of file
diff --git a/evaluation/kitti.py b/evaluation/kitti.py
new file mode 100644
index 0000000000000000000000000000000000000000..e91da069f307a533b0471a3fb43f8622cadc60db
--- /dev/null
+++ b/evaluation/kitti.py
@@ -0,0 +1,89 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import argparse
+from pathlib import Path
+from typing import Optional, Tuple
+
+from omegaconf import OmegaConf, DictConfig
+
+from .. import logger
+from ..data import KittiDataModule
+from .run import evaluate
+
+
+default_cfg_single = OmegaConf.create({})
+# For the sequential evaluation, we need to center the map around the GT location,
+# since random offsets would accumulate and leave only the GT location with a valid mask.
+# This should not have much impact on the results.
+default_cfg_sequential = OmegaConf.create(
+    {
+        "data": {
+            "mask_radius": KittiDataModule.default_cfg["max_init_error"],
+            "prior_range_rotation": KittiDataModule.default_cfg[
+                "max_init_error_rotation"
+            ]
+            + 1,
+            "max_init_error": 0,
+            "max_init_error_rotation": 0,
+        },
+        "chunking": {
+            "max_length": 100,  # about 10s?
+        },
+    }
+)
+
+
+def run(
+    split: str,
+    experiment: str,
+    cfg: Optional[DictConfig] = None,
+    sequential: bool = False,
+    thresholds: Tuple[int] = (1, 3, 5),
+    **kwargs,
+):
+    cfg = cfg or {}
+    if isinstance(cfg, dict):
+        cfg = OmegaConf.create(cfg)
+    default = default_cfg_sequential if sequential else default_cfg_single
+    cfg = OmegaConf.merge(default, cfg)
+    dataset = KittiDataModule(cfg.get("data", {}))
+
+    metrics = evaluate(
+        experiment,
+        cfg,
+        dataset,
+        split=split,
+        sequential=sequential,
+        viz_kwargs=dict(show_dir_error=True, show_masked_prob=False),
+        **kwargs,
+    )
+
+    keys = ["directional_error", "yaw_max_error"]
+    if sequential:
+        keys += ["directional_seq_error", "yaw_seq_error"]
+    for k in keys:
+        rec = metrics[k].recall(thresholds).double().numpy().round(2).tolist()
+        logger.info("Recall %s: %s at %s m/°", k, rec, thresholds)
+    return metrics
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--experiment", type=str, required=True)
+    parser.add_argument(
+        "--split", type=str, default="test", choices=["test", "val", "train"]
+    )
+    parser.add_argument("--sequential", action="store_true")
+    parser.add_argument("--output_dir", type=Path)
+    parser.add_argument("--num", type=int)
+    parser.add_argument("dotlist", nargs="*")
+    args = parser.parse_args()
+    cfg = OmegaConf.from_cli(args.dotlist)
+    run(
+        args.split,
+        args.experiment,
+        cfg,
+        args.sequential,
+        output_dir=args.output_dir,
+        num=args.num,
+    )
diff --git a/evaluation/mapillary.py b/evaluation/mapillary.py
new file mode 100644
index 0000000000000000000000000000000000000000..c45b845bacd6d6a9c995d3b8d7ee9cd9ec2a9f78
--- /dev/null
+++ b/evaluation/mapillary.py
@@ -0,0 +1,111 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import argparse
+from pathlib import Path
+from typing import Optional, Tuple
+
+from omegaconf import OmegaConf, DictConfig
+
+from .. import logger
+from ..conf import data as conf_data_dir
+from ..data import MapillaryDataModule
+from .run import evaluate
+
+
+split_overrides = {
+    "val": {
+        "scenes": [
+            "sanfrancisco_soma",
+            "sanfrancisco_hayes",
+            "amsterdam",
+            "berlin",
+            "lemans",
+            "montrouge",
+            "toulouse",
+            "nantes",
+            "vilnius",
+            "avignon",
+            "helsinki",
+            "milan",
+            "paris",
+        ],
+    },
+}
+data_cfg_train = OmegaConf.load(Path(conf_data_dir.__file__).parent / "mapillary.yaml")
+data_cfg = OmegaConf.merge(
+    data_cfg_train,
+    {
+        "return_gps": True,
+        "add_map_mask": True,
+        "max_init_error": 32,
+        "loading": {"val": {"batch_size": 1, "num_workers": 0}},
+    },
+)
+default_cfg_single = OmegaConf.create({"data": data_cfg})
+default_cfg_sequential = OmegaConf.create(
+    {
+        **default_cfg_single,
+        "chunking": {
+            "max_length": 10,
+        },
+    }
+)
+
+
+def run(
+    split: str,
+    experiment: str,
+    cfg: Optional[DictConfig] = None,
+    sequential: bool = False,
+    thresholds: Tuple[int] = (1, 3, 5),
+    **kwargs,
+):
+    cfg = cfg or {}
+    if isinstance(cfg, dict):
+        cfg = OmegaConf.create(cfg)
+    default = default_cfg_sequential if sequential else default_cfg_single
+    default = OmegaConf.merge(default, split_overrides[split])
+    cfg = OmegaConf.merge(default, cfg)
+    dataset = MapillaryDataModule(cfg.get("data", {}))
+
+    metrics = evaluate(experiment, cfg, dataset, split, sequential=sequential, **kwargs)
+
+    keys = [
+        "xy_max_error",
+        "xy_gps_error",
+        "yaw_max_error",
+    ]
+    if sequential:
+        keys += [
+            "xy_seq_error",
+            "xy_gps_seq_error",
+            "yaw_seq_error",
+            "yaw_gps_seq_error",
+        ]
+    for k in keys:
+        if k not in metrics:
+            logger.warning("Key %s not in metrics.", k)
+            continue
+        rec = metrics[k].recall(thresholds).double().numpy().round(2).tolist()
+        logger.info("Recall %s: %s at %s m/°", k, rec, thresholds)
+    return metrics
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--experiment", type=str, required=True)
+    parser.add_argument("--split", type=str, default="val", choices=["val"])
+    parser.add_argument("--sequential", action="store_true")
+    parser.add_argument("--output_dir", type=Path)
+    parser.add_argument("--num", type=int)
+    parser.add_argument("dotlist", nargs="*")
+    args = parser.parse_args()
+    cfg = OmegaConf.from_cli(args.dotlist)
+    run(
+        args.split,
+        args.experiment,
+        cfg,
+        args.sequential,
+        output_dir=args.output_dir,
+        num=args.num,
+    )
diff --git a/evaluation/run.py b/evaluation/run.py
new file mode 100644
index 0000000000000000000000000000000000000000..ff29688454358303643f3a26f7900486c19dbf22
--- /dev/null
+++ b/evaluation/run.py
@@ -0,0 +1,252 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import functools
+from itertools import islice
+from typing import Callable, Dict, Optional, Tuple
+from pathlib import Path
+
+import numpy as np
+import torch
+from omegaconf import DictConfig, OmegaConf
+from torchmetrics import MetricCollection
+from pytorch_lightning import seed_everything
+from tqdm import tqdm
+
+from logger import logger, EXPERIMENTS_PATH
+from dataset.torch import collate, unbatch_to_device
+from models.voting import argmax_xyr, fuse_gps
+from models.metrics import AngleError, LateralLongitudinalError, Location2DError
+# from models.sequential import GPSAligner, RigidAligner
+from module import GenericModule
+from utils.io import download_file, DATA_URL
+from evaluation.viz import plot_example_single, plot_example_sequential
+from evaluation.utils import write_dump
+
+
+pretrained_models = dict(
+    OrienterNet_MGL=("orienternet_mgl.ckpt", dict(num_rotations=256)),
+)
+
+
+def resolve_checkpoint_path(experiment_or_path: str) -> Path:
+    path = Path(experiment_or_path)
+    if not path.exists():
+        # provided name of experiment
+        path = Path(EXPERIMENTS_PATH, *experiment_or_path.split("/"))
+        if not path.exists():
+            if experiment_or_path in set(p for p, _ in pretrained_models.values()):
+                download_file(f"{DATA_URL}/{experiment_or_path}", path)
+            else:
+                raise FileNotFoundError(path)
+    if path.is_file():
+        return path
+    # provided only the experiment name
+    maybe_path = path / "last-step-v1.ckpt"
+    if not maybe_path.exists():
+        maybe_path = path / "last.ckpt"
+    if not maybe_path.exists():
+        raise FileNotFoundError(f"Could not find any checkpoint in {path}.")
+    return maybe_path
+
+
+@torch.no_grad()
+def evaluate_single_image(
+    dataloader: torch.utils.data.DataLoader,
+    model: GenericModule,
+    num: Optional[int] = None,
+    callback: Optional[Callable] = None,
+    progress: bool = True,
+    mask_index: Optional[Tuple[int]] = None,
+    has_gps: bool = False,
+):
+    ppm = model.model.conf.pixel_per_meter
+    metrics = MetricCollection(model.model.metrics())
+    metrics["directional_error"] = LateralLongitudinalError(ppm)
+    if has_gps:
+        metrics["xy_gps_error"] = Location2DError("uv_gps", ppm)
+        metrics["xy_fused_error"] = Location2DError("uv_fused", ppm)
+        metrics["yaw_fused_error"] = AngleError("yaw_fused")
+    metrics = metrics.to(model.device)
+
+    for i, batch_ in enumerate(
+        islice(tqdm(dataloader, total=num, disable=not progress), num)
+    ):
+        batch = model.transfer_batch_to_device(batch_, model.device, i)
+        # Ablation: mask semantic classes
+        if mask_index is not None:
+            mask = batch["map"][0, mask_index[0]] == (mask_index[1] + 1)
+            batch["map"][0, mask_index[0]][mask] = 0
+        pred = model(batch)
+
+        if has_gps:
+            (uv_gps,) = pred["uv_gps"] = batch["uv_gps"]
+            pred["log_probs_fused"] = fuse_gps(
+                pred["log_probs"], uv_gps, ppm, sigma=batch["accuracy_gps"]
+            )
+            uvt_fused = argmax_xyr(pred["log_probs_fused"])
+            pred["uv_fused"] = uvt_fused[..., :2]
+            pred["yaw_fused"] = uvt_fused[..., -1]
+            del uv_gps, uvt_fused
+
+        results = metrics(pred, batch)
+        if callback is not None:
+            callback(
+                i, model, unbatch_to_device(pred), unbatch_to_device(batch_), results
+            )
+        del batch_, batch, pred, results
+
+    return metrics.cpu()
+
+
+@torch.no_grad()
+def evaluate_sequential(
+    dataset: torch.utils.data.Dataset,
+    chunk2idx: Dict,
+    model: GenericModule,
+    num: Optional[int] = None,
+    shuffle: bool = False,
+    callback: Optional[Callable] = None,
+    progress: bool = True,
+    num_rotations: int = 512,
+    mask_index: Optional[Tuple[int]] = None,
+    has_gps: bool = True,
+):
+    chunk_keys = list(chunk2idx)
+    if shuffle:
+        chunk_keys = [chunk_keys[i] for i in torch.randperm(len(chunk_keys))]
+    if num is not None:
+        chunk_keys = chunk_keys[:num]
+    lengths = [len(chunk2idx[k]) for k in chunk_keys]
+    logger.info(
+        "Min/max/med lengths: %d/%d/%d, total number of images: %d",
+        min(lengths),
+        np.median(lengths),
+        max(lengths),
+        sum(lengths),
+    )
+    viz = callback is not None
+
+    metrics = MetricCollection(model.model.metrics())
+    ppm = model.model.conf.pixel_per_meter
+    metrics["directional_error"] = LateralLongitudinalError(ppm)
+    metrics["xy_seq_error"] = Location2DError("uv_seq", ppm)
+    metrics["yaw_seq_error"] = AngleError("yaw_seq")
+    metrics["directional_seq_error"] = LateralLongitudinalError(ppm, key="uv_seq")
+    if has_gps:
+        metrics["xy_gps_error"] = Location2DError("uv_gps", ppm)
+        metrics["xy_gps_seq_error"] = Location2DError("uv_gps_seq", ppm)
+        metrics["yaw_gps_seq_error"] = AngleError("yaw_gps_seq")
+    metrics = metrics.to(model.device)
+
+    keys_save = ["uvr_max", "uv_max", "yaw_max", "uv_expectation"]
+    if has_gps:
+        keys_save.append("uv_gps")
+    if viz:
+        keys_save.append("log_probs")
+
+    for chunk_index, key in enumerate(tqdm(chunk_keys, disable=not progress)):
+        indices = chunk2idx[key]
+        aligner = RigidAligner(track_priors=viz, num_rotations=num_rotations)
+        if has_gps:
+            aligner_gps = GPSAligner(track_priors=viz, num_rotations=num_rotations)
+        batches = []
+        preds = []
+        for i in indices:
+            data = dataset[i]
+            data = model.transfer_batch_to_device(data, model.device, 0)
+            pred = model(collate([data]))
+
+            canvas = data["canvas"]
+            data["xy_geo"] = xy = canvas.to_xy(data["uv"].double())
+            data["yaw"] = yaw = data["roll_pitch_yaw"][-1].double()
+            aligner.update(pred["log_probs"][0], canvas, xy, yaw)
+
+            if has_gps:
+                (uv_gps) = pred["uv_gps"] = data["uv_gps"][None]
+                xy_gps = canvas.to_xy(uv_gps.double())
+                aligner_gps.update(xy_gps, data["accuracy_gps"], canvas, xy, yaw)
+
+            if not viz:
+                data.pop("image")
+                data.pop("map")
+            batches.append(data)
+            preds.append({k: pred[k][0] for k in keys_save})
+            del pred
+
+        xy_gt = torch.stack([b["xy_geo"] for b in batches])
+        yaw_gt = torch.stack([b["yaw"] for b in batches])
+        aligner.compute()
+        xy_seq, yaw_seq = aligner.transform(xy_gt, yaw_gt)
+        if has_gps:
+            aligner_gps.compute()
+            xy_gps_seq, yaw_gps_seq = aligner_gps.transform(xy_gt, yaw_gt)
+        results = []
+        for i in range(len(indices)):
+            preds[i]["uv_seq"] = batches[i]["canvas"].to_uv(xy_seq[i]).float()
+            preds[i]["yaw_seq"] = yaw_seq[i].float()
+            if has_gps:
+                preds[i]["uv_gps_seq"] = (
+                    batches[i]["canvas"].to_uv(xy_gps_seq[i]).float()
+                )
+                preds[i]["yaw_gps_seq"] = yaw_gps_seq[i].float()
+            results.append(metrics(preds[i], batches[i]))
+        if viz:
+            callback(chunk_index, model, batches, preds, results, aligner)
+        del aligner, preds, batches, results
+    return metrics.cpu()
+
+
+def evaluate(
+    experiment: str,
+    cfg: DictConfig,
+    dataset,
+    split: str,
+    sequential: bool = False,
+    output_dir: Optional[Path] = None,
+    callback: Optional[Callable] = None,
+    num_workers: int = 1,
+    viz_kwargs=None,
+    **kwargs,
+):
+    if experiment in pretrained_models:
+        experiment, cfg_override = pretrained_models[experiment]
+        cfg = OmegaConf.merge(OmegaConf.create(dict(model=cfg_override)), cfg)
+
+    logger.info("Evaluating model %s with config %s", experiment, cfg)
+    checkpoint_path = resolve_checkpoint_path(experiment)
+    model = GenericModule.load_from_checkpoint(
+        checkpoint_path, cfg=cfg, find_best=not experiment.endswith(".ckpt")
+    )
+    model = model.eval()
+    if torch.cuda.is_available():
+        model = model.cuda()
+
+    dataset.prepare_data()
+    dataset.setup()
+
+    if output_dir is not None:
+        output_dir.mkdir(exist_ok=True, parents=True)
+        if callback is None:
+            if sequential:
+                callback = plot_example_sequential
+            else:
+                callback = plot_example_single
+            callback = functools.partial(
+                callback, out_dir=output_dir, **(viz_kwargs or {})
+            )
+    kwargs = {**kwargs, "callback": callback}
+
+    seed_everything(dataset.cfg.seed)
+    if sequential:
+        dset, chunk2idx = dataset.sequence_dataset(split, **cfg.chunking)
+        metrics = evaluate_sequential(dset, chunk2idx, model, **kwargs)
+    else:
+        loader = dataset.dataloader(split, shuffle=True, num_workers=num_workers)
+        metrics = evaluate_single_image(loader, model, **kwargs)
+
+    results = metrics.compute()
+    logger.info("All results: %s", results)
+    if output_dir is not None:
+        write_dump(output_dir, experiment, cfg, results, metrics)
+        logger.info("Outputs have been written to %s.", output_dir)
+    return metrics
diff --git a/evaluation/utils.py b/evaluation/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..6cc954ed20557c351965cad89aa2e249986986ee
--- /dev/null
+++ b/evaluation/utils.py
@@ -0,0 +1,40 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import numpy as np
+from omegaconf import OmegaConf
+
+from utils.io import write_json
+
+
+def compute_recall(errors):
+    num_elements = len(errors)
+    sort_idx = np.argsort(errors)
+    errors = np.array(errors.copy())[sort_idx]
+    recall = (np.arange(num_elements) + 1) / num_elements
+    recall = np.r_[0, recall]
+    errors = np.r_[0, errors]
+    return errors, recall
+
+
+def compute_auc(errors, recall, thresholds):
+    aucs = []
+    for t in thresholds:
+        last_index = np.searchsorted(errors, t, side="right")
+        r = np.r_[recall[:last_index], recall[last_index - 1]]
+        e = np.r_[errors[:last_index], t]
+        auc = np.trapz(r, x=e) / t
+        aucs.append(auc * 100)
+    return aucs
+
+
+def write_dump(output_dir, experiment, cfg, results, metrics):
+    dump = {
+        "experiment": experiment,
+        "cfg": OmegaConf.to_container(cfg),
+        "results": results,
+        "errors": {},
+    }
+    for k, m in metrics.items():
+        if hasattr(m, "get_errors"):
+            dump["errors"][k] = m.get_errors().numpy()
+    write_json(output_dir / "log.json", dump)
diff --git a/evaluation/viz.py b/evaluation/viz.py
new file mode 100644
index 0000000000000000000000000000000000000000..9cd9f7dfd0f2103f2ebdda8cfe8022ad5a2e719b
--- /dev/null
+++ b/evaluation/viz.py
@@ -0,0 +1,178 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import numpy as np
+import torch
+import matplotlib.pyplot as plt
+
+from utils.io import write_torch_image
+from utils.viz_2d import plot_images, features_to_RGB, save_plot
+from utils.viz_localization import (
+    likelihood_overlay,
+    plot_pose,
+    plot_dense_rotations,
+    add_circle_inset,
+)
+from osm.viz import Colormap, plot_nodes
+
+
+def plot_example_single(
+    idx,
+    model,
+    pred,
+    data,
+    results,
+    plot_bev=True,
+    out_dir=None,
+    fig_for_paper=False,
+    show_gps=False,
+    show_fused=False,
+    show_dir_error=False,
+    show_masked_prob=False,
+):
+    scene, name, rasters, uv_gt = (data[k] for k in ("scene", "name", "map", "uv"))
+    uv_gps = data.get("uv_gps")
+    yaw_gt = data["roll_pitch_yaw"][-1].numpy()
+    image = data["image"].permute(1, 2, 0)
+    if "valid" in data:
+        image = image.masked_fill(~data["valid"].unsqueeze(-1), 0.3)
+
+    lp_uvt = lp_uv = pred["log_probs"]
+    if show_fused and "log_probs_fused" in pred:
+        lp_uvt = lp_uv = pred["log_probs_fused"]
+    elif not show_masked_prob and "scores_unmasked" in pred:
+        lp_uvt = lp_uv = pred["scores_unmasked"]
+    has_rotation = lp_uvt.ndim == 3
+    if has_rotation:
+        lp_uv = lp_uvt.max(-1).values
+    if lp_uv.min() > -np.inf:
+        lp_uv = lp_uv.clip(min=np.percentile(lp_uv, 1))
+    prob = lp_uv.exp()
+    uv_p, yaw_p = pred["uv_max"], pred.get("yaw_max")
+    if show_fused and "uv_fused" in pred:
+        uv_p, yaw_p = pred["uv_fused"], pred.get("yaw_fused")
+    feats_map = pred["map"]["map_features"][0]
+    (feats_map_rgb,) = features_to_RGB(feats_map.numpy())
+
+    text1 = rf'$\Delta xy$: {results["xy_max_error"]:.1f}m'
+    if has_rotation:
+        text1 += rf', $\Delta\theta$: {results["yaw_max_error"]:.1f}°'
+    if show_fused and "xy_fused_error" in results:
+        text1 += rf', $\Delta xy_{{fused}}$: {results["xy_fused_error"]:.1f}m'
+        text1 += rf', $\Delta\theta_{{fused}}$: {results["yaw_fused_error"]:.1f}°'
+    if show_dir_error and "directional_error" in results:
+        err_lat, err_lon = results["directional_error"]
+        text1 += rf",  $\Delta$lateral/longitundinal={err_lat:.1f}m/{err_lon:.1f}m"
+    if "xy_gps_error" in results:
+        text1 += rf',  $\Delta xy_{{GPS}}$: {results["xy_gps_error"]:.1f}m'
+
+    map_viz = Colormap.apply(rasters)
+    overlay = likelihood_overlay(prob.numpy(), map_viz.mean(-1, keepdims=True))
+    plot_images(
+        [image, map_viz, overlay, feats_map_rgb],
+        titles=[text1, "map", "likelihood", "neural map"],
+        dpi=75,
+        cmaps="jet",
+    )
+    fig = plt.gcf()
+    axes = fig.axes
+    axes[1].images[0].set_interpolation("none")
+    axes[2].images[0].set_interpolation("none")
+    Colormap.add_colorbar()
+    plot_nodes(1, rasters[2])
+
+    if show_gps and uv_gps is not None:
+        plot_pose([1], uv_gps, c="blue")
+    plot_pose([1], uv_gt, yaw_gt, c="red")
+    plot_pose([1], uv_p, yaw_p, c="k")
+    plot_dense_rotations(2, lp_uvt.exp())
+    inset_center = pred["uv_max"] if results["xy_max_error"] < 5 else uv_gt
+    axins = add_circle_inset(axes[2], inset_center)
+    axins.scatter(*uv_gt, lw=1, c="red", ec="k", s=50, zorder=15)
+    axes[0].text(
+        0.003,
+        0.003,
+        f"{scene}/{name}",
+        transform=axes[0].transAxes,
+        fontsize=3,
+        va="bottom",
+        ha="left",
+        color="w",
+    )
+    plt.show()
+    if out_dir is not None:
+        name_ = name.replace("/", "_")
+        p = str(out_dir / f"{scene}_{name_}_{{}}.pdf")
+        save_plot(p.format("pred"))
+        plt.close()
+
+        if fig_for_paper:
+            # !cp ../datasets/MGL/{scene}/images/{name}.jpg {out_dir}/{scene}_{name}.jpg
+            plot_images([map_viz])
+            plt.gca().images[0].set_interpolation("none")
+            plot_nodes(0, rasters[2])
+            plot_pose([0], uv_gt, yaw_gt, c="red")
+            plot_pose([0], pred["uv_max"], pred["yaw_max"], c="k")
+            save_plot(p.format("map"))
+            plt.close()
+            plot_images([lp_uv], cmaps="jet")
+            plot_dense_rotations(0, lp_uvt.exp())
+            save_plot(p.format("loglikelihood"), dpi=100)
+            plt.close()
+            plot_images([overlay])
+            plt.gca().images[0].set_interpolation("none")
+            axins = add_circle_inset(plt.gca(), inset_center)
+            axins.scatter(*uv_gt, lw=1, c="red", ec="k", s=50)
+            save_plot(p.format("likelihood"))
+            plt.close()
+            write_torch_image(
+                p.format("neuralmap").replace("pdf", "jpg"), feats_map_rgb
+            )
+            write_torch_image(p.format("image").replace("pdf", "jpg"), image.numpy())
+
+    if not plot_bev:
+        return
+
+    feats_q = pred["features_bev"]
+    mask_bev = pred["valid_bev"]
+    prior = None
+    if "log_prior" in pred["map"]:
+        prior = pred["map"]["log_prior"][0].sigmoid()
+    if "bev" in pred and "confidence" in pred["bev"]:
+        conf_q = pred["bev"]["confidence"]
+    else:
+        conf_q = torch.norm(feats_q, dim=0)
+    conf_q = conf_q.masked_fill(~mask_bev, np.nan)
+    (feats_q_rgb,) = features_to_RGB(feats_q.numpy(), masks=[mask_bev.numpy()])
+    # feats_map_rgb, feats_q_rgb, = features_to_RGB(
+    #     feats_map.numpy(), feats_q.numpy(), masks=[None, mask_bev])
+    norm_map = torch.norm(feats_map, dim=0)
+
+    plot_images(
+        [conf_q, feats_q_rgb, norm_map] + ([] if prior is None else [prior]),
+        titles=["BEV confidence", "BEV features", "map norm"]
+        + ([] if prior is None else ["map prior"]),
+        dpi=50,
+        cmaps="jet",
+    )
+    plt.show()
+
+    if out_dir is not None:
+        save_plot(p.format("bev"))
+        plt.close()
+
+
+def plot_example_sequential(
+    idx,
+    model,
+    pred,
+    data,
+    results,
+    plot_bev=True,
+    out_dir=None,
+    fig_for_paper=False,
+    show_gps=False,
+    show_fused=False,
+    show_dir_error=False,
+    show_masked_prob=False,
+):
+    return
diff --git a/flagged/inp/10d2e4a8712491181c2f48b61f5003b216d2b9f9/tmp48n9eoyh.png b/flagged/inp/10d2e4a8712491181c2f48b61f5003b216d2b9f9/tmp48n9eoyh.png
new file mode 100644
index 0000000000000000000000000000000000000000..61bdcaeabd4ec399fa036511592c0c9e3f8628b7
Binary files /dev/null and b/flagged/inp/10d2e4a8712491181c2f48b61f5003b216d2b9f9/tmp48n9eoyh.png differ
diff --git a/flagged/inp/e1b18d44d9e381d586209f73a015fed7f688822b/tmp86ith_2q.png b/flagged/inp/e1b18d44d9e381d586209f73a015fed7f688822b/tmp86ith_2q.png
new file mode 100644
index 0000000000000000000000000000000000000000..61bdcaeabd4ec399fa036511592c0c9e3f8628b7
Binary files /dev/null and b/flagged/inp/e1b18d44d9e381d586209f73a015fed7f688822b/tmp86ith_2q.png differ
diff --git a/flagged/log.csv b/flagged/log.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61a8dd134c6a6e7a5cd88ccf2ef430e489e8d4b4
--- /dev/null
+++ b/flagged/log.csv
@@ -0,0 +1,3 @@
+inp,longitude,latitude,Area,output,flag,username,timestamp
+E:\MapLocNetDemo\Demo\flagged\inp\10d2e4a8712491181c2f48b61f5003b216d2b9f9\tmp48n9eoyh.png,70.1,40,256,E:\MapLocNetDemo\Demo\flagged\output\tmp59657zop.json,,,2023-09-22 10:07:17.488625
+E:\MapLocNetDemo\Demo\flagged\inp\e1b18d44d9e381d586209f73a015fed7f688822b\tmp86ith_2q.png,70.1,40,256,E:\MapLocNetDemo\Demo\flagged\output\tmpbs17s28d.json,,,2023-09-22 10:07:21.485967
diff --git a/flagged/output/tmp59657zop.json b/flagged/output/tmp59657zop.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da7282f99d84615c8e174ce435ecd85765184f8
--- /dev/null
+++ b/flagged/output/tmp59657zop.json
@@ -0,0 +1 @@
+{"label": "bull mastiff\n", "confidences": [{"label": "bull mastiff\n", "confidence": 0.24759389460086823}, {"label": "pug\n", "confidence": 0.0916372761130333}, {"label": "Great Dane\n", "confidence": 0.08652031421661377}]}
\ No newline at end of file
diff --git a/flagged/output/tmpbs17s28d.json b/flagged/output/tmpbs17s28d.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da7282f99d84615c8e174ce435ecd85765184f8
--- /dev/null
+++ b/flagged/output/tmpbs17s28d.json
@@ -0,0 +1 @@
+{"label": "bull mastiff\n", "confidences": [{"label": "bull mastiff\n", "confidence": 0.24759389460086823}, {"label": "pug\n", "confidence": 0.0916372761130333}, {"label": "Great Dane\n", "confidence": 0.08652031421661377}]}
\ No newline at end of file
diff --git a/images/00000.jpg b/images/00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c3340fd6671c91ec138a9cef129df4f9ce5adbd6
Binary files /dev/null and b/images/00000.jpg differ
diff --git a/images/00011.jpg b/images/00011.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3c9201b98433b985bafd85793bd7992c8e7f55c6
Binary files /dev/null and b/images/00011.jpg differ
diff --git a/images/00022.jpg b/images/00022.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1d23d874d54e1f2608d6907fd1ef3416ac6e0716
Binary files /dev/null and b/images/00022.jpg differ
diff --git a/images/00033.jpg b/images/00033.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fe8b2a1dac78db32ab979df3ca482a37108d5698
Binary files /dev/null and b/images/00033.jpg differ
diff --git a/images/cat_dog.png b/images/cat_dog.png
new file mode 100644
index 0000000000000000000000000000000000000000..61bdcaeabd4ec399fa036511592c0c9e3f8628b7
Binary files /dev/null and b/images/cat_dog.png differ
diff --git a/label.txt b/label.txt
new file mode 100644
index 0000000000000000000000000000000000000000..888d6f51dd77bbf10b76dba58b5d2f1afa8ad5bd
--- /dev/null
+++ b/label.txt
@@ -0,0 +1,1000 @@
+tench
+goldfish
+great white shark
+tiger shark
+hammerhead
+electric ray
+stingray
+cock
+hen
+ostrich
+brambling
+goldfinch
+house finch
+junco
+indigo bunting
+robin
+bulbul
+jay
+magpie
+chickadee
+water ouzel
+kite
+bald eagle
+vulture
+great grey owl
+European fire salamander
+common newt
+eft
+spotted salamander
+axolotl
+bullfrog
+tree frog
+tailed frog
+loggerhead
+leatherback turtle
+mud turtle
+terrapin
+box turtle
+banded gecko
+common iguana
+American chameleon
+whiptail
+agama
+frilled lizard
+alligator lizard
+Gila monster
+green lizard
+African chameleon
+Komodo dragon
+African crocodile
+American alligator
+triceratops
+thunder snake
+ringneck snake
+hognose snake
+green snake
+king snake
+garter snake
+water snake
+vine snake
+night snake
+boa constrictor
+rock python
+Indian cobra
+green mamba
+sea snake
+horned viper
+diamondback
+sidewinder
+trilobite
+harvestman
+scorpion
+black and gold garden spider
+barn spider
+garden spider
+black widow
+tarantula
+wolf spider
+tick
+centipede
+black grouse
+ptarmigan
+ruffed grouse
+prairie chicken
+peacock
+quail
+partridge
+African grey
+macaw
+sulphur-crested cockatoo
+lorikeet
+coucal
+bee eater
+hornbill
+hummingbird
+jacamar
+toucan
+drake
+red-breasted merganser
+goose
+black swan
+tusker
+echidna
+platypus
+wallaby
+koala
+wombat
+jellyfish
+sea anemone
+brain coral
+flatworm
+nematode
+conch
+snail
+slug
+sea slug
+chiton
+chambered nautilus
+Dungeness crab
+rock crab
+fiddler crab
+king crab
+American lobster
+spiny lobster
+crayfish
+hermit crab
+isopod
+white stork
+black stork
+spoonbill
+flamingo
+little blue heron
+American egret
+bittern
+crane
+limpkin
+European gallinule
+American coot
+bustard
+ruddy turnstone
+red-backed sandpiper
+redshank
+dowitcher
+oystercatcher
+pelican
+king penguin
+albatross
+grey whale
+killer whale
+dugong
+sea lion
+Chihuahua
+Japanese spaniel
+Maltese dog
+Pekinese
+Shih-Tzu
+Blenheim spaniel
+papillon
+toy terrier
+Rhodesian ridgeback
+Afghan hound
+basset
+beagle
+bloodhound
+bluetick
+black-and-tan coonhound
+Walker hound
+English foxhound
+redbone
+borzoi
+Irish wolfhound
+Italian greyhound
+whippet
+Ibizan hound
+Norwegian elkhound
+otterhound
+Saluki
+Scottish deerhound
+Weimaraner
+Staffordshire bullterrier
+American Staffordshire terrier
+Bedlington terrier
+Border terrier
+Kerry blue terrier
+Irish terrier
+Norfolk terrier
+Norwich terrier
+Yorkshire terrier
+wire-haired fox terrier
+Lakeland terrier
+Sealyham terrier
+Airedale
+cairn
+Australian terrier
+Dandie Dinmont
+Boston bull
+miniature schnauzer
+giant schnauzer
+standard schnauzer
+Scotch terrier
+Tibetan terrier
+silky terrier
+soft-coated wheaten terrier
+West Highland white terrier
+Lhasa
+flat-coated retriever
+curly-coated retriever
+golden retriever
+Labrador retriever
+Chesapeake Bay retriever
+German short-haired pointer
+vizsla
+English setter
+Irish setter
+Gordon setter
+Brittany spaniel
+clumber
+English springer
+Welsh springer spaniel
+cocker spaniel
+Sussex spaniel
+Irish water spaniel
+kuvasz
+schipperke
+groenendael
+malinois
+briard
+kelpie
+komondor
+Old English sheepdog
+Shetland sheepdog
+collie
+Border collie
+Bouvier des Flandres
+Rottweiler
+German shepherd
+Doberman
+miniature pinscher
+Greater Swiss Mountain dog
+Bernese mountain dog
+Appenzeller
+EntleBucher
+boxer
+bull mastiff
+Tibetan mastiff
+French bulldog
+Great Dane
+Saint Bernard
+Eskimo dog
+malamute
+Siberian husky
+dalmatian
+affenpinscher
+basenji
+pug
+Leonberg
+Newfoundland
+Great Pyrenees
+Samoyed
+Pomeranian
+chow
+keeshond
+Brabancon griffon
+Pembroke
+Cardigan
+toy poodle
+miniature poodle
+standard poodle
+Mexican hairless
+timber wolf
+white wolf
+red wolf
+coyote
+dingo
+dhole
+African hunting dog
+hyena
+red fox
+kit fox
+Arctic fox
+grey fox
+tabby
+tiger cat
+Persian cat
+Siamese cat
+Egyptian cat
+cougar
+lynx
+leopard
+snow leopard
+jaguar
+lion
+tiger
+cheetah
+brown bear
+American black bear
+ice bear
+sloth bear
+mongoose
+meerkat
+tiger beetle
+ladybug
+ground beetle
+long-horned beetle
+leaf beetle
+dung beetle
+rhinoceros beetle
+weevil
+fly
+bee
+ant
+grasshopper
+cricket
+walking stick
+cockroach
+mantis
+cicada
+leafhopper
+lacewing
+dragonfly
+damselfly
+admiral
+ringlet
+monarch
+cabbage butterfly
+sulphur butterfly
+lycaenid
+starfish
+sea urchin
+sea cucumber
+wood rabbit
+hare
+Angora
+hamster
+porcupine
+fox squirrel
+marmot
+beaver
+guinea pig
+sorrel
+zebra
+hog
+wild boar
+warthog
+hippopotamus
+ox
+water buffalo
+bison
+ram
+bighorn
+ibex
+hartebeest
+impala
+gazelle
+Arabian camel
+llama
+weasel
+mink
+polecat
+black-footed ferret
+otter
+skunk
+badger
+armadillo
+three-toed sloth
+orangutan
+gorilla
+chimpanzee
+gibbon
+siamang
+guenon
+patas
+baboon
+macaque
+langur
+colobus
+proboscis monkey
+marmoset
+capuchin
+howler monkey
+titi
+spider monkey
+squirrel monkey
+Madagascar cat
+indri
+Indian elephant
+African elephant
+lesser panda
+giant panda
+barracouta
+eel
+coho
+rock beauty
+anemone fish
+sturgeon
+gar
+lionfish
+puffer
+abacus
+abaya
+academic gown
+accordion
+acoustic guitar
+aircraft carrier
+airliner
+airship
+altar
+ambulance
+amphibian
+analog clock
+apiary
+apron
+ashcan
+assault rifle
+backpack
+bakery
+balance beam
+balloon
+ballpoint
+Band Aid
+banjo
+bannister
+barbell
+barber chair
+barbershop
+barn
+barometer
+barrel
+barrow
+baseball
+basketball
+bassinet
+bassoon
+bathing cap
+bath towel
+bathtub
+beach wagon
+beacon
+beaker
+bearskin
+beer bottle
+beer glass
+bell cote
+bib
+bicycle-built-for-two
+bikini
+binder
+binoculars
+birdhouse
+boathouse
+bobsled
+bolo tie
+bonnet
+bookcase
+bookshop
+bottlecap
+bow
+bow tie
+brass
+brassiere
+breakwater
+breastplate
+broom
+bucket
+buckle
+bulletproof vest
+bullet train
+butcher shop
+cab
+caldron
+candle
+cannon
+canoe
+can opener
+cardigan
+car mirror
+carousel
+carpenter's kit
+carton
+car wheel
+cash machine
+cassette
+cassette player
+castle
+catamaran
+CD player
+cello
+cellular telephone
+chain
+chainlink fence
+chain mail
+chain saw
+chest
+chiffonier
+chime
+china cabinet
+Christmas stocking
+church
+cinema
+cleaver
+cliff dwelling
+cloak
+clog
+cocktail shaker
+coffee mug
+coffeepot
+coil
+combination lock
+computer keyboard
+confectionery
+container ship
+convertible
+corkscrew
+cornet
+cowboy boot
+cowboy hat
+cradle
+crane
+crash helmet
+crate
+crib
+Crock Pot
+croquet ball
+crutch
+cuirass
+dam
+desk
+desktop computer
+dial telephone
+diaper
+digital clock
+digital watch
+dining table
+dishrag
+dishwasher
+disk brake
+dock
+dogsled
+dome
+doormat
+drilling platform
+drum
+drumstick
+dumbbell
+Dutch oven
+electric fan
+electric guitar
+electric locomotive
+entertainment center
+envelope
+espresso maker
+face powder
+feather boa
+file
+fireboat
+fire engine
+fire screen
+flagpole
+flute
+folding chair
+football helmet
+forklift
+fountain
+fountain pen
+four-poster
+freight car
+French horn
+frying pan
+fur coat
+garbage truck
+gasmask
+gas pump
+goblet
+go-kart
+golf ball
+golfcart
+gondola
+gong
+gown
+grand piano
+greenhouse
+grille
+grocery store
+guillotine
+hair slide
+hair spray
+half track
+hammer
+hamper
+hand blower
+hand-held computer
+handkerchief
+hard disc
+harmonica
+harp
+harvester
+hatchet
+holster
+home theater
+honeycomb
+hook
+hoopskirt
+horizontal bar
+horse cart
+hourglass
+iPod
+iron
+jack-o'-lantern
+jean
+jeep
+jersey
+jigsaw puzzle
+jinrikisha
+joystick
+kimono
+knee pad
+knot
+lab coat
+ladle
+lampshade
+laptop
+lawn mower
+lens cap
+letter opener
+library
+lifeboat
+lighter
+limousine
+liner
+lipstick
+Loafer
+lotion
+loudspeaker
+loupe
+lumbermill
+magnetic compass
+mailbag
+mailbox
+maillot
+maillot
+manhole cover
+maraca
+marimba
+mask
+matchstick
+maypole
+maze
+measuring cup
+medicine chest
+megalith
+microphone
+microwave
+military uniform
+milk can
+minibus
+miniskirt
+minivan
+missile
+mitten
+mixing bowl
+mobile home
+Model T
+modem
+monastery
+monitor
+moped
+mortar
+mortarboard
+mosque
+mosquito net
+motor scooter
+mountain bike
+mountain tent
+mouse
+mousetrap
+moving van
+muzzle
+nail
+neck brace
+necklace
+nipple
+notebook
+obelisk
+oboe
+ocarina
+odometer
+oil filter
+organ
+oscilloscope
+overskirt
+oxcart
+oxygen mask
+packet
+paddle
+paddlewheel
+padlock
+paintbrush
+pajama
+palace
+panpipe
+paper towel
+parachute
+parallel bars
+park bench
+parking meter
+passenger car
+patio
+pay-phone
+pedestal
+pencil box
+pencil sharpener
+perfume
+Petri dish
+photocopier
+pick
+pickelhaube
+picket fence
+pickup
+pier
+piggy bank
+pill bottle
+pillow
+ping-pong ball
+pinwheel
+pirate
+pitcher
+plane
+planetarium
+plastic bag
+plate rack
+plow
+plunger
+Polaroid camera
+pole
+police van
+poncho
+pool table
+pop bottle
+pot
+potter's wheel
+power drill
+prayer rug
+printer
+prison
+projectile
+projector
+puck
+punching bag
+purse
+quill
+quilt
+racer
+racket
+radiator
+radio
+radio telescope
+rain barrel
+recreational vehicle
+reel
+reflex camera
+refrigerator
+remote control
+restaurant
+revolver
+rifle
+rocking chair
+rotisserie
+rubber eraser
+rugby ball
+rule
+running shoe
+safe
+safety pin
+saltshaker
+sandal
+sarong
+sax
+scabbard
+scale
+school bus
+schooner
+scoreboard
+screen
+screw
+screwdriver
+seat belt
+sewing machine
+shield
+shoe shop
+shoji
+shopping basket
+shopping cart
+shovel
+shower cap
+shower curtain
+ski
+ski mask
+sleeping bag
+slide rule
+sliding door
+slot
+snorkel
+snowmobile
+snowplow
+soap dispenser
+soccer ball
+sock
+solar dish
+sombrero
+soup bowl
+space bar
+space heater
+space shuttle
+spatula
+speedboat
+spider web
+spindle
+sports car
+spotlight
+stage
+steam locomotive
+steel arch bridge
+steel drum
+stethoscope
+stole
+stone wall
+stopwatch
+stove
+strainer
+streetcar
+stretcher
+studio couch
+stupa
+submarine
+suit
+sundial
+sunglass
+sunglasses
+sunscreen
+suspension bridge
+swab
+sweatshirt
+swimming trunks
+swing
+switch
+syringe
+table lamp
+tank
+tape player
+teapot
+teddy
+television
+tennis ball
+thatch
+theater curtain
+thimble
+thresher
+throne
+tile roof
+toaster
+tobacco shop
+toilet seat
+torch
+totem pole
+tow truck
+toyshop
+tractor
+trailer truck
+tray
+trench coat
+tricycle
+trimaran
+tripod
+triumphal arch
+trolleybus
+trombone
+tub
+turnstile
+typewriter keyboard
+umbrella
+unicycle
+upright
+vacuum
+vase
+vault
+velvet
+vending machine
+vestment
+viaduct
+violin
+volleyball
+waffle iron
+wall clock
+wallet
+wardrobe
+warplane
+washbasin
+washer
+water bottle
+water jug
+water tower
+whiskey jug
+whistle
+wig
+window screen
+window shade
+Windsor tie
+wine bottle
+wing
+wok
+wooden spoon
+wool
+worm fence
+wreck
+yawl
+yurt
+web site
+comic book
+crossword puzzle
+street sign
+traffic light
+book jacket
+menu
+plate
+guacamole
+consomme
+hot pot
+trifle
+ice cream
+ice lolly
+French loaf
+bagel
+pretzel
+cheeseburger
+hotdog
+mashed potato
+head cabbage
+broccoli
+cauliflower
+zucchini
+spaghetti squash
+acorn squash
+butternut squash
+cucumber
+artichoke
+bell pepper
+cardoon
+mushroom
+Granny Smith
+strawberry
+orange
+lemon
+fig
+pineapple
+banana
+jackfruit
+custard apple
+pomegranate
+hay
+carbonara
+chocolate sauce
+dough
+meat loaf
+pizza
+potpie
+burrito
+red wine
+espresso
+cup
+eggnog
+alp
+bubble
+cliff
+coral reef
+geyser
+lakeside
+promontory
+sandbar
+seashore
+valley
+volcano
+ballplayer
+groom
+scuba diver
+rapeseed
+daisy
+yellow lady's slipper
+corn
+acorn
+hip
+buckeye
+coral fungus
+agaric
+gyromitra
+stinkhorn
+earthstar
+hen-of-the-woods
+bolete
+ear
+toilet tissue
\ No newline at end of file
diff --git a/logger.py b/logger.py
new file mode 100644
index 0000000000000000000000000000000000000000..56b4d718091ad22d84d59387ca76628aa242555e
--- /dev/null
+++ b/logger.py
@@ -0,0 +1,28 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from pathlib import Path
+import logging
+
+import pytorch_lightning  # noqa: F401
+
+
+formatter = logging.Formatter(
+    fmt="[%(asctime)s %(name)s %(levelname)s] %(message)s",
+    datefmt="%Y-%m-%d %H:%M:%S",
+)
+handler = logging.StreamHandler()
+handler.setFormatter(formatter)
+handler.setLevel(logging.INFO)
+
+logger = logging.getLogger("maploc")
+logger.setLevel(logging.INFO)
+logger.addHandler(handler)
+logger.propagate = False
+
+pl_logger = logging.getLogger("pytorch_lightning")
+if len(pl_logger.handlers):
+    pl_logger.handlers[0].setFormatter(formatter)
+
+repo_dir = Path(__file__).parent
+EXPERIMENTS_PATH = repo_dir / "experiments/"
+DATASETS_PATH = repo_dir / "datasets/"
diff --git a/main.py b/main.py
new file mode 100644
index 0000000000000000000000000000000000000000..311d7687bba3cb830615cfb9e89644e25df3d2ee
--- /dev/null
+++ b/main.py
@@ -0,0 +1,98 @@
+import gradio as gr
+import cv2
+import gradio as gr
+import torch
+from torchvision import transforms
+import requests
+from PIL import Image
+from demo import Demo,read_input_image_test,show_result,vis_image_feature
+from osm.tiling import TileManager
+from osm.viz import Colormap, plot_nodes
+from utils.viz_2d import plot_images
+import numpy as np
+from utils.viz_2d import features_to_RGB
+from utils.viz_localization import (
+    likelihood_overlay,
+    plot_dense_rotations,
+    add_circle_inset,
+)
+from osm.viz import GeoPlotter
+import matplotlib.pyplot as plt
+import random
+from geopy.distance import geodesic
+
+experiment_or_path = "weight/last-step-checkpointing.ckpt"
+# experiment_or_path="experiments/maplocanet_0906_diffhight/last-step-checkpointing.ckpt"
+image_path = 'images/00000.jpg'
+
+# prior_latlon = (37.75704325989902, -122.435941445631)
+# tile_size_meters = 128
+model = Demo(experiment_or_path=experiment_or_path, num_rotations=128, device='cpu')
+
+def demo_localize(image,long,lat,tile_size_meters):
+    # inp = Image.fromarray(inp.astype('uint8'), 'RGB')
+    # inp = transforms.ToTensor()(inp).unsqueeze(0)
+    prior_latlon=(lat,long)
+    image, camera, gravity, proj, bbox, true_prior_latlon = read_input_image_test(
+        image,
+        prior_latlon=prior_latlon,
+        tile_size_meters=tile_size_meters,  # try 64, 256, etc.
+    )
+    tiler = TileManager.from_bbox(projection=proj, bbox=bbox, ppm=1, tile_size=tile_size_meters)
+    # tiler = TileManager.from_bbox(projection=proj, bbox=bbox + 10,ppm=1,path=root/city/'{}.osm'.format(city), tile_size=1)
+    canvas = tiler.query(bbox)
+    uv, yaw, prob, neural_map, image_rectified, data_, pred = model.localize(
+        image, camera, canvas)
+    prior_latlon_pred = proj.unproject(canvas.to_xy(uv))
+
+    map_viz = Colormap.apply(canvas.raster)
+    map_vis_image_result = map_viz * 255
+    map_vis_image_result =show_result(map_vis_image_result.astype(np.uint8), uv, yaw)
+    # map_vis_image_result = show_result(map_vis_image_result.astype(np.uint8), True_uv,
+    #                                    uv,
+    #                                    90.0 - yaw_T,
+    #                                    yaw)
+    # return prior_latlon_pred
+    uab_feature_rgb = vis_image_feature(pred['features_image'][0].cpu().numpy())
+    map_viz = cv2.resize(map_viz, (prob.numpy().shape[0], prob.numpy().shape[1]))
+    overlay = likelihood_overlay(prob.numpy().max(-1), map_viz.mean(-1, keepdims=True))
+    (neural_map_rgb,) = features_to_RGB(neural_map.numpy())
+    fig=plot_images([image, map_vis_image_result / 255, overlay, uab_feature_rgb, neural_map_rgb],
+                    titles=["UAV image", "map","likelihood","UAV feature","map feature"])
+    # plot_images([overlay, neural_map_rgb], titles=["prediction", "neural map"])
+    # ax = plt.gcf().axes[2]
+    # ax.scatter(*canvas.to_uv(bbox.center), s=5, c="red")
+    # plot_dense_rotations(ax, prob, w=0.005, s=1 / 25)
+    # add_circle_inset(ax, uv)
+
+    # Plot as interactive figure
+    bbox_latlon = proj.unproject(canvas.bbox)
+    plot2 = GeoPlotter(zoom=16.5)
+    plot2.raster(map_viz, bbox_latlon, opacity=0.5)
+    plot2.raster(likelihood_overlay(prob.numpy().max(-1)), proj.unproject(bbox))
+    plot2.points(prior_latlon[:2], "red", name="location prior", size=10)
+    plot2.points(proj.unproject(canvas.to_xy(uv)), "black", name="argmax", size=10)
+    plot2.bbox(bbox_latlon, "blue", name="map tile")
+    # plot2.fig.show()
+    return fig,plot2.fig,str(prior_latlon_pred)
+# model = torch.hub.load('pytorch/vision:v0.6.0', 'resnet18', pretrained=True).eval()
+#标题
+title = "MapLocNet"
+#标题下的描述，支持md格式
+description = "UAV Vision-based Geo-Localization Using Vectorized Maps"
+
+# outputs = gr.outputs.Label(num_top_classes=3)
+outputs = gr.Plot()
+interface = gr.Interface(fn=demo_localize,
+                         inputs=["image",
+                                 gr.Number(label="Prior location-longitude)"),
+                                 gr.Number(label="Prior location-longitude)"),
+                                 gr.Radio([64, 128, 256], label="Search radius (meters)", info="vectorized map size"),
+                                 # gr.inputs.RadioGroup(label="Search radius (meters)",["English", "French", "Spanish"]),
+                                 # gr.Slider(64, 512,label='Search radius (meters)')
+                                 ],
+                         outputs=["plot","plot","text"],
+                         title=title,
+                         description=description,
+                         examples=[['images/00000.jpg',-122.435941445631,37.75704325989902,128]])
+interface.launch(share=True)
\ No newline at end of file
diff --git a/models/__init__.py b/models/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..02c1f950d5d3f84b18ba4178e2549fc328479d3f
--- /dev/null
+++ b/models/__init__.py
@@ -0,0 +1,34 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+# Adapted from PixLoc, Paul-Edouard Sarlin, ETH Zurich
+# https://github.com/cvg/pixloc
+# Released under the Apache License 2.0
+
+import inspect
+
+from .base import BaseModel
+
+
+def get_class(mod_name, base_path, BaseClass):
+    """Get the class object which inherits from BaseClass and is defined in
+    the module named mod_name, child of base_path.
+    """
+    mod_path = "{}.{}".format(base_path, mod_name)
+    mod = __import__(mod_path, fromlist=[""])
+    classes = inspect.getmembers(mod, inspect.isclass)
+    # Filter classes defined in the module
+    classes = [c for c in classes if c[1].__module__ == mod_path]
+    # Filter classes inherited from BaseModel
+    classes = [c for c in classes if issubclass(c[1], BaseClass)]
+    assert len(classes) == 1, classes
+    return classes[0][1]
+
+
+def get_model(name):
+    if name == "localizer":
+        name = "localizer_basic"
+    elif name == "rotation_localizer":
+        name = "localizer_basic_rotation"
+    elif name == "bev_localizer":
+        name = "localizer_bev_plane"
+    return get_class(name, __name__, BaseModel)
diff --git a/models/base.py b/models/base.py
new file mode 100644
index 0000000000000000000000000000000000000000..a9978eabb3c32fcd98f12399347f4c864e463494
--- /dev/null
+++ b/models/base.py
@@ -0,0 +1,123 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+# Adapted from PixLoc, Paul-Edouard Sarlin, ETH Zurich
+# https://github.com/cvg/pixloc
+# Released under the Apache License 2.0
+
+"""
+Base class for trainable models.
+"""
+
+from abc import ABCMeta, abstractmethod
+from copy import copy
+
+import omegaconf
+from omegaconf import OmegaConf
+from torch import nn
+
+
+class BaseModel(nn.Module, metaclass=ABCMeta):
+    """
+    What the child model is expect to declare:
+        default_conf: dictionary of the default configuration of the model.
+        It recursively updates the default_conf of all parent classes, and
+        it is updated by the user-provided configuration passed to __init__.
+        Configurations can be nested.
+
+        required_data_keys: list of expected keys in the input data dictionary.
+
+        strict_conf (optional): boolean. If false, BaseModel does not raise
+        an error when the user provides an unknown configuration entry.
+
+        _init(self, conf): initialization method, where conf is the final
+        configuration object (also accessible with `self.conf`). Accessing
+        unknown configuration entries will raise an error.
+
+        _forward(self, data): method that returns a dictionary of batched
+        prediction tensors based on a dictionary of batched input data tensors.
+
+        loss(self, pred, data): method that returns a dictionary of losses,
+        computed from model predictions and input data. Each loss is a batch
+        of scalars, i.e. a torch.Tensor of shape (B,).
+        The total loss to be optimized has the key `'total'`.
+
+        metrics(self, pred, data): method that returns a dictionary of metrics,
+        each as a batch of scalars.
+    """
+
+    base_default_conf = {
+        "name": None,
+        "trainable": True,  # if false: do not optimize this model parameters
+        "freeze_batch_normalization": False,  # use test-time statistics
+    }
+    default_conf = {}
+    required_data_keys = []
+    strict_conf = True
+
+    def __init__(self, conf):
+        """Perform some logic and call the _init method of the child model."""
+        super().__init__()
+        default_conf = OmegaConf.merge(
+            self.base_default_conf, OmegaConf.create(self.default_conf)
+        )
+        if self.strict_conf:
+            OmegaConf.set_struct(default_conf, True)
+
+        # fixme: backward compatibility
+        if "pad" in conf and "pad" not in default_conf:  # backward compat.
+            with omegaconf.read_write(conf):
+                with omegaconf.open_dict(conf):
+                    conf["interpolation"] = {"pad": conf.pop("pad")}
+
+        if isinstance(conf, dict):
+            conf = OmegaConf.create(conf)
+        self.conf = conf = OmegaConf.merge(default_conf, conf)
+        OmegaConf.set_readonly(conf, True)
+        OmegaConf.set_struct(conf, True)
+        self.required_data_keys = copy(self.required_data_keys)
+        self._init(conf)
+
+        if not conf.trainable:
+            for p in self.parameters():
+                p.requires_grad = False
+
+    def train(self, mode=True):
+        super().train(mode)
+
+        def freeze_bn(module):
+            if isinstance(module, nn.modules.batchnorm._BatchNorm):
+                module.eval()
+
+        if self.conf.freeze_batch_normalization:
+            self.apply(freeze_bn)
+
+        return self
+
+    def forward(self, data):
+        """Check the data and call the _forward method of the child model."""
+
+        def recursive_key_check(expected, given):
+            for key in expected:
+                assert key in given, f"Missing key {key} in data"
+                if isinstance(expected, dict):
+                    recursive_key_check(expected[key], given[key])
+
+        recursive_key_check(self.required_data_keys, data)
+        return self._forward(data)
+
+    @abstractmethod
+    def _init(self, conf):
+        """To be implemented by the child class."""
+        raise NotImplementedError
+
+    @abstractmethod
+    def _forward(self, data):
+        """To be implemented by the child class."""
+        raise NotImplementedError
+
+    def loss(self, pred, data):
+        """To be implemented by the child class."""
+        raise NotImplementedError
+
+    def metrics(self):
+        return {}  # no metrics
diff --git a/models/feature_extractor.py b/models/feature_extractor.py
new file mode 100644
index 0000000000000000000000000000000000000000..5a06066c8ebce96b859d20fa444833d2b884a7ed
--- /dev/null
+++ b/models/feature_extractor.py
@@ -0,0 +1,231 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+# Adapted from PixLoc, Paul-Edouard Sarlin, ETH Zurich
+# https://github.com/cvg/pixloc
+# Released under the Apache License 2.0
+
+"""
+Flexible UNet model which takes any Torchvision backbone as encoder.
+Predicts multi-level feature and makes sure that they are well aligned.
+"""
+
+import torch
+import torch.nn as nn
+import torchvision
+
+from .base import BaseModel
+from .utils import checkpointed
+
+
+class DecoderBlock(nn.Module):
+    def __init__(
+        self, previous, skip, out, num_convs=1, norm=nn.BatchNorm2d, padding="zeros"
+    ):
+        super().__init__()
+
+        self.upsample = nn.Upsample(
+            scale_factor=2, mode="bilinear", align_corners=False
+        )
+
+        layers = []
+        for i in range(num_convs):
+            conv = nn.Conv2d(
+                previous + skip if i == 0 else out,
+                out,
+                kernel_size=3,
+                padding=1,
+                bias=norm is None,
+                padding_mode=padding,
+            )
+            layers.append(conv)
+            if norm is not None:
+                layers.append(norm(out))
+            layers.append(nn.ReLU(inplace=True))
+        self.layers = nn.Sequential(*layers)
+
+    def forward(self, previous, skip):
+        upsampled = self.upsample(previous)
+        # If the shape of the input map `skip` is not a multiple of 2,
+        # it will not match the shape of the upsampled map `upsampled`.
+        # If the downsampling uses ceil_mode=False, we nedd to crop `skip`.
+        # If it uses ceil_mode=True (not supported here), we should pad it.
+        _, _, hu, wu = upsampled.shape
+        _, _, hs, ws = skip.shape
+        assert (hu <= hs) and (wu <= ws), "Using ceil_mode=True in pooling?"
+        # assert (hu == hs) and (wu == ws), 'Careful about padding'
+        skip = skip[:, :, :hu, :wu]
+        return self.layers(torch.cat([upsampled, skip], dim=1))
+
+
+class AdaptationBlock(nn.Sequential):
+    def __init__(self, inp, out):
+        conv = nn.Conv2d(inp, out, kernel_size=1, padding=0, bias=True)
+        super().__init__(conv)
+
+
+class FeatureExtractor(BaseModel):
+    default_conf = {
+        "pretrained": True,
+        "input_dim": 3,
+        "output_scales": [0, 2, 4],  # what scales to adapt and output
+        "output_dim": 128,  # # of channels in output feature maps
+        "encoder": "vgg16",  # string (torchvision net) or list of channels
+        "num_downsample": 4,  # how many downsample block (if VGG-style net)
+        "decoder": [64, 64, 64, 64],  # list of channels of decoder
+        "decoder_norm": "nn.BatchNorm2d",  # normalization ind decoder blocks
+        "do_average_pooling": False,
+        "checkpointed": False,  # whether to use gradient checkpointing
+        "padding": "zeros",
+    }
+    mean = [0.485, 0.456, 0.406]
+    std = [0.229, 0.224, 0.225]
+
+    def build_encoder(self, conf):
+        assert isinstance(conf.encoder, str)
+        if conf.pretrained:
+            assert conf.input_dim == 3
+        Encoder = getattr(torchvision.models, conf.encoder)
+        encoder = Encoder(weights="DEFAULT" if conf.pretrained else None)
+        Block = checkpointed(torch.nn.Sequential, do=conf.checkpointed)
+        assert max(conf.output_scales) <= conf.num_downsample
+
+        if conf.encoder.startswith("vgg"):
+            # Parse the layers and pack them into downsampling blocks
+            # It's easy for VGG-style nets because of their linear structure.
+            # This does not handle strided convs and residual connections
+            skip_dims = []
+            previous_dim = None
+            blocks = [[]]
+            for i, layer in enumerate(encoder.features):
+                if isinstance(layer, torch.nn.Conv2d):
+                    # Change the first conv layer if the input dim mismatches
+                    if i == 0 and conf.input_dim != layer.in_channels:
+                        args = {k: getattr(layer, k) for k in layer.__constants__}
+                        args.pop("output_padding")
+                        layer = torch.nn.Conv2d(
+                            **{**args, "in_channels": conf.input_dim}
+                        )
+                    previous_dim = layer.out_channels
+                elif isinstance(layer, torch.nn.MaxPool2d):
+                    assert previous_dim is not None
+                    skip_dims.append(previous_dim)
+                    if (conf.num_downsample + 1) == len(blocks):
+                        break
+                    blocks.append([])  # start a new block
+                    if conf.do_average_pooling:
+                        assert layer.dilation == 1
+                        layer = torch.nn.AvgPool2d(
+                            kernel_size=layer.kernel_size,
+                            stride=layer.stride,
+                            padding=layer.padding,
+                            ceil_mode=layer.ceil_mode,
+                            count_include_pad=False,
+                        )
+                blocks[-1].append(layer)
+            encoder = [Block(*b) for b in blocks]
+        elif conf.encoder.startswith("resnet"):
+            # Manually define the ResNet blocks such that the downsampling comes first
+            assert conf.encoder[len("resnet") :] in ["18", "34", "50", "101"]
+            assert conf.input_dim == 3, "Unsupported for now."
+            block1 = torch.nn.Sequential(encoder.conv1, encoder.bn1, encoder.relu)
+            block2 = torch.nn.Sequential(encoder.maxpool, encoder.layer1)
+            block3 = encoder.layer2
+            block4 = encoder.layer3
+            block5 = encoder.layer4
+            blocks = [block1, block2, block3, block4, block5]
+            # Extract the output dimension of each block
+            skip_dims = [encoder.conv1.out_channels]
+            for i in range(1, 5):
+                modules = getattr(encoder, f"layer{i}")[-1]._modules
+                conv = sorted(k for k in modules if k.startswith("conv"))[-1]
+                skip_dims.append(modules[conv].out_channels)
+            # Add a dummy block such that the first one does not downsample
+            encoder = [torch.nn.Identity()] + [Block(b) for b in blocks]
+            skip_dims = [3] + skip_dims
+            # Trim based on the requested encoder size
+            encoder = encoder[: conf.num_downsample + 1]
+            skip_dims = skip_dims[: conf.num_downsample + 1]
+        else:
+            raise NotImplementedError(conf.encoder)
+
+        assert (conf.num_downsample + 1) == len(encoder)
+        encoder = nn.ModuleList(encoder)
+
+        return encoder, skip_dims
+
+    def _init(self, conf):
+        # Encoder
+        self.encoder, skip_dims = self.build_encoder(conf)
+        self.skip_dims = skip_dims
+
+        def update_padding(module):
+            if isinstance(module, nn.Conv2d):
+                module.padding_mode = conf.padding
+
+        if conf.padding != "zeros":
+            self.encoder.apply(update_padding)
+
+        # Decoder
+        if conf.decoder is not None:
+            assert len(conf.decoder) == (len(skip_dims) - 1)
+            Block = checkpointed(DecoderBlock, do=conf.checkpointed)
+            norm = eval(conf.decoder_norm) if conf.decoder_norm else None  # noqa
+
+            previous = skip_dims[-1]
+            decoder = []
+            for out, skip in zip(conf.decoder, skip_dims[:-1][::-1]):
+                decoder.append(
+                    Block(previous, skip, out, norm=norm, padding=conf.padding)
+                )
+                previous = out
+            self.decoder = nn.ModuleList(decoder)
+
+        # Adaptation layers
+        adaptation = []
+        for idx, i in enumerate(conf.output_scales):
+            if conf.decoder is None or i == (len(self.encoder) - 1):
+                input_ = skip_dims[i]
+            else:
+                input_ = conf.decoder[-1 - i]
+
+            # out_dim can be an int (same for all scales) or a list (per scale)
+            dim = conf.output_dim
+            if not isinstance(dim, int):
+                dim = dim[idx]
+
+            block = AdaptationBlock(input_, dim)
+            adaptation.append(block)
+        self.adaptation = nn.ModuleList(adaptation)
+        self.scales = [2**s for s in conf.output_scales]
+
+    def _forward(self, data):
+        image = data["image"]
+        if self.conf.pretrained:
+            mean, std = image.new_tensor(self.mean), image.new_tensor(self.std)
+            image = (image - mean[:, None, None]) / std[:, None, None]
+
+        skip_features = []
+        features = image
+        for block in self.encoder:
+            features = block(features)
+            skip_features.append(features)
+
+        if self.conf.decoder:
+            pre_features = [skip_features[-1]]
+            for block, skip in zip(self.decoder, skip_features[:-1][::-1]):
+                pre_features.append(block(pre_features[-1], skip))
+            pre_features = pre_features[::-1]  # fine to coarse
+        else:
+            pre_features = skip_features
+
+        out_features = []
+        for adapt, i in zip(self.adaptation, self.conf.output_scales):
+            out_features.append(adapt(pre_features[i]))
+        pred = {"feature_maps": out_features, "skip_features": skip_features}
+        return pred
+
+    def loss(self, pred, data):
+        raise NotImplementedError
+
+    def metrics(self, pred, data):
+        raise NotImplementedError
diff --git a/models/feature_extractor_v2.py b/models/feature_extractor_v2.py
new file mode 100644
index 0000000000000000000000000000000000000000..38c910651f63e5394214ea0e2b1909537948da54
--- /dev/null
+++ b/models/feature_extractor_v2.py
@@ -0,0 +1,192 @@
+import logging
+
+import numpy as np
+import torch
+import torch.nn as nn
+import torchvision
+from torchvision.models.feature_extraction import create_feature_extractor
+
+from .base import BaseModel
+
+logger = logging.getLogger(__name__)
+
+
+class DecoderBlock(nn.Module):
+    def __init__(
+        self, previous, out, ksize=3, num_convs=1, norm=nn.BatchNorm2d, padding="zeros"
+    ):
+        super().__init__()
+        layers = []
+        for i in range(num_convs):
+            conv = nn.Conv2d(
+                previous if i == 0 else out,
+                out,
+                kernel_size=ksize,
+                padding=ksize // 2,
+                bias=norm is None,
+                padding_mode=padding,
+            )
+            layers.append(conv)
+            if norm is not None:
+                layers.append(norm(out))
+            layers.append(nn.ReLU(inplace=True))
+        self.layers = nn.Sequential(*layers)
+
+    def forward(self, previous, skip):
+        _, _, hp, wp = previous.shape
+        _, _, hs, ws = skip.shape
+        scale = 2 ** np.round(np.log2(np.array([hs / hp, ws / wp])))
+        upsampled = nn.functional.interpolate(
+            previous, scale_factor=scale.tolist(), mode="bilinear", align_corners=False
+        )
+        # If the shape of the input map `skip` is not a multiple of 2,
+        # it will not match the shape of the upsampled map `upsampled`.
+        # If the downsampling uses ceil_mode=False, we nedd to crop `skip`.
+        # If it uses ceil_mode=True (not supported here), we should pad it.
+        _, _, hu, wu = upsampled.shape
+        _, _, hs, ws = skip.shape
+        if (hu <= hs) and (wu <= ws):
+            skip = skip[:, :, :hu, :wu]
+        elif (hu >= hs) and (wu >= ws):
+            skip = nn.functional.pad(skip, [0, wu - ws, 0, hu - hs])
+        else:
+            raise ValueError(
+                f"Inconsistent skip vs upsampled shapes: {(hs, ws)}, {(hu, wu)}"
+            )
+
+        return self.layers(skip) + upsampled
+
+
+class FPN(nn.Module):
+    def __init__(self, in_channels_list, out_channels, **kw):
+        super().__init__()
+        self.first = nn.Conv2d(
+            in_channels_list[-1], out_channels, 1, padding=0, bias=True
+        )
+        self.blocks = nn.ModuleList(
+            [
+                DecoderBlock(c, out_channels, ksize=1, **kw)
+                for c in in_channels_list[::-1][1:]
+            ]
+        )
+        self.out = nn.Sequential(
+            nn.Conv2d(out_channels, out_channels, 3, padding=1, bias=False),
+            nn.BatchNorm2d(out_channels),
+            nn.ReLU(inplace=True),
+        )
+
+    def forward(self, layers):
+        feats = None
+        for idx, x in enumerate(reversed(layers.values())):
+            if feats is None:
+                feats = self.first(x)
+            else:
+                feats = self.blocks[idx - 1](feats, x)
+        out = self.out(feats)
+        return out
+
+
+def remove_conv_stride(conv):
+    conv_new = nn.Conv2d(
+        conv.in_channels,
+        conv.out_channels,
+        conv.kernel_size,
+        bias=conv.bias is not None,
+        stride=1,
+        padding=conv.padding,
+    )
+    conv_new.weight = conv.weight
+    conv_new.bias = conv.bias
+    return conv_new
+
+
+class FeatureExtractor(BaseModel):
+    default_conf = {
+        "pretrained": True,
+        "input_dim": 3,
+        "output_dim": 128,  # # of channels in output feature maps
+        "encoder": "resnet50",  # torchvision net as string
+        "remove_stride_from_first_conv": False,
+        "num_downsample": None,  # how many downsample block
+        "decoder_norm": "nn.BatchNorm2d",  # normalization ind decoder blocks
+        "do_average_pooling": False,
+        "checkpointed": False,  # whether to use gradient checkpointing
+    }
+    mean = [0.485, 0.456, 0.406]
+    std = [0.229, 0.224, 0.225]
+
+    def build_encoder(self, conf):
+        assert isinstance(conf.encoder, str)
+        if conf.pretrained:
+            assert conf.input_dim == 3
+        Encoder = getattr(torchvision.models, conf.encoder)
+
+        kw = {}
+        if conf.encoder.startswith("resnet"):
+            layers = ["relu", "layer1", "layer2", "layer3", "layer4"]
+            kw["replace_stride_with_dilation"] = [False, False, False]
+        elif conf.encoder == "vgg13":
+            layers = [
+                "features.3",
+                "features.8",
+                "features.13",
+                "features.18",
+                "features.23",
+            ]
+        elif conf.encoder == "vgg16":
+            layers = [
+                "features.3",
+                "features.8",
+                "features.15",
+                "features.22",
+                "features.29",
+            ]
+        else:
+            raise NotImplementedError(conf.encoder)
+
+        if conf.num_downsample is not None:
+            layers = layers[: conf.num_downsample]
+        encoder = Encoder(weights="DEFAULT" if conf.pretrained else None, **kw)
+        encoder = create_feature_extractor(encoder, return_nodes=layers)
+        if conf.encoder.startswith("resnet") and conf.remove_stride_from_first_conv:
+            encoder.conv1 = remove_conv_stride(encoder.conv1)
+
+        if conf.do_average_pooling:
+            raise NotImplementedError
+        if conf.checkpointed:
+            raise NotImplementedError
+
+        return encoder, layers
+
+    def _init(self, conf):
+        # Preprocessing
+        self.register_buffer("mean_", torch.tensor(self.mean), persistent=False)
+        self.register_buffer("std_", torch.tensor(self.std), persistent=False)
+
+        # Encoder
+        self.encoder, self.layers = self.build_encoder(conf)
+        s = 128
+        inp = torch.zeros(1, 3, s, s)
+        features = list(self.encoder(inp).values())
+        self.skip_dims = [x.shape[1] for x in features]
+        self.layer_strides = [s / f.shape[-1] for f in features]
+        self.scales = [self.layer_strides[0]]
+
+        # Decoder
+        norm = eval(conf.decoder_norm) if conf.decoder_norm else None  # noqa
+        self.decoder = FPN(self.skip_dims, out_channels=conf.output_dim, norm=norm)
+
+        logger.debug(
+            "Built feature extractor with layers {name:dim:stride}:\n"
+            f"{list(zip(self.layers, self.skip_dims, self.layer_strides))}\n"
+            f"and output scales {self.scales}."
+        )
+
+    def _forward(self, data):
+        image = data["image"]
+        image = (image - self.mean_[:, None, None]) / self.std_[:, None, None]
+
+        skip_features = self.encoder(image)
+        output = self.decoder(skip_features)
+        pred = {"feature_maps": [output], "skip_features": skip_features}
+        return pred
diff --git a/models/map_encoder.py b/models/map_encoder.py
new file mode 100644
index 0000000000000000000000000000000000000000..e54db926df6cc16d9082826ffee2a8b838dbed21
--- /dev/null
+++ b/models/map_encoder.py
@@ -0,0 +1,67 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import torch
+import torch.nn as nn
+
+from .base import BaseModel
+from .feature_extractor import FeatureExtractor
+
+
+class MapEncoder(BaseModel):
+    default_conf = {
+        "embedding_dim": "???",
+        "output_dim": None,
+        "num_classes": "???",
+        "backbone": "???",
+        "unary_prior": False,
+    }
+
+    def _init(self, conf):
+        self.embeddings = torch.nn.ModuleDict(
+            {
+                k: torch.nn.Embedding(n + 1, conf.embedding_dim)
+                for k, n in conf.num_classes.items()
+            }
+        )
+        #num_calsses:{'areas': 7, 'ways': 10, 'nodes': 33}
+        input_dim = len(conf.num_classes) * conf.embedding_dim
+        output_dim = conf.output_dim
+        if output_dim is None:
+            output_dim = conf.backbone.output_dim
+        if conf.unary_prior:
+            output_dim += 1
+        if conf.backbone is None:
+            self.encoder = nn.Conv2d(input_dim, output_dim, 1)
+        elif conf.backbone == "simple":
+            self.encoder = nn.Sequential(
+                nn.Conv2d(input_dim, 128, 3, padding=1),
+                nn.ReLU(inplace=True),
+                nn.Conv2d(128, 128, 3, padding=1),
+                nn.ReLU(inplace=True),
+                nn.Conv2d(128, output_dim, 3, padding=1),
+            )
+        else:
+            self.encoder = FeatureExtractor(
+                {
+                    **conf.backbone,
+                    "input_dim": input_dim,
+                    "output_dim": output_dim,
+                }
+            )
+
+    def _forward(self, data):
+        embeddings = [
+            self.embeddings[k](data["map"][:, i])
+            for i, k in enumerate(("areas", "ways", "nodes"))
+        ]
+        embeddings = torch.cat(embeddings, dim=-1).permute(0, 3, 1, 2)
+        if isinstance(self.encoder, BaseModel):
+            features = self.encoder({"image": embeddings})["feature_maps"]
+        else:
+            features = [self.encoder(embeddings)]
+        pred = {}
+        if self.conf.unary_prior:
+            pred["log_prior"] = [f[:, -1] for f in features]
+            features = [f[:, :-1] for f in features]
+        pred["map_features"] = features
+        return pred
diff --git a/models/maplocnet.py b/models/maplocnet.py
new file mode 100644
index 0000000000000000000000000000000000000000..4d32dc4b78bac1d0c1eb23827be875598489b447
--- /dev/null
+++ b/models/maplocnet.py
@@ -0,0 +1,204 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import numpy as np
+import torch
+from torch.nn.functional import normalize
+
+from . import get_model
+from models.base import BaseModel
+# from models.bev_net import BEVNet
+# from models.bev_projection import CartesianProjection, PolarProjectionDepth
+from models.voting import (
+    argmax_xyr,
+    conv2d_fft_batchwise,
+    expectation_xyr,
+    log_softmax_spatial,
+    mask_yaw_prior,
+    nll_loss_xyr,
+    nll_loss_xyr_smoothed,
+    TemplateSampler,
+    UAVTemplateSampler,
+    UAVTemplateSamplerFast
+)
+from .map_encoder import MapEncoder
+from .metrics import AngleError, AngleRecall, Location2DError, Location2DRecall
+
+
+class MapLocNet(BaseModel):
+    default_conf = {
+        "image_size": "???",
+        "val_citys":"???",
+        "image_encoder": "???",
+        "map_encoder": "???",
+        "bev_net": "???",
+        "latent_dim": "???",
+        "matching_dim": "???",
+        "scale_range": [0, 9],
+        "num_scale_bins": "???",
+        "z_min": None,
+        "z_max": "???",
+        "x_max": "???",
+        "pixel_per_meter": "???",
+        "num_rotations": "???",
+        "add_temperature": False,
+        "normalize_features": False,
+        "padding_matching": "replicate",
+        "apply_map_prior": True,
+        "do_label_smoothing": False,
+        "sigma_xy": 1,
+        "sigma_r": 2,
+        # depcreated
+        "depth_parameterization": "scale",
+        "norm_depth_scores": False,
+        "normalize_scores_by_dim": False,
+        "normalize_scores_by_num_valid": True,
+        "prior_renorm": True,
+        "retrieval_dim": None,
+    }
+
+    def _init(self, conf):
+        assert not self.conf.norm_depth_scores
+        assert self.conf.depth_parameterization == "scale"
+        assert not self.conf.normalize_scores_by_dim
+        assert self.conf.normalize_scores_by_num_valid
+        assert self.conf.prior_renorm
+
+        Encoder = get_model(conf.image_encoder.get("name", "feature_extractor_v2"))
+        self.image_encoder = Encoder(conf.image_encoder.backbone)
+        self.map_encoder = MapEncoder(conf.map_encoder)
+        # self.bev_net = None if conf.bev_net is None else BEVNet(conf.bev_net)
+
+        ppm = conf.pixel_per_meter
+        # self.projection_polar = PolarProjectionDepth(
+        #     conf.z_max,
+        #     ppm,
+        #     conf.scale_range,
+        #     conf.z_min,
+        # )
+        # self.projection_bev = CartesianProjection(
+        #     conf.z_max, conf.x_max, ppm, conf.z_min
+        # )
+        # self.template_sampler = TemplateSampler(
+        #     self.projection_bev.grid_xz, ppm, conf.num_rotations
+        # )
+        # self.template_sampler = UAVTemplateSamplerFast(conf.num_rotations,w=conf.image_size//2)
+        self.template_sampler = UAVTemplateSampler(conf.num_rotations)
+        # self.scale_classifier = torch.nn.Linear(conf.latent_dim, conf.num_scale_bins)
+        # if conf.bev_net is None:
+        #     self.feature_projection = torch.nn.Linear(
+        #         conf.latent_dim, conf.matching_dim
+        #     )
+        if conf.add_temperature:
+            temperature = torch.nn.Parameter(torch.tensor(0.0))
+            self.register_parameter("temperature", temperature)
+
+    def exhaustive_voting(self, f_bev, f_map):
+        if self.conf.normalize_features:
+            f_bev = normalize(f_bev, dim=1)
+            f_map = normalize(f_map, dim=1)
+
+        # Build the templates and exhaustively match against the map.
+        # if confidence_bev is not None:
+        #     f_bev = f_bev * confidence_bev.unsqueeze(1)
+        # f_bev = f_bev.masked_fill(~valid_bev.unsqueeze(1), 0.0)
+        # torch.save(f_bev, 'f_bev.pt')
+        # torch.save(f_map, 'f_map.pt')
+
+        templates = self.template_sampler(f_bev)#[batch,256,8,129,129]
+        # torch.save(templates, 'templates.pt')
+        with torch.autocast("cuda", enabled=False):
+            scores = conv2d_fft_batchwise(
+                f_map.float(),
+                templates.float(),
+                padding_mode=self.conf.padding_matching,
+            )
+        if self.conf.add_temperature:
+            scores = scores * torch.exp(self.temperature)
+
+        # Reweight the different rotations based on the number of valid pixels
+        # in each template. Axis-aligned rotation have the maximum number of valid pixels.
+        # valid_templates = self.template_sampler(valid_bev.float()[None]) > (1 - 1e-4)
+        # num_valid = valid_templates.float().sum((-3, -2, -1))
+        # scores = scores / num_valid[..., None, None]
+        return scores
+
+    def _forward(self, data):
+        pred = {}
+        pred_map = pred["map"] = self.map_encoder(data)
+        f_map = pred_map["map_features"][0]#[batch,8,256,256]
+
+        # Extract image features.
+        level = 0
+        f_image = self.image_encoder(data)["feature_maps"][level]#[batch,128,128,176]
+        # print("f_map:",f_map.shape)
+
+        scores = self.exhaustive_voting(f_image, f_map)#f_bev:[batch,8,64,129]  f_map:[batch,8,256,256] confidence:[1,64,129]
+        scores = scores.moveaxis(1, -1)  # B,H,W,N
+        if "log_prior" in pred_map and self.conf.apply_map_prior:
+            scores = scores + pred_map["log_prior"][0].unsqueeze(-1)
+        # pred["scores_unmasked"] = scores.clone()
+        if "map_mask" in data:
+            scores.masked_fill_(~data["map_mask"][..., None], -np.inf)
+        if "yaw_prior" in data:
+            mask_yaw_prior(scores, data["yaw_prior"], self.conf.num_rotations)
+        log_probs = log_softmax_spatial(scores)
+        # torch.save(scores, 'scores.pt')
+        with torch.no_grad():
+            uvr_max = argmax_xyr(scores).to(scores)
+            uvr_avg, _ = expectation_xyr(log_probs.exp())
+
+        return {
+            **pred,
+            "scores": scores,
+            "log_probs": log_probs,
+            "uvr_max": uvr_max,
+            "uv_max": uvr_max[..., :2],
+            "yaw_max": uvr_max[..., 2],
+            "uvr_expectation": uvr_avg,
+            "uv_expectation": uvr_avg[..., :2],
+            "yaw_expectation": uvr_avg[..., 2],
+            "features_image": f_image,
+        }
+
+    def loss(self, pred, data):
+        xy_gt = data["uv"]
+        yaw_gt = data["roll_pitch_yaw"][..., -1]
+        if self.conf.do_label_smoothing:
+            nll = nll_loss_xyr_smoothed(
+                pred["log_probs"],
+                xy_gt,
+                yaw_gt,
+                self.conf.sigma_xy / self.conf.pixel_per_meter,
+                self.conf.sigma_r,
+                mask=data.get("map_mask"),
+            )
+        else:
+            nll = nll_loss_xyr(pred["log_probs"], xy_gt, yaw_gt)
+        loss = {"total": nll, "nll": nll}
+        if self.training and self.conf.add_temperature:
+            loss["temperature"] = self.temperature.expand(len(nll))
+        return loss
+
+    def metrics(self):
+        return {
+            "xy_max_error": Location2DError("uv_max", self.conf.pixel_per_meter),
+            "xy_expectation_error": Location2DError(
+                "uv_expectation", self.conf.pixel_per_meter
+            ),
+            "yaw_max_error": AngleError("yaw_max"),
+            "xy_recall_1m": Location2DRecall(1.0, self.conf.pixel_per_meter, "uv_max"),
+            "xy_recall_3m": Location2DRecall(3.0, self.conf.pixel_per_meter, "uv_max"),
+            "xy_recall_5m": Location2DRecall(5.0, self.conf.pixel_per_meter, "uv_max"),
+
+            # "x_recall_1m": Location2DRecall(1.0, self.conf.pixel_per_meter, "uv_max"),
+            # "x_recall_3m": Location2DRecall(3.0, self.conf.pixel_per_meter, "uv_max"),
+            # "x_recall_5m": Location2DRecall(5.0, self.conf.pixel_per_meter, "uv_max"),
+            #
+            # "y_recall_1m": Location2DRecall(1.0, self.conf.pixel_per_meter, "uv_max"),
+            # "y_recall_3m": Location2DRecall(3.0, self.conf.pixel_per_meter, "uv_max"),
+            # "y_recall_5m": Location2DRecall(5.0, self.conf.pixel_per_meter, "uv_max"),
+
+            "yaw_recall_1°": AngleRecall(1.0, "yaw_max"),
+            "yaw_recall_3°": AngleRecall(3.0, "yaw_max"),
+            "yaw_recall_5°": AngleRecall(5.0, "yaw_max"),
+        }
diff --git a/models/metrics.py b/models/metrics.py
new file mode 100644
index 0000000000000000000000000000000000000000..b50a724f4719853b476d693db25ddbba562a3a51
--- /dev/null
+++ b/models/metrics.py
@@ -0,0 +1,118 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import torch
+import torchmetrics
+from torchmetrics.utilities.data import dim_zero_cat
+
+from .utils import deg2rad, rotmat2d
+
+
+def location_error(uv, uv_gt, ppm=1):
+    return torch.norm(uv - uv_gt.to(uv), dim=-1) / ppm
+
+def location_error_single(uv, uv_gt, ppm=1):
+    return torch.norm(uv - uv_gt.to(uv), dim=-1) / ppm
+
+def angle_error(t, t_gt):
+    error = torch.abs(t % 360 - t_gt.to(t) % 360)
+    error = torch.minimum(error, 360 - error)
+    return error
+
+
+class Location2DRecall(torchmetrics.MeanMetric):
+    def __init__(self, threshold, pixel_per_meter, key="uv_max", *args, **kwargs):
+        self.threshold = threshold
+        self.ppm = pixel_per_meter
+        self.key = key
+        super().__init__(*args, **kwargs)
+
+    def update(self, pred, data):
+        self.cuda()
+        error = location_error(pred[self.key], data["uv"], self.ppm)
+        # print(error,self.threshold)
+        super().update((error <= torch.tensor(self.threshold,device=error.device)).float())
+
+class Location1DRecall(torchmetrics.MeanMetric):
+    def __init__(self, threshold, pixel_per_meter, key="uv_max", *args, **kwargs):
+        self.threshold = threshold
+        self.ppm = pixel_per_meter
+        self.key = key
+        super().__init__(*args, **kwargs)
+
+    def update(self, pred, data):
+        self.cuda()
+        error = location_error(pred[self.key], data["uv"], self.ppm)
+        # print(error,self.threshold)
+        super().update((error <= torch.tensor(self.threshold,device=error.device)).float())
+class AngleRecall(torchmetrics.MeanMetric):
+    def __init__(self, threshold, key="yaw_max", *args, **kwargs):
+        self.threshold = threshold
+        self.key = key
+
+        super().__init__(*args, **kwargs)
+
+    def update(self, pred, data):
+        self.cuda()
+        error = angle_error(pred[self.key], data["roll_pitch_yaw"][..., -1])
+        super().update((error <= self.threshold).float())
+
+
+class MeanMetricWithRecall(torchmetrics.Metric):
+    full_state_update = True
+
+    def __init__(self):
+        super().__init__()
+        self.add_state("value", default=[], dist_reduce_fx="cat")
+    def compute(self):
+        return dim_zero_cat(self.value).mean(0)
+
+    def get_errors(self):
+        return dim_zero_cat(self.value)
+
+    def recall(self, thresholds):
+        self.cuda()
+        error = self.get_errors()
+        thresholds = error.new_tensor(thresholds)
+        return (error.unsqueeze(-1) < thresholds).float().mean(0) * 100
+
+
+class AngleError(MeanMetricWithRecall):
+    def __init__(self, key):
+        super().__init__()
+        self.key = key
+
+    def update(self, pred, data):
+        self.cuda()
+        value = angle_error(pred[self.key], data["roll_pitch_yaw"][..., -1])
+        if value.numel():
+            self.value.append(value)
+
+
+class Location2DError(MeanMetricWithRecall):
+    def __init__(self, key, pixel_per_meter):
+        super().__init__()
+        self.key = key
+        self.ppm = pixel_per_meter
+
+    def update(self, pred, data):
+        self.cuda()
+        value = location_error(pred[self.key], data["uv"], self.ppm)
+        if value.numel():
+            self.value.append(value)
+
+
+class LateralLongitudinalError(MeanMetricWithRecall):
+    def __init__(self, pixel_per_meter, key="uv_max"):
+        super().__init__()
+        self.ppm = pixel_per_meter
+        self.key = key
+
+    def update(self, pred, data):
+        self.cuda()
+        yaw = deg2rad(data["roll_pitch_yaw"][..., -1])
+        shift = (pred[self.key] - data["uv"]) * yaw.new_tensor([-1, 1])
+        shift = (rotmat2d(yaw) @ shift.unsqueeze(-1)).squeeze(-1)
+        error = torch.abs(shift) / self.ppm
+        value = error.view(-1, 2)
+        if value.numel():
+            self.value.append(value)
diff --git a/models/utils.py b/models/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..ec246b7d0adf04cc9307475867650523f67a5063
--- /dev/null
+++ b/models/utils.py
@@ -0,0 +1,87 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import math
+from typing import Optional
+
+import torch
+
+
+def checkpointed(cls, do=True):
+    """Adapted from the DISK implementation of Michał Tyszkiewicz."""
+    assert issubclass(cls, torch.nn.Module)
+
+    class Checkpointed(cls):
+        def forward(self, *args, **kwargs):
+            super_fwd = super(Checkpointed, self).forward
+            if any((torch.is_tensor(a) and a.requires_grad) for a in args):
+                return torch.utils.checkpoint.checkpoint(super_fwd, *args, **kwargs)
+            else:
+                return super_fwd(*args, **kwargs)
+
+    return Checkpointed if do else cls
+
+
+class GlobalPooling(torch.nn.Module):
+    def __init__(self, kind):
+        super().__init__()
+        if kind == "mean":
+            self.fn = torch.nn.Sequential(
+                torch.nn.Flatten(2), torch.nn.AdaptiveAvgPool1d(1), torch.nn.Flatten()
+            )
+        elif kind == "max":
+            self.fn = torch.nn.Sequential(
+                torch.nn.Flatten(2), torch.nn.AdaptiveMaxPool1d(1), torch.nn.Flatten()
+            )
+        else:
+            raise ValueError(f"Unknown pooling type {kind}.")
+
+    def forward(self, x):
+        return self.fn(x)
+
+
+@torch.jit.script
+def make_grid(
+    w: float,
+    h: float,
+    step_x: float = 1.0,
+    step_y: float = 1.0,
+    orig_x: float = 0,
+    orig_y: float = 0,
+    y_up: bool = False,
+    device: Optional[torch.device] = None,
+) -> torch.Tensor:
+    x, y = torch.meshgrid(
+        [
+            torch.arange(orig_x, w + orig_x, step_x, device=device),
+            torch.arange(orig_y, h + orig_y, step_y, device=device),
+        ],
+        indexing="xy",
+    )
+    if y_up:
+        y = y.flip(-2)
+    grid = torch.stack((x, y), -1)
+    return grid
+
+
+@torch.jit.script
+def rotmat2d(angle: torch.Tensor) -> torch.Tensor:
+    c = torch.cos(angle)
+    s = torch.sin(angle)
+    R = torch.stack([c, -s, s, c], -1).reshape(angle.shape + (2, 2))
+    return R
+
+
+@torch.jit.script
+def rotmat2d_grad(angle: torch.Tensor) -> torch.Tensor:
+    c = torch.cos(angle)
+    s = torch.sin(angle)
+    R = torch.stack([-s, -c, c, -s], -1).reshape(angle.shape + (2, 2))
+    return R
+
+
+def deg2rad(x):
+    return x * math.pi / 180
+
+
+def rad2deg(x):
+    return x * 180 / math.pi
diff --git a/models/voting.py b/models/voting.py
new file mode 100644
index 0000000000000000000000000000000000000000..b57bc1e86d6f738c060f7ef0fea3698f4fc13dd6
--- /dev/null
+++ b/models/voting.py
@@ -0,0 +1,365 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from typing import Optional, Tuple
+
+import numpy as np
+import torch
+from torch.fft import irfftn, rfftn
+from torch.nn.functional import grid_sample, log_softmax, pad
+
+from .metrics import angle_error
+from .utils import make_grid, rotmat2d
+from torchvision.transforms.functional import rotate
+
+class UAVTemplateSamplerFast(torch.nn.Module):
+    def __init__(self, num_rotations,w=128,optimize=True):
+        super().__init__()
+
+        h, w = w,w
+        grid_xy = make_grid(
+            w=w,
+            h=h,
+            step_x=1,
+            step_y=1,
+            orig_y=-h//2,
+            orig_x=-h//2,
+            y_up=True,
+        ).cuda()
+
+        if optimize:
+            assert (num_rotations % 4) == 0
+            angles = torch.arange(
+                0, 90, 90 / (num_rotations // 4)
+            ).cuda()
+        else:
+            angles = torch.arange(
+                0, 360, 360 / num_rotations, device=grid_xz_bev.device
+            )
+        rotmats = rotmat2d(angles / 180 * np.pi)
+        grid_xy_rot = torch.einsum("...nij,...hwj->...nhwi", rotmats, grid_xy)
+
+        grid_ij_rot = (grid_xy_rot - grid_xy[..., :1, :1, :]) * grid_xy.new_tensor(
+            [1, -1]
+        )
+        grid_ij_rot = grid_ij_rot
+        grid_norm = (grid_ij_rot + 0.5) / grid_ij_rot.new_tensor([w, h]) * 2 - 1
+
+        self.optimize = optimize
+        self.num_rots = num_rotations
+        self.register_buffer("angles", angles, persistent=False)
+        self.register_buffer("grid_norm", grid_norm, persistent=False)
+
+    def forward(self, image_bev):
+        grid = self.grid_norm
+        b, c = image_bev.shape[:2]
+        n, h, w = grid.shape[:3]
+        grid = grid[None].repeat_interleave(b, 0).reshape(b * n, h, w, 2)
+        image = (
+            image_bev[:, None]
+            .repeat_interleave(n, 1)
+            .reshape(b * n, *image_bev.shape[1:])
+        )
+        # print(image.shape,grid.shape,self.grid_norm.shape)
+        kernels = grid_sample(image, grid.to(image.dtype), align_corners=False).reshape(
+            b, n, c, h, w
+        )
+
+        if self.optimize:  # we have computed only the first quadrant
+            kernels_quad234 = [torch.rot90(kernels, -i, (-2, -1)) for i in (1, 2, 3)]
+            kernels = torch.cat([kernels] + kernels_quad234, 1)
+
+        return kernels
+class UAVTemplateSampler(torch.nn.Module):
+    def __init__(self, num_rotations):
+        super().__init__()
+
+        self.num_rotations = num_rotations
+
+    def Template(self, input_features):
+        # 角度数量
+        num_angles = self.num_rotations
+        # 扩展第二个维度为旋转角度数量
+        input_shape = torch.tensor(input_features.shape)
+        output_shape = torch.cat((input_shape[:1], torch.tensor([num_angles]), input_shape[1:])).tolist()
+        expanded_features = torch.zeros(output_shape,device=input_features.device)
+
+        # 生成旋转角度序列
+        rotation_angles = torch.linspace(360, 0, 64 + 1)[:-1]
+        # rotation_angles=torch.flip(rotation_angles, dims=[0])
+        # 对扩展后的特征应用不同的旋转角度
+        rotated_features = []
+        # print(len(rotation_angles))
+        for i in range(len(rotation_angles)):
+            # print(rotation_angles[i].item())
+            rotated_feature = rotate(input_features, rotation_angles[i].item(), fill=0)
+            expanded_features[:, i, :, :, :] = rotated_feature
+
+        # 将所有旋转后的特征堆叠起来形成最终的输出向量
+        # output_features = torch.stack(rotated_features, dim=1)
+
+        # 输出向量的维度
+        # output_size = [3, num_angles, 8, 128, 128]
+        return expanded_features  # 输出调试信息，验证输出向量的维度是否正确
+    def forward(self, image_bev):
+
+        kernels=self.Template(image_bev)
+
+        return kernels
+class TemplateSampler(torch.nn.Module):
+    def __init__(self, grid_xz_bev, ppm, num_rotations, optimize=True):
+        super().__init__()
+
+        Δ = 1 / ppm
+        h, w = grid_xz_bev.shape[:2]
+        ksize = max(w, h * 2 + 1)
+        radius = ksize * Δ
+        grid_xy = make_grid(
+            radius,
+            radius,
+            step_x=Δ,
+            step_y=Δ,
+            orig_y=(Δ - radius) / 2,
+            orig_x=(Δ - radius) / 2,
+            y_up=True,
+        )
+
+        if optimize:
+            assert (num_rotations % 4) == 0
+            angles = torch.arange(
+                0, 90, 90 / (num_rotations // 4), device=grid_xz_bev.device
+            )
+        else:
+            angles = torch.arange(
+                0, 360, 360 / num_rotations, device=grid_xz_bev.device
+            )
+        rotmats = rotmat2d(angles / 180 * np.pi)
+        grid_xy_rot = torch.einsum("...nij,...hwj->...nhwi", rotmats, grid_xy)
+
+        grid_ij_rot = (grid_xy_rot - grid_xz_bev[..., :1, :1, :]) * grid_xy.new_tensor(
+            [1, -1]
+        )
+        grid_ij_rot = grid_ij_rot / Δ
+        grid_norm = (grid_ij_rot + 0.5) / grid_ij_rot.new_tensor([w, h]) * 2 - 1
+
+        self.optimize = optimize
+        self.num_rots = num_rotations
+        self.register_buffer("angles", angles, persistent=False)
+        self.register_buffer("grid_norm", grid_norm, persistent=False)
+
+    def forward(self, image_bev):
+        grid = self.grid_norm
+        b, c = image_bev.shape[:2]
+        n, h, w = grid.shape[:3]
+        grid = grid[None].repeat_interleave(b, 0).reshape(b * n, h, w, 2)
+        image = (
+            image_bev[:, None]
+            .repeat_interleave(n, 1)
+            .reshape(b * n, *image_bev.shape[1:])
+        )
+        kernels = grid_sample(image, grid.to(image.dtype), align_corners=False).reshape(
+            b, n, c, h, w
+        )
+
+        if self.optimize:  # we have computed only the first quadrant
+            kernels_quad234 = [torch.rot90(kernels, -i, (-2, -1)) for i in (1, 2, 3)]
+            kernels = torch.cat([kernels] + kernels_quad234, 1)
+
+        return kernels
+
+
+def conv2d_fft_batchwise(signal, kernel, padding="same", padding_mode="constant"):
+    if padding == "same":
+        padding = [i // 2 for i in kernel.shape[-2:]]
+    padding_signal = [p for p in padding[::-1] for _ in range(2)]
+    signal = pad(signal, padding_signal, mode=padding_mode)
+    assert signal.size(-1) % 2 == 0
+
+    padding_kernel = [
+        pad for i in [1, 2] for pad in [0, signal.size(-i) - kernel.size(-i)]
+    ]
+    kernel_padded = pad(kernel, padding_kernel)
+
+    signal_fr = rfftn(signal, dim=(-1, -2))
+    kernel_fr = rfftn(kernel_padded, dim=(-1, -2))
+
+    kernel_fr.imag *= -1  # flip the kernel
+    output_fr = torch.einsum("bc...,bdc...->bd...", signal_fr, kernel_fr)
+    output = irfftn(output_fr, dim=(-1, -2))
+
+    crop_slices = [slice(0, output.size(0)), slice(0, output.size(1))] + [
+        slice(0, (signal.size(i) - kernel.size(i) + 1)) for i in [-2, -1]
+    ]
+    output = output[crop_slices].contiguous()
+
+    return output
+
+
+class SparseMapSampler(torch.nn.Module):
+    def __init__(self, num_rotations):
+        super().__init__()
+        angles = torch.arange(0, 360, 360 / self.conf.num_rotations)
+        rotmats = rotmat2d(angles / 180 * np.pi)
+        self.num_rotations = num_rotations
+        self.register_buffer("rotmats", rotmats, persistent=False)
+
+    def forward(self, image_map, p2d_bev):
+        h, w = image_map.shape[-2:]
+        locations = make_grid(w, h, device=p2d_bev.device)
+        p2d_candidates = torch.einsum(
+            "kji,...i,->...kj", self.rotmats.to(p2d_bev), p2d_bev
+        )
+        p2d_candidates = p2d_candidates[..., None, None, :, :] + locations.unsqueeze(-1)
+        # ... x N x W x H x K x 2
+
+        p2d_norm = (p2d_candidates / (image_map.new_tensor([w, h]) - 1)) * 2 - 1
+        valid = torch.all((p2d_norm >= -1) & (p2d_norm <= 1), -1)
+        value = grid_sample(
+            image_map, p2d_norm.flatten(-4, -2), align_corners=True, mode="bilinear"
+        )
+        value = value.reshape(image_map.shape[:2] + valid.shape[-4])
+        return valid, value
+
+
+def sample_xyr(volume, xy_grid, angle_grid, nearest_for_inf=False):
+    # (B, C, H, W, N) to (B, C, H, W, N+1)
+    volume_padded = pad(volume, [0, 1, 0, 0, 0, 0], mode="circular")
+
+    size = xy_grid.new_tensor(volume.shape[-3:-1][::-1])
+    xy_norm = xy_grid / (size - 1)  # align_corners=True
+    angle_norm = (angle_grid / 360) % 1
+    grid = torch.concat([angle_norm.unsqueeze(-1), xy_norm], -1)
+    grid_norm = grid * 2 - 1
+
+    valid = torch.all((grid_norm >= -1) & (grid_norm <= 1), -1)
+    value = grid_sample(volume_padded, grid_norm, align_corners=True, mode="bilinear")
+
+    # if one of the values used for linear interpolation is infinite,
+    # we fallback to nearest to avoid propagating inf
+    if nearest_for_inf:
+        value_nearest = grid_sample(
+            volume_padded, grid_norm, align_corners=True, mode="nearest"
+        )
+        value = torch.where(~torch.isfinite(value) & valid, value_nearest, value)
+
+    return value, valid
+
+
+def nll_loss_xyr(log_probs, xy, angle):
+    log_prob, _ = sample_xyr(
+        log_probs.unsqueeze(1), xy[:, None, None, None], angle[:, None, None, None]
+    )
+    nll = -log_prob.reshape(-1)  # remove C,H,W,N
+    return nll
+
+
+def nll_loss_xyr_smoothed(log_probs, xy, angle, sigma_xy, sigma_r, mask=None):
+    *_, nx, ny, nr = log_probs.shape
+    grid_x = torch.arange(nx, device=log_probs.device, dtype=torch.float)
+    dx = (grid_x - xy[..., None, 0]) / sigma_xy
+    grid_y = torch.arange(ny, device=log_probs.device, dtype=torch.float)
+    dy = (grid_y - xy[..., None, 1]) / sigma_xy
+    dr = (
+        torch.arange(0, 360, 360 / nr, device=log_probs.device, dtype=torch.float)
+        - angle[..., None]
+    ) % 360
+    dr = torch.minimum(dr, 360 - dr) / sigma_r
+    diff = (
+        dx[..., None, :, None] ** 2
+        + dy[..., :, None, None] ** 2
+        + dr[..., None, None, :] ** 2
+    )
+    pdf = torch.exp(-diff / 2)
+    if mask is not None:
+        pdf.masked_fill_(~mask[..., None], 0)
+        log_probs = log_probs.masked_fill(~mask[..., None], 0)
+    pdf /= pdf.sum((-1, -2, -3), keepdim=True)
+    return -torch.sum(pdf * log_probs.to(torch.float), dim=(-1, -2, -3))
+
+
+def log_softmax_spatial(x, dims=3):
+    return log_softmax(x.flatten(-dims), dim=-1).reshape(x.shape)
+
+
+@torch.jit.script
+def argmax_xy(scores: torch.Tensor) -> torch.Tensor:
+    indices = scores.flatten(-2).max(-1).indices
+    width = scores.shape[-1]
+    x = indices % width
+    y = torch.div(indices, width, rounding_mode="floor")
+    return torch.stack((x, y), -1)
+
+
+@torch.jit.script
+def expectation_xy(prob: torch.Tensor) -> torch.Tensor:
+    h, w = prob.shape[-2:]
+    grid = make_grid(float(w), float(h), device=prob.device).to(prob)
+    return torch.einsum("...hw,hwd->...d", prob, grid)
+
+
+@torch.jit.script
+def expectation_xyr(
+    prob: torch.Tensor, covariance: bool = False
+) -> Tuple[torch.Tensor, Optional[torch.Tensor]]:
+    h, w, num_rotations = prob.shape[-3:]
+    x, y = torch.meshgrid(
+        [
+            torch.arange(w, device=prob.device, dtype=prob.dtype),
+            torch.arange(h, device=prob.device, dtype=prob.dtype),
+        ],
+        indexing="xy",
+    )
+    grid_xy = torch.stack((x, y), -1)
+    xy_mean = torch.einsum("...hwn,hwd->...d", prob, grid_xy)
+
+    angles = torch.arange(0, 1, 1 / num_rotations, device=prob.device, dtype=prob.dtype)
+    angles = angles * 2 * np.pi
+    grid_cs = torch.stack([torch.cos(angles), torch.sin(angles)], -1)
+    cs_mean = torch.einsum("...hwn,nd->...d", prob, grid_cs)
+    angle = torch.atan2(cs_mean[..., 1], cs_mean[..., 0])
+    angle = (angle * 180 / np.pi) % 360
+
+    if covariance:
+        xy_cov = torch.einsum("...hwn,...hwd,...hwk->...dk", prob, grid_xy, grid_xy)
+        xy_cov = xy_cov - torch.einsum("...d,...k->...dk", xy_mean, xy_mean)
+    else:
+        xy_cov = None
+
+    xyr_mean = torch.cat((xy_mean, angle.unsqueeze(-1)), -1)
+    return xyr_mean, xy_cov
+
+
+@torch.jit.script
+def argmax_xyr(scores: torch.Tensor) -> torch.Tensor:
+    indices = scores.flatten(-3).max(-1).indices
+    width, num_rotations = scores.shape[-2:]
+    wr = width * num_rotations
+    y = torch.div(indices, wr, rounding_mode="floor")
+    x = torch.div(indices % wr, num_rotations, rounding_mode="floor")
+    angle_index = indices % num_rotations
+    angle = angle_index * 360 / num_rotations
+    xyr = torch.stack((x, y, angle), -1)
+    return xyr
+
+
+@torch.jit.script
+def mask_yaw_prior(
+    scores: torch.Tensor, yaw_prior: torch.Tensor, num_rotations: int
+) -> torch.Tensor:
+    step = 360 / num_rotations
+    step_2 = step / 2
+    angles = torch.arange(step_2, 360 + step_2, step, device=scores.device)
+    yaw_init, yaw_range = yaw_prior.chunk(2, dim=-1)
+    rot_mask = angle_error(angles, yaw_init) < yaw_range
+    return scores.masked_fill_(~rot_mask[:, None, None], -np.inf)
+
+
+def fuse_gps(log_prob, uv_gps, ppm, sigma=10, gaussian=False):
+    grid = make_grid(*log_prob.shape[-3:-1][::-1]).to(log_prob)
+    dist = torch.sum((grid - uv_gps) ** 2, -1)
+    sigma_pixel = sigma * ppm
+    if gaussian:
+        gps_log_prob = -1 / 2 * dist / sigma_pixel**2
+    else:
+        gps_log_prob = torch.where(dist < sigma_pixel**2, 1, -np.inf)
+    log_prob_fused = log_softmax_spatial(log_prob + gps_log_prob.unsqueeze(-1))
+    return log_prob_fused
diff --git a/module.py b/module.py
new file mode 100644
index 0000000000000000000000000000000000000000..47bc341f83aba111638a5de1fb8c6d88ed900df7
--- /dev/null
+++ b/module.py
@@ -0,0 +1,171 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from pathlib import Path
+
+import pytorch_lightning as pl
+import torch
+from omegaconf import DictConfig, OmegaConf, open_dict
+from torchmetrics import MeanMetric, MetricCollection
+
+import logger
+from models import get_model
+
+
+class AverageKeyMeter(MeanMetric):
+    def __init__(self, key, *args, **kwargs):
+        self.key = key
+        super().__init__(*args, **kwargs)
+
+    def update(self, dict):
+        value = dict[self.key]
+        value = value[torch.isfinite(value)]
+        return super().update(value)
+
+
+class GenericModule(pl.LightningModule):
+    def __init__(self, cfg):
+        super().__init__()
+        name = cfg.model.get("name")
+        name = "orienternet" if name in ("localizer_bev_depth", None) else name
+        self.model = get_model(name)(cfg.model)
+        self.cfg = cfg
+        self.save_hyperparameters(cfg)
+
+
+
+        self.metrics_val = MetricCollection(self.model.metrics(), prefix="val/")
+        self.losses_val = None  # we do not know the loss keys in advance
+
+        # self.citys = self.cfg.data.val_citys
+        # for i  in range(len(self.citys)):
+        #     city=self.citys[i]
+        #     setattr(self, "metric_vals_{}".format(i), MetricCollection(self.model.metrics(), prefix="val_{}/".format(city)))
+        # self.losse_vals = [None for city in self.cfg.data.val_citys]
+
+
+    def forward(self, batch):
+        return self.model(batch)
+
+    def training_step(self, batch):
+        pred = self(batch)
+        losses = self.model.loss(pred, batch)
+        self.log_dict(
+            {f"loss/{k}/train": v.mean() for k, v in losses.items()},
+            prog_bar=True,
+            rank_zero_only=True,
+        )
+        return losses["total"].mean()
+
+    # def validation_step(self, batch, batch_idx,dataloader_idx):
+    #     city=self.citys[dataloader_idx]
+    #
+    #     pred = self(batch)
+    #     losses = self.model.loss(pred, batch)
+    #
+    #     if hasattr(self,"losse_val_{}".format(dataloader_idx)) is False:
+    #         setattr(self,"losse_val_{}".format(dataloader_idx),MetricCollection(
+    #             {k: AverageKeyMeter(k).to(self.device) for k in losses},
+    #             prefix="loss_{}/".format(city),
+    #             postfix="/val_{}".format(city),
+    #         ))
+    #
+    #     # print(pred, batch)
+    #     getattr(self,"metric_vals_{}".format(dataloader_idx))(pred, batch)
+    #     self.log_dict(getattr(self,"metric_vals_{}".format(dataloader_idx))(pred, batch), sync_dist=True)
+    #
+    #     getattr(self,"losse_val_{}".format(dataloader_idx)).update(losses)
+    #     # print(getattr(self,"losse_val_{}".format(dataloader_idx)))
+    #     self.log_dict(getattr(self,"losse_val_{}".format(dataloader_idx)).compute(), sync_dist=True)
+    def validation_step(self, batch, batch_idx):
+        pred = self(batch)
+        losses = self.model.loss(pred, batch)
+        if self.losses_val is None:
+            self.losses_val = MetricCollection(
+                {k: AverageKeyMeter(k).to(self.device) for k in losses},
+                prefix="loss/",
+                postfix="/val",
+            )
+        self.metrics_val(pred, batch)
+        self.log_dict(self.metrics_val, sync_dist=True)
+        self.losses_val.update(losses)
+        self.log_dict(self.losses_val, sync_dist=True)
+
+    def validation_epoch_start(self, batch):
+        self.losses_val = None
+        # self.losse_val = [None for city in self.cfg.data.val_citys]
+
+    def configure_optimizers(self):
+        optimizer = torch.optim.Adam(self.parameters(), lr=self.cfg.training.lr)
+        ret = {"optimizer": optimizer}
+        cfg_scheduler = self.cfg.training.get("lr_scheduler")
+        if cfg_scheduler is not None:
+            scheduler = getattr(torch.optim.lr_scheduler, cfg_scheduler.name)(
+                optimizer=optimizer, **cfg_scheduler.get("args", {})
+            )
+            ret["lr_scheduler"] = {
+                "scheduler": scheduler,
+                "interval": "epoch",
+                "frequency": 1,
+                "monitor": "loss/total/val",
+                "strict": True,
+                "name": "learning_rate",
+            }
+        return ret
+
+    @classmethod
+    def load_from_checkpoint(
+        cls,
+        checkpoint_path,
+        map_location=None,
+        hparams_file=None,
+        strict=True,
+        cfg=None,
+        find_best=False,
+    ):
+        assert hparams_file is None, "hparams are not supported."
+
+        checkpoint = torch.load(
+            checkpoint_path, map_location=map_location or (lambda storage, loc: storage)
+        )
+        if find_best:
+            best_score, best_name = None, None
+            modes = {"min": torch.lt, "max": torch.gt}
+            for key, state in checkpoint["callbacks"].items():
+                if not key.startswith("ModelCheckpoint"):
+                    continue
+                mode = eval(key.replace("ModelCheckpoint", ""))["mode"]
+                if best_score is None or modes[mode](
+                    state["best_model_score"], best_score
+                ):
+                    best_score = state["best_model_score"]
+                    best_name = Path(state["best_model_path"]).name
+            logger.info("Loading best checkpoint %s", best_name)
+            if best_name != checkpoint_path:
+                return cls.load_from_checkpoint(
+                    Path(checkpoint_path).parent / best_name,
+                    map_location,
+                    hparams_file,
+                    strict,
+                    cfg,
+                    find_best=False,
+                )
+
+        logger.info(
+            "Using checkpoint %s from epoch %d and step %d.",
+            checkpoint_path.name,
+            checkpoint["epoch"],
+            checkpoint["global_step"],
+        )
+        cfg_ckpt = checkpoint[cls.CHECKPOINT_HYPER_PARAMS_KEY]
+        if list(cfg_ckpt.keys()) == ["cfg"]:  # backward compatibility
+            cfg_ckpt = cfg_ckpt["cfg"]
+        cfg_ckpt = OmegaConf.create(cfg_ckpt)
+
+        if cfg is None:
+            cfg = {}
+        if not isinstance(cfg, DictConfig):
+            cfg = OmegaConf.create(cfg)
+        with open_dict(cfg_ckpt):
+            cfg = OmegaConf.merge(cfg_ckpt, cfg)
+
+        return pl.core.saving._load_state(cls, checkpoint, strict=strict, cfg=cfg)
diff --git a/osm/analysis.py b/osm/analysis.py
new file mode 100644
index 0000000000000000000000000000000000000000..a667c21373a31482f7bbcfb41d4fa14681741260
--- /dev/null
+++ b/osm/analysis.py
@@ -0,0 +1,182 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from collections import Counter, defaultdict
+from typing import Dict
+
+import matplotlib.pyplot as plt
+import numpy as np
+import plotly.graph_objects as go
+
+from .parser import (
+    filter_area,
+    filter_node,
+    filter_way,
+    match_to_group,
+    parse_area,
+    parse_node,
+    parse_way,
+    Patterns,
+)
+from .reader import OSMData
+
+
+def recover_hierarchy(counter: Counter) -> Dict:
+    """Recover a two-level hierarchy from the flat group labels."""
+    groups = defaultdict(dict)
+    for k, v in sorted(counter.items(), key=lambda x: -x[1]):
+        if ":" in k:
+            prefix, group = k.split(":")
+            if prefix in groups and isinstance(groups[prefix], int):
+                groups[prefix] = {}
+                groups[prefix][prefix] = groups[prefix]
+                groups[prefix] = {}
+            groups[prefix][group] = v
+        else:
+            groups[k] = v
+    return dict(groups)
+
+
+def bar_autolabel(rects, fontsize):
+    """Attach a text label above each bar in *rects*, displaying its height."""
+    for rect in rects:
+        width = rect.get_width()
+        plt.gca().annotate(
+            f"{width}",
+            xy=(width, rect.get_y() + rect.get_height() / 2),
+            xytext=(3, 0),  # 3 points vertical offset
+            textcoords="offset points",
+            ha="left",
+            va="center",
+            fontsize=fontsize,
+        )
+
+
+def plot_histogram(counts, fontsize, dpi):
+    fig, ax = plt.subplots(dpi=dpi, figsize=(8, 20))
+
+    labels = []
+    for k, v in counts.items():
+        if isinstance(v, dict):
+            labels += list(v.keys())
+            v = list(v.values())
+        else:
+            labels.append(k)
+            v = [v]
+        bars = plt.barh(
+            len(labels) + -len(v) + np.arange(len(v)), v, height=0.9, label=k
+        )
+        bar_autolabel(bars, fontsize)
+
+    ax.set_yticklabels(labels, fontsize=fontsize)
+    ax.axes.xaxis.set_ticklabels([])
+    ax.xaxis.tick_top()
+    ax.invert_yaxis()
+    plt.yticks(np.arange(len(labels)))
+    plt.xscale("log")
+    plt.legend(ncol=len(counts), loc="upper center")
+
+
+def count_elements(elems: Dict[int, str], filter_fn, parse_fn) -> Dict:
+    """Count the number of elements in each group."""
+    counts = Counter()
+    for elem in filter(filter_fn, elems.values()):
+        group = parse_fn(elem.tags)
+        if group is None:
+            continue
+        counts[group] += 1
+    counts = recover_hierarchy(counts)
+    return counts
+
+
+def plot_osm_histograms(osm: OSMData, fontsize=8, dpi=150):
+    counts = count_elements(osm.nodes, filter_node, parse_node)
+    plot_histogram(counts, fontsize, dpi)
+    plt.title("nodes")
+
+    counts = count_elements(osm.ways, filter_way, parse_way)
+    plot_histogram(counts, fontsize, dpi)
+    plt.title("ways")
+
+    counts = count_elements(osm.ways, filter_area, parse_area)
+    plot_histogram(counts, fontsize, dpi)
+    plt.title("areas")
+
+
+def plot_sankey_hierarchy(osm: OSMData):
+    triplets = []
+    for node in filter(filter_node, osm.nodes.values()):
+        label = parse_node(node.tags)
+        if label is None:
+            continue
+        group = match_to_group(label, Patterns.nodes)
+        if group is None:
+            group = match_to_group(label, Patterns.ways)
+        if group is None:
+            group = "null"
+        if ":" in label:
+            key, tag = label.split(":")
+            if tag == "yes":
+                tag = key
+        else:
+            key = tag = label
+        triplets.append((key, tag, group))
+    keys, tags, groups = list(zip(*triplets))
+    counts_key_tag = Counter(zip(keys, tags))
+    counts_key_tag_group = Counter(triplets)
+
+    key2tags = defaultdict(set)
+    for k, t in zip(keys, tags):
+        key2tags[k].add(t)
+    key2tags = {k: sorted(t) for k, t in key2tags.items()}
+    keytag2group = dict(zip(zip(keys, tags), groups))
+    key_names = sorted(set(keys))
+    tag_names = [(k, t) for k in key_names for t in key2tags[k]]
+
+    group_names = []
+    for k in key_names:
+        for t in key2tags[k]:
+            g = keytag2group[k, t]
+            if g not in group_names and g != "null":
+                group_names.append(g)
+    group_names += ["null"]
+
+    key2idx = dict(zip(key_names, range(len(key_names))))
+    tag2idx = {kt: i + len(key2idx) for i, kt in enumerate(tag_names)}
+    group2idx = {n: i + len(key2idx) + len(tag2idx) for i, n in enumerate(group_names)}
+
+    key_counts = Counter(keys)
+    key_text = [f"{k} {key_counts[k]}" for k in key_names]
+    tag_counts = Counter(list(zip(keys, tags)))
+    tag_text = [f"{t} {tag_counts[k, t]}" for k, t in tag_names]
+    group_counts = Counter(groups)
+    group_text = [f"{k} {group_counts[k]}" for k in group_names]
+
+    fig = go.Figure(
+        data=[
+            go.Sankey(
+                orientation="h",
+                node=dict(
+                    pad=15,
+                    thickness=20,
+                    line=dict(color="black", width=0.5),
+                    label=key_text + tag_text + group_text,
+                    x=[0] * len(key_names)
+                    + [1] * len(tag_names)
+                    + [2] * len(group_names),
+                    color="blue",
+                ),
+                arrangement="fixed",
+                link=dict(
+                    source=[key2idx[k] for k, _ in counts_key_tag]
+                    + [tag2idx[k, t] for k, t, _ in counts_key_tag_group],
+                    target=[tag2idx[k, t] for k, t in counts_key_tag]
+                    + [group2idx[g] for _, _, g in counts_key_tag_group],
+                    value=list(counts_key_tag.values())
+                    + list(counts_key_tag_group.values()),
+                ),
+            )
+        ]
+    )
+    fig.update_layout(autosize=False, width=800, height=2000, font_size=10)
+    fig.show()
+    return fig
diff --git a/osm/data.py b/osm/data.py
new file mode 100644
index 0000000000000000000000000000000000000000..dafc568f8ad5ac8c72ea9ffbd096838e0693ad84
--- /dev/null
+++ b/osm/data.py
@@ -0,0 +1,230 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import logging
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Set, Tuple
+
+import numpy as np
+
+from .parser import (
+    filter_area,
+    filter_node,
+    filter_way,
+    match_to_group,
+    parse_area,
+    parse_node,
+    parse_way,
+    Patterns,
+)
+from .reader import OSMData, OSMNode, OSMRelation, OSMWay
+
+
+logger = logging.getLogger(__name__)
+
+
+def glue(ways: List[OSMWay]) -> List[List[OSMNode]]:
+    result: List[List[OSMNode]] = []
+    to_process: Set[Tuple[OSMNode]] = set()
+
+    for way in ways:
+        if way.is_cycle():
+            result.append(way.nodes)
+        else:
+            to_process.add(tuple(way.nodes))
+
+    while to_process:
+        nodes: List[OSMNode] = list(to_process.pop())
+        glued: Optional[List[OSMNode]] = None
+        other_nodes: Optional[Tuple[OSMNode]] = None
+
+        for other_nodes in to_process:
+            glued = try_to_glue(nodes, list(other_nodes))
+            if glued is not None:
+                break
+
+        if glued is not None:
+            to_process.remove(other_nodes)
+            if is_cycle(glued):
+                result.append(glued)
+            else:
+                to_process.add(tuple(glued))
+        else:
+            result.append(nodes)
+
+    return result
+
+
+def is_cycle(nodes: List[OSMNode]) -> bool:
+    """Is way a cycle way or an area boundary."""
+    return nodes[0] == nodes[-1]
+
+
+def try_to_glue(nodes: List[OSMNode], other: List[OSMNode]) -> Optional[List[OSMNode]]:
+    """Create new combined way if ways share endpoints."""
+    if nodes[0] == other[0]:
+        return list(reversed(other[1:])) + nodes
+    if nodes[0] == other[-1]:
+        return other[:-1] + nodes
+    if nodes[-1] == other[-1]:
+        return nodes + list(reversed(other[:-1]))
+    if nodes[-1] == other[0]:
+        return nodes + other[1:]
+    return None
+
+
+def multipolygon_from_relation(rel: OSMRelation, osm: OSMData):
+    inner_ways = []
+    outer_ways = []
+    for member in rel.members:
+        if member.type_ == "way":
+            if member.role == "inner":
+                if member.ref in osm.ways:
+                    inner_ways.append(osm.ways[member.ref])
+            elif member.role == "outer":
+                if member.ref in osm.ways:
+                    outer_ways.append(osm.ways[member.ref])
+            else:
+                logger.warning(f'Unknown member role "{member.role}".')
+    if outer_ways:
+        inners_path = glue(inner_ways)
+        outers_path = glue(outer_ways)
+        return inners_path, outers_path
+
+
+@dataclass
+class MapElement:
+    id_: int
+    label: str
+    group: str
+    tags: Optional[Dict[str, str]]
+
+
+@dataclass
+class MapNode(MapElement):
+    xy: np.ndarray
+
+    @classmethod
+    def from_osm(cls, node: OSMNode, label: str, group: str):
+        return cls(
+            node.id_,
+            label,
+            group,
+            node.tags,
+            xy=node.xy,
+        )
+
+
+@dataclass
+class MapLine(MapElement):
+    xy: np.ndarray
+
+    @classmethod
+    def from_osm(cls, way: OSMWay, label: str, group: str):
+        xy = np.stack([n.xy for n in way.nodes])
+        return cls(
+            way.id_,
+            label,
+            group,
+            way.tags,
+            xy=xy,
+        )
+
+
+@dataclass
+class MapArea(MapElement):
+    outers: List[np.ndarray]
+    inners: List[np.ndarray] = field(default_factory=list)
+
+    @classmethod
+    def from_relation(cls, rel: OSMRelation, label: str, group: str, osm: OSMData):
+        outers_inners = multipolygon_from_relation(rel, osm)
+        if outers_inners is None:
+            return None
+        outers, inners = outers_inners
+        outers = [np.stack([n.xy for n in way]) for way in outers]
+        inners = [np.stack([n.xy for n in way]) for way in inners]
+        return cls(
+            rel.id_,
+            label,
+            group,
+            rel.tags,
+            outers=outers,
+            inners=inners,
+        )
+
+    @classmethod
+    def from_way(cls, way: OSMWay, label: str, group: str):
+        xy = np.stack([n.xy for n in way.nodes])
+        return cls(
+            way.id_,
+            label,
+            group,
+            way.tags,
+            outers=[xy],
+        )
+
+
+class MapData:
+    def __init__(self):
+        self.nodes: Dict[int, MapNode] = {}
+        self.lines: Dict[int, MapLine] = {}
+        self.areas: Dict[int, MapArea] = {}
+
+    @classmethod
+    def from_osm(cls, osm: OSMData):
+        self = cls()
+
+        for node in filter(filter_node, osm.nodes.values()):
+            label = parse_node(node.tags)
+            if label is None:
+                continue
+            group = match_to_group(label, Patterns.nodes)
+            if group is None:
+                group = match_to_group(label, Patterns.ways)
+            if group is None:
+                continue  # missing
+            self.nodes[node.id_] = MapNode.from_osm(node, label, group)
+
+        for way in filter(filter_way, osm.ways.values()):
+            label = parse_way(way.tags)
+            if label is None:
+                continue
+            group = match_to_group(label, Patterns.ways)
+            if group is None:
+                group = match_to_group(label, Patterns.nodes)
+            if group is None:
+                continue  # missing
+            self.lines[way.id_] = MapLine.from_osm(way, label, group)
+
+        for area in filter(filter_area, osm.ways.values()):
+            label = parse_area(area.tags)
+            if label is None:
+                continue
+            group = match_to_group(label, Patterns.areas)
+            if group is None:
+                group = match_to_group(label, Patterns.ways)
+            if group is None:
+                group = match_to_group(label, Patterns.nodes)
+            if group is None:
+                continue  # missing
+            self.areas[area.id_] = MapArea.from_way(area, label, group)
+
+        for rel in osm.relations.values():
+            if rel.tags.get("type") != "multipolygon":
+                continue
+            label = parse_area(rel.tags)
+            if label is None:
+                continue
+            group = match_to_group(label, Patterns.areas)
+            if group is None:
+                group = match_to_group(label, Patterns.ways)
+            if group is None:
+                group = match_to_group(label, Patterns.nodes)
+            if group is None:
+                continue  # missing
+            area = MapArea.from_relation(rel, label, group, osm)
+            assert rel.id_ not in self.areas  # not sure if there can be collision
+            if area is not None:
+                self.areas[rel.id_] = area
+
+        return self
diff --git a/osm/download.py b/osm/download.py
new file mode 100644
index 0000000000000000000000000000000000000000..5a188e513aaaff8e73d6ca60a4caf51ff60bc0fa
--- /dev/null
+++ b/osm/download.py
@@ -0,0 +1,118 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import json
+from pathlib import Path
+from typing import Dict, Optional
+
+import urllib3
+
+
+from utils.geo import BoundaryBox
+import urllib.request
+import requests
+
+def get_osm(
+    boundary_box: BoundaryBox,
+    cache_path: Optional[Path] = None,
+    overwrite: bool = False,
+) -> str:
+    if not overwrite and cache_path is not None and cache_path.is_file():
+        with cache_path.open() as fp:
+            return json.load(fp)
+
+    (bottom, left), (top, right) = boundary_box.min_, boundary_box.max_
+    content: bytes = get_web_data(
+        # "https://api.openstreetmap.org/api/0.6/map.json",
+        "https://openstreetmap.erniubot.live/api/0.6/map.json",
+        # 'https://overpass-api.de/api/map',
+        # 'http://localhost:29505/api/map',
+        # "https://lz4.overpass-api.de/api/interpreter",
+        {"bbox": f"{left},{bottom},{right},{top}"},
+    )
+
+    content_str = content.decode("utf-8")
+    if content_str.startswith("You requested too many nodes"):
+        raise ValueError(content_str)
+
+    if cache_path is not None:
+        with cache_path.open("bw+") as fp:
+            fp.write(content)
+    a=json.loads(content_str)
+    return json.loads(content_str)
+
+
+def get_web_data(address: str, parameters: Dict[str, str]) -> bytes:
+    # logger.info("Getting %s...", address)
+    # proxy_address = "http://107.173.122.186:3128"
+    #
+    # # 设置代理服务器地址和端口
+    # proxies = {
+    #     'http': proxy_address,
+    #     'https': proxy_address
+    # }
+
+    # 发送GET请求并返回响应数据
+    # response = requests.get(address, params=parameters, timeout=100, proxies=proxies)
+    print('url:',address)
+    response = requests.get(address, params=parameters, timeout=100)
+    return response.content
+def get_web_data(address: str, parameters: Dict[str, str]) -> bytes:
+    # logger.info("Getting %s...", address)
+    while True:
+        try:
+            # proxy_address = "http://107.173.122.186:3128"
+            #
+            # # 设置代理服务器地址和端口
+            # proxies = {
+            #     'http': proxy_address,
+            #     'https': proxy_address
+            # }
+            # # 发送GET请求并返回响应数据
+            response = requests.get(address, params=parameters, timeout=100)
+            request = requests.Request('GET', address, params=parameters)
+            prepared_request = request.prepare()
+            # 获取完整URL
+            full_url = prepared_request.url
+            break
+
+        except Exception as e:
+            # 打印错误信息
+            print(f"发生错误: {e}")
+            print("重试...")
+
+    return response.content
+# def get_web_data_2(address: str, parameters: Dict[str, str]) -> bytes:
+#     # logger.info("Getting %s...", address)
+#     proxy_address="http://107.173.122.186:3128"
+#     http = urllib3.PoolManager(proxy_url=proxy_address)
+#     result = http.request("GET", address, parameters, timeout=100)
+#     return result.data
+#
+#
+# def get_web_data_1(address: str, parameters: Dict[str, str]) -> bytes:
+#
+#     # 设置代理服务器地址和端口
+#     proxy_address = "http://107.173.122.186:3128"
+#
+#     # 创建ProxyHandler对象
+#     proxy_handler = urllib.request.ProxyHandler({'http': proxy_address})
+#
+#     # 构建查询字符串
+#     query_string = urllib.parse.urlencode(parameters)
+#
+#     # 构建完整的URL
+#     url = address + '?' + query_string
+#     print(url)
+#     # 创建OpenerDirector对象，并将ProxyHandler对象作为参数传递
+#     opener = urllib.request.build_opener(proxy_handler)
+#
+#     # 使用OpenerDirector对象发送请求
+#     response = opener.open(url)
+#
+#     # 发送GET请求
+#     # response = urllib.request.urlopen(url, timeout=100)
+#
+#     # 读取响应内容
+#     data = response.read()
+#     print()
+#     return data
\ No newline at end of file
diff --git a/osm/parser.py b/osm/parser.py
new file mode 100644
index 0000000000000000000000000000000000000000..d235c71bdbdd22d280d60015b5941d25ba0345e1
--- /dev/null
+++ b/osm/parser.py
@@ -0,0 +1,255 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import logging
+import re
+from typing import List
+
+from .reader import OSMData, OSMElement, OSMNode, OSMWay
+
+IGNORE_TAGS = {"source", "phone", "entrance", "inscription", "note", "name"}
+
+
+def parse_levels(string: str) -> List[float]:
+    """Parse string representation of level sequence value."""
+    try:
+        cleaned = string.replace(",", ";").replace(" ", "")
+        return list(map(float, cleaned.split(";")))
+    except ValueError:
+        logging.debug("Cannot parse level description from `%s`.", string)
+        return []
+
+
+def filter_level(elem: OSMElement):
+    level = elem.tags.get("level")
+    if level is not None:
+        levels = parse_levels(level)
+        # In the US, ground floor levels are sometimes marked as level=1
+        # so let's be conservative and include it.
+        if not (0 in levels or 1 in levels):
+            return False
+    layer = elem.tags.get("layer")
+    if layer is not None:
+        layer = parse_levels(layer)
+        if len(layer) > 0 and max(layer) < 0:
+            return False
+    return (
+        elem.tags.get("location") != "underground"
+        and elem.tags.get("parking") != "underground"
+    )
+
+
+def filter_node(node: OSMNode):
+    return len(node.tags.keys() - IGNORE_TAGS) > 0 and filter_level(node)
+
+
+def is_area(way: OSMWay):
+    if way.nodes[0] != way.nodes[-1]:
+        return False
+    if way.tags.get("area") == "no":
+        return False
+    filters = [
+        "area",
+        "building",
+        "amenity",
+        "indoor",
+        "landuse",
+        "landcover",
+        "leisure",
+        "public_transport",
+        "shop",
+    ]
+    for f in filters:
+        if f in way.tags and way.tags.get(f) != "no":
+            return True
+    if way.tags.get("natural") in {"wood", "grassland", "water"}:
+        return True
+    return False
+
+
+def filter_area(way: OSMWay):
+    return len(way.tags.keys() - IGNORE_TAGS) > 0 and is_area(way) and filter_level(way)
+
+
+def filter_way(way: OSMWay):
+    return not filter_area(way) and way.tags != {} and filter_level(way)
+
+
+def parse_node(tags):
+    keys = tags.keys()
+    for key in [
+        "amenity",
+        "natural",
+        "highway",
+        "barrier",
+        "shop",
+        "tourism",
+        "public_transport",
+        "emergency",
+        "man_made",
+    ]:
+        if key in keys:
+            if "disused" in tags[key]:
+                continue
+            return f"{key}:{tags[key]}"
+    return None
+
+
+def parse_area(tags):
+    if "building" in tags:
+        group = "building"
+        kind = tags["building"]
+        if kind == "yes":
+            for key in ["amenity", "tourism"]:
+                if key in tags:
+                    kind = tags[key]
+                    break
+        if kind != "yes":
+            group += f":{kind}"
+        return group
+    if "area:highway" in tags:
+        return f'highway:{tags["area:highway"]}'
+    for key in [
+        "amenity",
+        "landcover",
+        "leisure",
+        "shop",
+        "highway",
+        "tourism",
+        "natural",
+        "waterway",
+        "landuse",
+    ]:
+        if key in tags:
+            return f"{key}:{tags[key]}"
+    return None
+
+
+def parse_way(tags):
+    keys = tags.keys()
+    for key in ["highway", "barrier", "natural"]:
+        if key in keys:
+            return f"{key}:{tags[key]}"
+    return None
+
+
+def match_to_group(label, patterns):
+    for group, pattern in patterns.items():
+        if re.match(pattern, label):
+            return group
+    return None
+
+
+class Patterns:
+    areas = dict(
+        building="building($|:.*?)*",
+        parking="amenity:parking",
+        playground="leisure:(playground|pitch)",
+        grass="(landuse:grass|landcover:grass|landuse:meadow|landuse:flowerbed|natural:grassland)",
+        park="leisure:(park|garden|dog_park)",
+        forest="(landuse:forest|natural:wood)",
+        water="(natural:water|waterway:*)",
+    )
+    # + ways: road, path
+    # + node: fountain, bicycle_parking
+
+    ways = dict(
+        fence="barrier:(fence|yes)",
+        wall="barrier:(wall|retaining_wall)",
+        hedge="barrier:hedge",
+        kerb="barrier:kerb",
+        building_outline="building($|:.*?)*",
+        cycleway="highway:cycleway",
+        path="highway:(pedestrian|footway|steps|path|corridor)",
+        road="highway:(motorway|trunk|primary|secondary|tertiary|service|construction|track|unclassified|residential|.*_link)",
+        busway="highway:busway",
+        tree_row="natural:tree_row",  # maybe merge with node?
+    )
+    # + nodes: bollard
+
+    nodes = dict(
+        tree="natural:tree",
+        stone="(natural:stone|barrier:block)",
+        crossing="highway:crossing",
+        lamp="highway:street_lamp",
+        traffic_signal="highway:traffic_signals",
+        bus_stop="highway:bus_stop",
+        stop_sign="highway:stop",
+        junction="highway:motorway_junction",
+        bus_stop_position="public_transport:stop_position",
+        gate="barrier:(gate|lift_gate|swing_gate|cycle_barrier)",
+        bollard="barrier:bollard",
+        shop="(shop.*?|amenity:(bank|post_office))",
+        restaurant="amenity:(restaurant|fast_food)",
+        bar="amenity:(cafe|bar|pub|biergarten)",
+        pharmacy="amenity:pharmacy",
+        fuel="amenity:fuel",
+        bicycle_parking="amenity:(bicycle_parking|bicycle_rental)",
+        charging_station="amenity:charging_station",
+        parking_entrance="amenity:parking_entrance",
+        atm="amenity:atm",
+        toilets="amenity:toilets",
+        vending_machine="amenity:vending_machine",
+        fountain="amenity:fountain",
+        waste_basket="amenity:(waste_basket|waste_disposal)",
+        bench="amenity:bench",
+        post_box="amenity:post_box",
+        artwork="tourism:artwork",
+        recycling="amenity:recycling",
+        give_way="highway:give_way",
+        clock="amenity:clock",
+        fire_hydrant="emergency:fire_hydrant",
+        pole="man_made:(flagpole|utility_pole)",
+        street_cabinet="man_made:street_cabinet",
+    )
+    # + ways: kerb
+
+
+class Groups:
+    areas = list(Patterns.areas)
+    ways = list(Patterns.ways)
+    nodes = list(Patterns.nodes)
+
+
+def group_elements(osm: OSMData):
+    elem2group = {
+        "area": {},
+        "way": {},
+        "node": {},
+    }
+
+    for node in filter(filter_node, osm.nodes.values()):
+        label = parse_node(node.tags)
+        if label is None:
+            continue
+        group = match_to_group(label, Patterns.nodes)
+        if group is None:
+            group = match_to_group(label, Patterns.ways)
+        if group is None:
+            continue  # missing
+        elem2group["node"][node.id_] = group
+
+    for way in filter(filter_way, osm.ways.values()):
+        label = parse_way(way.tags)
+        if label is None:
+            continue
+        group = match_to_group(label, Patterns.ways)
+        if group is None:
+            group = match_to_group(label, Patterns.nodes)
+        if group is None:
+            continue  # missing
+        elem2group["way"][way.id_] = group
+
+    for area in filter(filter_area, osm.ways.values()):
+        label = parse_area(area.tags)
+        if label is None:
+            continue
+        group = match_to_group(label, Patterns.areas)
+        if group is None:
+            group = match_to_group(label, Patterns.ways)
+        if group is None:
+            group = match_to_group(label, Patterns.nodes)
+        if group is None:
+            continue  # missing
+        elem2group["area"][area.id_] = group
+
+    return elem2group
diff --git a/osm/raster.py b/osm/raster.py
new file mode 100644
index 0000000000000000000000000000000000000000..9e203bc50db0d873a9c8544ed0a1533c84a38df9
--- /dev/null
+++ b/osm/raster.py
@@ -0,0 +1,103 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from typing import Dict, List
+
+import cv2
+import numpy as np
+import torch
+
+from utils.geo import BoundaryBox
+from .data import MapArea, MapLine, MapNode
+from .parser import Groups
+
+
+class Canvas:
+    def __init__(self, bbox: BoundaryBox, ppm: float):
+        self.bbox = bbox
+        self.ppm = ppm
+        self.scaling = bbox.size * ppm
+        self.w, self.h = np.ceil(self.scaling).astype(int)
+        self.clear()
+
+    def clear(self):
+        self.raster = np.zeros((self.h, self.w), np.uint8)
+
+    def to_uv(self, xy: np.ndarray):
+        xy = self.bbox.normalize(xy)
+        xy[..., 1] = 1 - xy[..., 1]
+        s = self.scaling
+        if isinstance(xy, torch.Tensor):
+            s = torch.from_numpy(s).to(xy)
+        return xy * s - 0.5
+
+    def to_xy(self, uv: np.ndarray):
+        s = self.scaling
+        if isinstance(uv, torch.Tensor):
+            s = torch.from_numpy(s).to(uv)
+        xy = (uv + 0.5) / s
+        xy[..., 1] = 1 - xy[..., 1]
+        return self.bbox.unnormalize(xy)
+
+    def draw_polygon(self, xy: np.ndarray):
+        uv = self.to_uv(xy)
+        cv2.fillPoly(self.raster, uv[None].astype(np.int32), 255)
+
+    def draw_multipolygon(self, xys: List[np.ndarray]):
+        uvs = [self.to_uv(xy).round().astype(np.int32) for xy in xys]
+        cv2.fillPoly(self.raster, uvs, 255)
+
+    def draw_line(self, xy: np.ndarray, width: float = 1):
+        uv = self.to_uv(xy)
+        cv2.polylines(
+            self.raster, uv[None].round().astype(np.int32), False, 255, thickness=width
+        )
+
+    def draw_cell(self, xy: np.ndarray):
+        if not self.bbox.contains(xy):
+            return
+        uv = self.to_uv(xy)
+        self.raster[tuple(uv.round().astype(int).T[::-1])] = 255
+
+
+def render_raster_masks(
+    nodes: List[MapNode],
+    lines: List[MapLine],
+    areas: List[MapArea],
+    canvas: Canvas,
+) -> Dict[str, np.ndarray]:
+    all_groups = Groups.areas + Groups.ways + Groups.nodes
+    masks = {k: np.zeros((canvas.h, canvas.w), np.uint8) for k in all_groups}
+
+    for area in areas:
+        canvas.raster = masks[area.group]
+        outlines = area.outers + area.inners
+        canvas.draw_multipolygon(outlines)
+        if area.group == "building":
+            canvas.raster = masks["building_outline"]
+            for line in outlines:
+                canvas.draw_line(line)
+
+    for line in lines:
+        canvas.raster = masks[line.group]
+        canvas.draw_line(line.xy)
+
+    for node in nodes:
+        canvas.raster = masks[node.group]
+        canvas.draw_cell(node.xy)
+
+    return masks
+
+
+def mask_to_idx(group2mask: Dict[str, np.ndarray], groups: List[str]) -> np.ndarray:
+    masks = np.stack([group2mask[k] for k in groups]) > 0
+    void = ~np.any(masks, 0)
+    idx = np.argmax(masks, 0)
+    idx = np.where(void, np.zeros_like(idx), idx + 1)  # add background
+    return idx
+
+
+def render_raster_map(masks: Dict[str, np.ndarray]) -> np.ndarray:
+    areas = mask_to_idx(masks, Groups.areas)
+    ways = mask_to_idx(masks, Groups.ways)
+    nodes = mask_to_idx(masks, Groups.nodes)
+    return np.stack([areas, ways, nodes])
diff --git a/osm/reader.py b/osm/reader.py
new file mode 100644
index 0000000000000000000000000000000000000000..793ad1879f8b2068cd5265bed408be14719e9680
--- /dev/null
+++ b/osm/reader.py
@@ -0,0 +1,310 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import json
+import re
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Any, Dict, List, Optional
+
+from lxml import etree
+import numpy as np
+
+from utils.geo import BoundaryBox, Projection
+
+METERS_PATTERN: re.Pattern = re.compile("^(?P<value>\\d*\\.?\\d*)\\s*m$")
+KILOMETERS_PATTERN: re.Pattern = re.compile("^(?P<value>\\d*\\.?\\d*)\\s*km$")
+MILES_PATTERN: re.Pattern = re.compile("^(?P<value>\\d*\\.?\\d*)\\s*mi$")
+
+
+def parse_float(string: str) -> Optional[float]:
+    """Parse string representation of a float or integer value."""
+    try:
+        return float(string)
+    except (TypeError, ValueError):
+        return None
+
+
+@dataclass(eq=False)
+class OSMElement:
+    """
+    Something with tags (string to string mapping).
+    """
+
+    id_: int
+    tags: Dict[str, str]
+
+    def get_float(self, key: str) -> Optional[float]:
+        """Parse float from tag value."""
+        if key in self.tags:
+            return parse_float(self.tags[key])
+        return None
+
+    def get_length(self, key: str) -> Optional[float]:
+        """Get length in meters."""
+        if key not in self.tags:
+            return None
+
+        value: str = self.tags[key]
+
+        float_value: float = parse_float(value)
+        if float_value is not None:
+            return float_value
+
+        for pattern, ratio in [
+            (METERS_PATTERN, 1.0),
+            (KILOMETERS_PATTERN, 1000.0),
+            (MILES_PATTERN, 1609.344),
+        ]:
+            matcher: re.Match = pattern.match(value)
+            if matcher:
+                float_value: float = parse_float(matcher.group("value"))
+                if float_value is not None:
+                    return float_value * ratio
+
+        return None
+
+    def __hash__(self) -> int:
+        return self.id_
+
+
+@dataclass(eq=False)
+class OSMNode(OSMElement):
+    """
+    OpenStreetMap node.
+
+    See https://wiki.openstreetmap.org/wiki/Node
+    """
+
+    geo: np.ndarray
+    visible: Optional[str] = None
+    xy: Optional[np.ndarray] = None
+
+    @classmethod
+    def from_dict(cls, structure: Dict[str, Any]) -> "OSMNode":
+        """
+        Parse node from Overpass-like structure.
+
+        :param structure: input structure
+        """
+        return cls(
+            structure["id"],
+            structure.get("tags", {}),
+            geo=np.array((structure["lat"], structure["lon"])),
+            visible=structure.get("visible"),
+        )
+
+
+@dataclass(eq=False)
+class OSMWay(OSMElement):
+    """
+    OpenStreetMap way.
+
+    See https://wiki.openstreetmap.org/wiki/Way
+    """
+
+    nodes: Optional[List[OSMNode]] = field(default_factory=list)
+    visible: Optional[str] = None
+
+    @classmethod
+    def from_dict(
+        cls, structure: Dict[str, Any], nodes: Dict[int, OSMNode]
+    ) -> "OSMWay":
+        """
+        Parse way from Overpass-like structure.
+
+        :param structure: input structure
+        :param nodes: node structure
+        """
+        return cls(
+            structure["id"],
+            structure.get("tags", {}),
+            [nodes[x] for x in structure["nodes"]],
+            visible=structure.get("visible"),
+        )
+
+    def is_cycle(self) -> bool:
+        """Is way a cycle way or an area boundary."""
+        return self.nodes[0] == self.nodes[-1]
+
+    def __repr__(self) -> str:
+        return f"Way <{self.id_}> {self.nodes}"
+
+
+@dataclass
+class OSMMember:
+    """
+    Member of OpenStreetMap relation.
+    """
+
+    type_: str
+    ref: int
+    role: str
+
+
+@dataclass(eq=False)
+class OSMRelation(OSMElement):
+    """
+    OpenStreetMap relation.
+
+    See https://wiki.openstreetmap.org/wiki/Relation
+    """
+
+    members: Optional[List[OSMMember]]
+    visible: Optional[str] = None
+
+    @classmethod
+    def from_dict(cls, structure: Dict[str, Any]) -> "OSMRelation":
+        """
+        Parse relation from Overpass-like structure.
+
+        :param structure: input structure
+        """
+        return cls(
+            structure["id"],
+            structure["tags"],
+            [OSMMember(x["type"], x["ref"], x["role"]) for x in structure["members"]],
+            visible=structure.get("visible"),
+        )
+
+
+class OSMData:
+    """
+    The whole OpenStreetMap information about nodes, ways, and relations.
+    """
+
+    def __init__(self) -> None:
+        self.nodes: Dict[int, OSMNode] = {}
+        self.ways: Dict[int, OSMWay] = {}
+        self.relations: Dict[int, OSMRelation] = {}
+        self.box: BoundaryBox = None
+
+    @classmethod
+    def from_dict(cls, structure: Dict[str, Any]):
+        data = cls()
+        bounds = structure.get("bounds")
+        if bounds is not None:
+            data.box = BoundaryBox(
+                np.array([bounds["minlat"], bounds["minlon"]]),
+                np.array([bounds["maxlat"], bounds["maxlon"]]),
+            )
+
+        for element in structure["elements"]:
+            if element["type"] == "node":
+                node = OSMNode.from_dict(element)
+                data.add_node(node)
+        for element in structure["elements"]:
+            if element["type"] == "way":
+                way = OSMWay.from_dict(element, data.nodes)
+                data.add_way(way)
+        for element in structure["elements"]:
+            if element["type"] == "relation":
+                relation = OSMRelation.from_dict(element)
+                data.add_relation(relation)
+
+        return data
+
+    @classmethod
+    def from_json(cls, path: Path):
+        with path.open(encoding='utf-8') as fid:
+            structure = json.load(fid)
+        return cls.from_dict(structure)
+
+    @classmethod
+    def from_xml(cls, path: Path):
+        root = etree.parse(str(path)).getroot()
+        structure = {"elements": []}
+        from tqdm import tqdm
+
+        for elem in tqdm(root):
+            if elem.tag == "bounds":
+                structure["bounds"] = {
+                    k: float(elem.attrib[k])
+                    for k in ("minlon", "minlat", "maxlon", "maxlat")
+                }
+            elif elem.tag in {"node", "way", "relation"}:
+                if elem.tag == "node":
+                    item = {
+                        "id": int(elem.attrib["id"]),
+                        "lat": float(elem.attrib["lat"]),
+                        "lon": float(elem.attrib["lon"]),
+                        "visible": elem.attrib.get("visible"),
+                        "tags": {
+                            x.attrib["k"]: x.attrib["v"] for x in elem if x.tag == "tag"
+                        },
+                    }
+                elif elem.tag == "way":
+                    item = {
+                        "id": int(elem.attrib["id"]),
+                        "visible": elem.attrib.get("visible"),
+                        "tags": {
+                            x.attrib["k"]: x.attrib["v"] for x in elem if x.tag == "tag"
+                        },
+                        "nodes": [int(x.attrib["ref"]) for x in elem if x.tag == "nd"],
+                    }
+                elif elem.tag == "relation":
+                    item = {
+                        "id": int(elem.attrib["id"]),
+                        "visible": elem.attrib.get("visible"),
+                        "tags": {
+                            x.attrib["k"]: x.attrib["v"] for x in elem if x.tag == "tag"
+                        },
+                        "members": [
+                            {
+                                "type": x.attrib["type"],
+                                "ref": int(x.attrib["ref"]),
+                                "role": x.attrib["role"],
+                            }
+                            for x in elem
+                            if x.tag == "member"
+                        ],
+                    }
+                item["type"] = elem.tag
+                structure["elements"].append(item)
+            elem.clear()
+        del root
+        return cls.from_dict(structure)
+
+    @classmethod
+    def from_file(cls, path: Path):
+        ext = path.suffix
+        if ext == ".json":
+            return cls.from_json(path)
+        elif ext in {".osm", ".xml"}:
+            return cls.from_xml(path)
+        else:
+            raise ValueError(f"Unknown extension for {path}")
+
+    def add_node(self, node: OSMNode):
+        """Add node and update map parameters."""
+        if node.id_ in self.nodes:
+            raise ValueError(f"Node with duplicate id {node.id_}.")
+        self.nodes[node.id_] = node
+
+    def add_way(self, way: OSMWay):
+        """Add way and update map parameters."""
+        if way.id_ in self.ways:
+            raise ValueError(f"Way with duplicate id {way.id_}.")
+        self.ways[way.id_] = way
+
+    def add_relation(self, relation: OSMRelation):
+        """Add relation and update map parameters."""
+        if relation.id_ in self.relations:
+            raise ValueError(f"Relation with duplicate id {relation.id_}.")
+        self.relations[relation.id_] = relation
+
+    def add_xy_to_nodes(self, proj: Projection):
+        nodes = list(self.nodes.values())
+        if len(nodes) == 0:
+            return
+        geos = np.stack([n.geo for n in nodes], 0)
+        if proj.bounds is not None:
+            # For some reasons few nodes are sometimes very far off the initial bbox.
+            valid = proj.bounds.contains(geos)
+            if valid.mean() < 0.9:
+                print("Many nodes are out of the projection bounds.")
+            xys = np.zeros_like(geos)
+            xys[valid] = proj.project(geos[valid])
+        else:
+            xys = proj.project(geos)
+        for xy, node in zip(xys, nodes):
+            node.xy = xy
diff --git a/osm/tiling.py b/osm/tiling.py
new file mode 100644
index 0000000000000000000000000000000000000000..b610f0dc1eb31376e516deaafa1d33dc496aec2c
--- /dev/null
+++ b/osm/tiling.py
@@ -0,0 +1,310 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import io
+import pickle
+from pathlib import Path
+from typing import Dict, List, Optional, Tuple
+
+import numpy as np
+from PIL import Image
+import rtree
+
+from utils.geo import BoundaryBox, Projection
+from .data import MapData
+from .download import get_osm
+from .parser import Groups
+from .raster import Canvas, render_raster_map, render_raster_masks
+from .reader import OSMData, OSMNode, OSMWay
+
+
+class MapIndex:
+    def __init__(
+        self,
+        data: MapData,
+    ):
+        self.index_nodes = rtree.index.Index()
+        for i, node in data.nodes.items():
+            self.index_nodes.insert(i, tuple(node.xy) * 2)
+
+        self.index_lines = rtree.index.Index()
+        for i, line in data.lines.items():
+            bbox = tuple(np.r_[line.xy.min(0), line.xy.max(0)])
+            self.index_lines.insert(i, bbox)
+
+        self.index_areas = rtree.index.Index()
+        for i, area in data.areas.items():
+            xy = np.concatenate(area.outers + area.inners)
+            bbox = tuple(np.r_[xy.min(0), xy.max(0)])
+            self.index_areas.insert(i, bbox)
+
+        self.data = data
+
+    def query(self, bbox: BoundaryBox) -> Tuple[List[OSMNode], List[OSMWay]]:
+        query = tuple(np.r_[bbox.min_, bbox.max_])
+        ret = []
+        for x in ["nodes", "lines", "areas"]:
+            ids = getattr(self, "index_" + x).intersection(query)
+            ret.append([getattr(self.data, x)[i] for i in ids])
+        return tuple(ret)
+
+
+def bbox_to_slice(bbox: BoundaryBox, canvas: Canvas):
+    uv_min = np.ceil(canvas.to_uv(bbox.min_)).astype(int)
+    uv_max = np.ceil(canvas.to_uv(bbox.max_)).astype(int)
+    slice_ = (slice(uv_max[1], uv_min[1]), slice(uv_min[0], uv_max[0]))
+    return slice_
+
+
+def round_bbox(bbox: BoundaryBox, origin: np.ndarray, ppm: int):
+    bbox = bbox.translate(-origin)
+    bbox = BoundaryBox(np.round(bbox.min_ * ppm) / ppm, np.round(bbox.max_ * ppm) / ppm)
+    return bbox.translate(origin)
+
+class MapTileManager:
+    def __init__(
+        self,
+        osmpath:Path,
+    ):
+
+        self.osm = OSMData.from_file(osmpath)
+
+
+    # @classmethod
+    def from_bbox(
+        self,
+        projection: Projection,
+        bbox: BoundaryBox,
+        ppm: int,
+        tile_size: int = 128,
+    ):
+        # bbox_osm = projection.unproject(bbox)
+        # if path is not None and path.is_file():
+        #     print(OSMData.from_file)
+        #     osm = OSMData.from_file(path)
+        #     if osm.box is not None:
+        #         assert osm.box.contains(bbox_osm)
+        # else:
+        #     osm = OSMData.from_dict(get_osm(bbox_osm, path))
+
+        self.osm.add_xy_to_nodes(projection)
+        map_data = MapData.from_osm(self.osm)
+        map_index = MapIndex(map_data)
+
+        bounds_x, bounds_y = [
+            np.r_[np.arange(min_, max_, tile_size), max_]
+            for min_, max_ in zip(bbox.min_, bbox.max_)
+        ]
+        bbox_tiles = {}
+        for i, xmin in enumerate(bounds_x[:-1]):
+            for j, ymin in enumerate(bounds_y[:-1]):
+                bbox_tiles[i, j] = BoundaryBox(
+                    [xmin, ymin], [bounds_x[i + 1], bounds_y[j + 1]]
+                )
+
+        tiles = {}
+        for ij, bbox_tile in bbox_tiles.items():
+            canvas = Canvas(bbox_tile, ppm)
+            nodes, lines, areas = map_index.query(bbox_tile)
+            masks = render_raster_masks(nodes, lines, areas, canvas)
+            canvas.raster = render_raster_map(masks)
+            tiles[ij] = canvas
+
+        groups = {k: v for k, v in vars(Groups).items() if not k.startswith("__")}
+
+        self.origin = bbox.min_
+        self.bbox = bbox
+        self.tiles = tiles
+        self.tile_size = tile_size
+        self.ppm = ppm
+        self.projection = projection
+        self.groups = groups
+        self.map_data = map_data
+
+        return  self.query(bbox)
+        # return cls(tiles, bbox, tile_size, ppm, projection, groups, map_data)
+
+    def query(self, bbox: BoundaryBox) -> Canvas:
+        bbox = round_bbox(bbox, self.bbox.min_, self.ppm)
+        canvas = Canvas(bbox, self.ppm)
+        raster = np.zeros((3, canvas.h, canvas.w), np.uint8)
+
+        bbox_all = bbox & self.bbox
+        ij_min = np.floor((bbox_all.min_ - self.origin) / self.tile_size).astype(int)
+        ij_max = np.ceil((bbox_all.max_ - self.origin) / self.tile_size).astype(int) - 1
+        for i in range(ij_min[0], ij_max[0] + 1):
+            for j in range(ij_min[1], ij_max[1] + 1):
+                tile = self.tiles[i, j]
+                bbox_select = tile.bbox & bbox
+                slice_query = bbox_to_slice(bbox_select, canvas)
+                slice_tile = bbox_to_slice(bbox_select, tile)
+                raster[(slice(None),) + slice_query] = tile.raster[
+                    (slice(None),) + slice_tile
+                ]
+        canvas.raster = raster
+        return canvas
+
+    def save(self, path: Path):
+        dump = {
+            "bbox": self.bbox.format(),
+            "tile_size": self.tile_size,
+            "ppm": self.ppm,
+            "groups": self.groups,
+            "tiles_bbox": {},
+            "tiles_raster": {},
+        }
+        if self.projection is not None:
+            dump["ref_latlonalt"] = self.projection.latlonalt
+        for ij, canvas in self.tiles.items():
+            dump["tiles_bbox"][ij] = canvas.bbox.format()
+            raster_bytes = io.BytesIO()
+            raster = Image.fromarray(canvas.raster.transpose(1, 2, 0).astype(np.uint8))
+            raster.save(raster_bytes, format="PNG")
+            dump["tiles_raster"][ij] = raster_bytes
+        with open(path, "wb") as fp:
+            pickle.dump(dump, fp)
+
+    @classmethod
+    def load(cls, path: Path):
+        with path.open("rb") as fp:
+            dump = pickle.load(fp)
+        tiles = {}
+        for ij, bbox in dump["tiles_bbox"].items():
+            tiles[ij] = Canvas(BoundaryBox.from_string(bbox), dump["ppm"])
+            raster = np.asarray(Image.open(dump["tiles_raster"][ij]))
+            tiles[ij].raster = raster.transpose(2, 0, 1).copy()
+        projection = Projection(*dump["ref_latlonalt"])
+        return cls(
+            tiles,
+            BoundaryBox.from_string(dump["bbox"]),
+            dump["tile_size"],
+            dump["ppm"],
+            projection,
+            dump["groups"],
+        )
+
+class TileManager:
+    def __init__(
+        self,
+        tiles: Dict,
+        bbox: BoundaryBox,
+        tile_size: int,
+        ppm: int,
+        projection: Projection,
+        groups: Dict[str, List[str]],
+        map_data: Optional[MapData] = None,
+    ):
+        self.origin = bbox.min_
+        self.bbox = bbox
+        self.tiles = tiles
+        self.tile_size = tile_size
+        self.ppm = ppm
+        self.projection = projection
+        self.groups = groups
+        self.map_data = map_data
+        assert np.all(tiles[0, 0].bbox.min_ == self.origin)
+        for tile in tiles.values():
+            assert bbox.contains(tile.bbox)
+
+    @classmethod
+    def from_bbox(
+        cls,
+        projection: Projection,
+        bbox: BoundaryBox,
+        ppm: int,
+        path: Optional[Path] = None,
+        tile_size: int = 128,
+    ):
+        bbox_osm = projection.unproject(bbox)
+        if path is not None and path.is_file():
+            print(OSMData.from_file)
+            osm = OSMData.from_file(path)
+            if osm.box is not None:
+                assert osm.box.contains(bbox_osm)
+        else:
+            osm = OSMData.from_dict(get_osm(bbox_osm, path))
+
+        osm.add_xy_to_nodes(projection)
+        map_data = MapData.from_osm(osm)
+        map_index = MapIndex(map_data)
+
+        bounds_x, bounds_y = [
+            np.r_[np.arange(min_, max_, tile_size), max_]
+            for min_, max_ in zip(bbox.min_, bbox.max_)
+        ]
+        bbox_tiles = {}
+        for i, xmin in enumerate(bounds_x[:-1]):
+            for j, ymin in enumerate(bounds_y[:-1]):
+                bbox_tiles[i, j] = BoundaryBox(
+                    [xmin, ymin], [bounds_x[i + 1], bounds_y[j + 1]]
+                )
+
+        tiles = {}
+        for ij, bbox_tile in bbox_tiles.items():
+            canvas = Canvas(bbox_tile, ppm)
+            nodes, lines, areas = map_index.query(bbox_tile)
+            masks = render_raster_masks(nodes, lines, areas, canvas)
+            canvas.raster = render_raster_map(masks)
+            tiles[ij] = canvas
+
+        groups = {k: v for k, v in vars(Groups).items() if not k.startswith("__")}
+
+        return cls(tiles, bbox, tile_size, ppm, projection, groups, map_data)
+
+    def query(self, bbox: BoundaryBox) -> Canvas:
+        bbox = round_bbox(bbox, self.bbox.min_, self.ppm)
+        canvas = Canvas(bbox, self.ppm)
+        raster = np.zeros((3, canvas.h, canvas.w), np.uint8)
+
+        bbox_all = bbox & self.bbox
+        ij_min = np.floor((bbox_all.min_ - self.origin) / self.tile_size).astype(int)
+        ij_max = np.ceil((bbox_all.max_ - self.origin) / self.tile_size).astype(int) - 1
+        for i in range(ij_min[0], ij_max[0] + 1):
+            for j in range(ij_min[1], ij_max[1] + 1):
+                tile = self.tiles[i, j]
+                bbox_select = tile.bbox & bbox
+                slice_query = bbox_to_slice(bbox_select, canvas)
+                slice_tile = bbox_to_slice(bbox_select, tile)
+                raster[(slice(None),) + slice_query] = tile.raster[
+                    (slice(None),) + slice_tile
+                ]
+        canvas.raster = raster
+        return canvas
+
+    def save(self, path: Path):
+        dump = {
+            "bbox": self.bbox.format(),
+            "tile_size": self.tile_size,
+            "ppm": self.ppm,
+            "groups": self.groups,
+            "tiles_bbox": {},
+            "tiles_raster": {},
+        }
+        if self.projection is not None:
+            dump["ref_latlonalt"] = self.projection.latlonalt
+        for ij, canvas in self.tiles.items():
+            dump["tiles_bbox"][ij] = canvas.bbox.format()
+            raster_bytes = io.BytesIO()
+            raster = Image.fromarray(canvas.raster.transpose(1, 2, 0).astype(np.uint8))
+            raster.save(raster_bytes, format="PNG")
+            dump["tiles_raster"][ij] = raster_bytes
+        with open(path, "wb") as fp:
+            pickle.dump(dump, fp)
+
+    @classmethod
+    def load(cls, path: Path):
+        with path.open("rb") as fp:
+            dump = pickle.load(fp)
+        tiles = {}
+        for ij, bbox in dump["tiles_bbox"].items():
+            tiles[ij] = Canvas(BoundaryBox.from_string(bbox), dump["ppm"])
+            raster = np.asarray(Image.open(dump["tiles_raster"][ij]))
+            tiles[ij].raster = raster.transpose(2, 0, 1).copy()
+        projection = Projection(*dump["ref_latlonalt"])
+        return cls(
+            tiles,
+            BoundaryBox.from_string(dump["bbox"]),
+            dump["tile_size"],
+            dump["ppm"],
+            projection,
+            dump["groups"],
+        )
diff --git a/osm/viz.py b/osm/viz.py
new file mode 100644
index 0000000000000000000000000000000000000000..cd99e3eda0049c2aae35d397018db73b2eb661ae
--- /dev/null
+++ b/osm/viz.py
@@ -0,0 +1,159 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import matplotlib as mpl
+import matplotlib.pyplot as plt
+import numpy as np
+import plotly.graph_objects as go
+import PIL.Image
+
+from utils.viz_2d import add_text
+from .parser import Groups
+
+
+class GeoPlotter:
+    def __init__(self, zoom=12, **kwargs):
+        self.fig = go.Figure()
+        self.fig.update_layout(
+            mapbox_style="open-street-map",
+            autosize=True,
+            mapbox_zoom=zoom,
+            margin={"r": 0, "t": 0, "l": 0, "b": 0},
+            showlegend=True,
+            **kwargs,
+        )
+
+    def points(self, latlons, color, text=None, name=None, size=5, **kwargs):
+        latlons = np.asarray(latlons)
+        self.fig.add_trace(
+            go.Scattermapbox(
+                lat=latlons[..., 0],
+                lon=latlons[..., 1],
+                mode="markers",
+                text=text,
+                marker_color=color,
+                marker_size=size,
+                name=name,
+                **kwargs,
+            )
+        )
+        center = latlons.reshape(-1, 2).mean(0)
+        self.fig.update_layout(
+            mapbox_center=dict(zip(("lat", "lon"), center)),
+        )
+
+    def bbox(self, bbox, color, name=None, **kwargs):
+        corners = np.stack(
+            [bbox.min_, bbox.left_top, bbox.max_, bbox.right_bottom, bbox.min_]
+        )
+        self.fig.add_trace(
+            go.Scattermapbox(
+                lat=corners[:, 0],
+                lon=corners[:, 1],
+                mode="lines",
+                marker_color=color,
+                name=name,
+                **kwargs,
+            )
+        )
+        self.fig.update_layout(
+            mapbox_center=dict(zip(("lat", "lon"), bbox.center)),
+        )
+
+    def raster(self, raster, bbox, below="traces", **kwargs):
+        if not np.issubdtype(raster.dtype, np.integer):
+            raster = (raster * 255).astype(np.uint8)
+        raster = PIL.Image.fromarray(raster)
+        corners = np.stack(
+            [
+                bbox.min_,
+                bbox.left_top,
+                bbox.max_,
+                bbox.right_bottom,
+            ]
+        )[::-1, ::-1]
+        layers = [*self.fig.layout.mapbox.layers]
+        layers.append(
+            dict(
+                sourcetype="image",
+                source=raster,
+                coordinates=corners,
+                below=below,
+                **kwargs,
+            )
+        )
+        self.fig.layout.mapbox.layers = layers
+
+
+map_colors = {
+    "building": (84, 155, 255),
+    "parking": (255, 229, 145),
+    "playground": (150, 133, 125),
+    "grass": (188, 255, 143),
+    "park": (0, 158, 16),
+    "forest": (0, 92, 9),
+    "water": (184, 213, 255),
+    "fence": (238, 0, 255),
+    "wall": (0, 0, 0),
+    "hedge": (107, 68, 48),
+    "kerb": (255, 234, 0),
+    "building_outline": (0, 0, 255),
+    "cycleway": (0, 251, 255),
+    "path": (8, 237, 0),
+    "road": (255, 0, 0),
+    "tree_row": (0, 92, 9),
+    "busway": (255, 128, 0),
+    "void": [int(255 * 0.9)] * 3,
+}
+
+
+class Colormap:
+    colors_areas = np.stack([map_colors[k] for k in ["void"] + Groups.areas])
+    colors_ways = np.stack([map_colors[k] for k in ["void"] + Groups.ways])
+
+    @classmethod
+    def apply(cls, rasters):
+        return (
+            np.where(
+                rasters[1, ..., None] > 0,
+                cls.colors_ways[rasters[1]],
+                cls.colors_areas[rasters[0]],
+            )
+            / 255.0
+        )
+
+    @classmethod
+    def add_colorbar(cls):
+        ax2 = plt.gcf().add_axes([1, 0.1, 0.02, 0.8])
+        color_list = np.r_[cls.colors_areas[1:], cls.colors_ways[1:]] / 255.0
+        cmap = mpl.colors.ListedColormap(color_list[::-1])
+        ticks = np.linspace(0, 1, len(color_list), endpoint=False)
+        ticks += 1 / len(color_list) / 2
+        cb = mpl.colorbar.ColorbarBase(
+            ax2,
+            cmap=cmap,
+            orientation="vertical",
+            ticks=ticks,
+        )
+        cb.set_ticklabels((Groups.areas + Groups.ways)[::-1])
+        ax2.tick_params(labelsize=15)
+
+
+def plot_nodes(idx, raster, fontsize=8, size=15):
+    ax = plt.gcf().axes[idx]
+    ax.autoscale(enable=False)
+    nodes_xy = np.stack(np.where(raster > 0)[::-1], -1)
+    nodes_val = raster[tuple(nodes_xy.T[::-1])] - 1
+    ax.scatter(*nodes_xy.T, c="k", s=size)
+    for xy, val in zip(nodes_xy, nodes_val):
+        group = Groups.nodes[val]
+        add_text(
+            idx,
+            group,
+            xy + 2,
+            lcolor=None,
+            fs=fontsize,
+            color="k",
+            normalized=False,
+            ha="center",
+        )
+    plt.show()
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be5aaa88e586bcf463c7e9252b45bd4ebcd2f411
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,20 @@
+torch
+torchvision
+numpy
+opencv-python
+Pillow
+tqdm>=4.36.0
+matplotlib
+plotly
+scipy
+omegaconf
+pytorch-lightning
+torchmetrics
+jupyter
+lxml
+rtree
+scikit-learn
+geopy
+exifread
+gradio_client
+urllib3>=2
\ No newline at end of file
diff --git a/train.py b/train.py
new file mode 100644
index 0000000000000000000000000000000000000000..b95c8795faf68414f860ef87dc0f6acb6cadebf2
--- /dev/null
+++ b/train.py
@@ -0,0 +1,217 @@
+import os.path as osp
+import warnings
+warnings.filterwarnings('ignore')
+from typing import Optional
+from pathlib import Path
+from models.maplocnet import MapLocNet
+import hydra
+import pytorch_lightning as pl
+import torch
+from omegaconf import DictConfig, OmegaConf
+from pytorch_lightning.utilities import rank_zero_only
+from module import GenericModule
+from logger import logger, pl_logger, EXPERIMENTS_PATH
+from module import GenericModule
+from dataset import UavMapDatasetModule
+from pytorch_lightning.callbacks.early_stopping import EarlyStopping
+# print(osp.join(osp.dirname(__file__), "conf"))
+
+
+class CleanProgressBar(pl.callbacks.TQDMProgressBar):
+    def get_metrics(self, trainer, model):
+        items = super().get_metrics(trainer, model)
+        items.pop("v_num", None)  # don't show the version number
+        items.pop("loss", None)
+        return items
+
+
+class SeedingCallback(pl.callbacks.Callback):
+    def on_epoch_start_(self, trainer, module):
+        seed = module.cfg.experiment.seed
+        is_overfit = module.cfg.training.trainer.get("overfit_batches", 0) > 0
+        if trainer.training and not is_overfit:
+            seed = seed + trainer.current_epoch
+
+        # Temporarily disable the logging (does not seem to work?)
+        pl_logger.disabled = True
+        try:
+            pl.seed_everything(seed, workers=True)
+        finally:
+            pl_logger.disabled = False
+
+    def on_train_epoch_start(self, *args, **kwargs):
+        self.on_epoch_start_(*args, **kwargs)
+
+    def on_validation_epoch_start(self, *args, **kwargs):
+        self.on_epoch_start_(*args, **kwargs)
+
+    def on_test_epoch_start(self, *args, **kwargs):
+        self.on_epoch_start_(*args, **kwargs)
+
+
+class ConsoleLogger(pl.callbacks.Callback):
+    @rank_zero_only
+    def on_train_epoch_start(self, trainer, module):
+        logger.info(
+            "New training epoch %d for experiment '%s'.",
+            module.current_epoch,
+            module.cfg.experiment.name,
+        )
+
+    # @rank_zero_only
+    # def on_validation_epoch_end(self, trainer, module):
+    #     results = {
+    #         **dict(module.metrics_val.items()),
+    #         **dict(module.losses_val.items()),
+    #     }
+    #     results = [f"{k} {v.compute():.3E}" for k, v in results.items()]
+    #     logger.info(f'[Validation] {{{", ".join(results)}}}')
+
+
+def find_last_checkpoint_path(experiment_dir):
+    cls = pl.callbacks.ModelCheckpoint
+    path = osp.join(experiment_dir, cls.CHECKPOINT_NAME_LAST + cls.FILE_EXTENSION)
+    if osp.exists(path):
+        return path
+    else:
+        return None
+
+
+def prepare_experiment_dir(experiment_dir, cfg, rank):
+    config_path = osp.join(experiment_dir, "config.yaml")
+    last_checkpoint_path = find_last_checkpoint_path(experiment_dir)
+    if last_checkpoint_path is not None:
+        if rank == 0:
+            logger.info(
+                "Resuming the training from checkpoint %s", last_checkpoint_path
+            )
+        if osp.exists(config_path):
+            with open(config_path, "r") as fp:
+                cfg_prev = OmegaConf.create(fp.read())
+            compare_keys = ["experiment", "data", "model", "training"]
+            if OmegaConf.masked_copy(cfg, compare_keys) != OmegaConf.masked_copy(
+                    cfg_prev, compare_keys
+            ):
+                raise ValueError(
+                    "Attempting to resume training with a different config: "
+                    f"{OmegaConf.masked_copy(cfg, compare_keys)} vs "
+                    f"{OmegaConf.masked_copy(cfg_prev, compare_keys)}"
+                )
+    if rank == 0:
+        Path(experiment_dir).mkdir(exist_ok=True, parents=True)
+        with open(config_path, "w") as fp:
+            OmegaConf.save(cfg, fp)
+    return last_checkpoint_path
+
+
+def train(cfg: DictConfig) -> None:
+    torch.set_float32_matmul_precision("medium")
+    OmegaConf.resolve(cfg)
+    rank = rank_zero_only.rank
+
+    if rank == 0:
+        logger.info("Starting training with config:\n%s", OmegaConf.to_yaml(cfg))
+    if cfg.experiment.gpus in (None, 0):
+        logger.warning("Will train on CPU...")
+        cfg.experiment.gpus = 0
+    elif not torch.cuda.is_available():
+        raise ValueError("Requested GPU but no NVIDIA drivers found.")
+    pl.seed_everything(cfg.experiment.seed, workers=True)
+
+    init_checkpoint_path = cfg.training.get("finetune_from_checkpoint")
+    if init_checkpoint_path is not None:
+        logger.info("Initializing the model from checkpoint %s.", init_checkpoint_path)
+        model = GenericModule.load_from_checkpoint(
+            init_checkpoint_path, strict=True, find_best=False, cfg=cfg
+        )
+    else:
+        model = GenericModule(cfg)
+    if rank == 0:
+        logger.info("Network:\n%s", model.model)
+
+    experiment_dir = osp.join(EXPERIMENTS_PATH, cfg.experiment.name)
+    last_checkpoint_path = prepare_experiment_dir(experiment_dir, cfg, rank)
+    checkpointing_epoch = pl.callbacks.ModelCheckpoint(
+        dirpath=experiment_dir,
+        filename="checkpoint-epoch-{epoch:02d}-loss-{loss/total/val:02f}",
+        auto_insert_metric_name=False,
+        save_last=True,
+        every_n_epochs=1,
+        save_on_train_epoch_end=True,
+        verbose=True,
+        **cfg.training.checkpointing,
+    )
+    checkpointing_step = pl.callbacks.ModelCheckpoint(
+        dirpath=experiment_dir,
+        filename="checkpoint-step-{step}-{loss/total/val:02f}",
+        auto_insert_metric_name=False,
+        save_last=True,
+        every_n_train_steps=1000,
+        verbose=True,
+        **cfg.training.checkpointing,
+    )
+    checkpointing_step.CHECKPOINT_NAME_LAST = "last-step-checkpointing"
+
+    # 创建 EarlyStopping 回调
+    early_stopping_callback = EarlyStopping(monitor=cfg.training.checkpointing.monitor, patience=5)
+
+    strategy = None
+    if cfg.experiment.gpus > 1:
+        strategy = pl.strategies.DDPStrategy(find_unused_parameters=False)
+        for split in ["train", "val"]:
+            cfg.data[split].batch_size = (
+                    cfg.data[split].batch_size // cfg.experiment.gpus
+            )
+            cfg.data[split].num_workers = int(
+                (cfg.data[split].num_workers + cfg.experiment.gpus - 1)
+                / cfg.experiment.gpus
+            )
+
+    # data = data_modules[cfg.data.get("name", "mapillary")](cfg.data)
+
+    datamodule =UavMapDatasetModule(cfg.data)
+
+    tb_args = {"name": cfg.experiment.name, "version": ""}
+    tb = pl.loggers.TensorBoardLogger(EXPERIMENTS_PATH, **tb_args)
+
+    callbacks = [
+        checkpointing_epoch,
+        checkpointing_step,
+        # early_stopping_callback,
+        pl.callbacks.LearningRateMonitor(),
+        SeedingCallback(),
+        CleanProgressBar(),
+        ConsoleLogger(),
+    ]
+    if cfg.experiment.gpus > 0:
+        callbacks.append(pl.callbacks.DeviceStatsMonitor())
+
+    trainer = pl.Trainer(
+        default_root_dir=experiment_dir,
+        detect_anomaly=False,
+        # strategy=ddp_find_unused_parameters_true,
+        enable_model_summary=True,
+        sync_batchnorm=True,
+        enable_checkpointing=True,
+        logger=tb,
+        callbacks=callbacks,
+        strategy=strategy,
+        check_val_every_n_epoch=1,
+        accelerator="gpu",
+        num_nodes=1,
+        **cfg.training.trainer,
+    )
+    trainer.fit(model=model, datamodule=datamodule, ckpt_path=last_checkpoint_path)
+
+
+@hydra.main(
+    config_path=osp.join(osp.dirname(__file__), "conf"), config_name="maplocnet.yaml"
+)
+def main(cfg: DictConfig) -> None:
+    OmegaConf.save(config=cfg, f='maplocnet.yaml')
+    train(cfg)
+
+
+if __name__ == "__main__":
+    main()
+
diff --git a/train.sh b/train.sh
new file mode 100644
index 0000000000000000000000000000000000000000..3683adf5eb906698baec50d39e1e8d86f0d84bf7
--- /dev/null
+++ b/train.sh
@@ -0,0 +1 @@
+nohup python train.py > logs/train0907.log 2>&1 &
\ No newline at end of file
diff --git a/utils/exif.py b/utils/exif.py
new file mode 100644
index 0000000000000000000000000000000000000000..c272019b5673dc1e3aab8a3e0e21b630cc629154
--- /dev/null
+++ b/utils/exif.py
@@ -0,0 +1,356 @@
+"""Copied from opensfm.exif to minimize hard dependencies."""
+from pathlib import Path
+import json
+import datetime
+import logging
+from codecs import encode, decode
+from typing import Any, Dict, Optional, Tuple
+
+import exifread
+
+logger: logging.Logger = logging.getLogger(__name__)
+
+inch_in_mm = 25.4
+cm_in_mm = 10
+um_in_mm = 0.001
+default_projection = "perspective"
+maximum_altitude = 1e4
+
+
+def sensor_data():
+    with (Path(__file__).parent / "sensor_data.json").open() as fid:
+        data = json.load(fid)
+    return {k.lower(): v for k, v in data.items()}
+
+
+def eval_frac(value) -> Optional[float]:
+    try:
+        return float(value.num) / float(value.den)
+    except ZeroDivisionError:
+        return None
+
+
+def gps_to_decimal(values, reference) -> Optional[float]:
+    sign = 1 if reference in "NE" else -1
+    degrees = eval_frac(values[0])
+    minutes = eval_frac(values[1])
+    seconds = eval_frac(values[2])
+    if degrees is not None and minutes is not None and seconds is not None:
+        return sign * (degrees + minutes / 60 + seconds / 3600)
+    return None
+
+
+def get_tag_as_float(tags, key, index: int = 0) -> Optional[float]:
+    if key in tags:
+        val = tags[key].values[index]
+        if isinstance(val, exifread.utils.Ratio):
+            ret_val = eval_frac(val)
+            if ret_val is None:
+                logger.error(
+                    'The rational "{2}" of tag "{0:s}" at index {1:d} c'
+                    "aused a division by zero error".format(key, index, val)
+                )
+            return ret_val
+        else:
+            return float(val)
+    else:
+        return None
+
+
+def compute_focal(
+    focal_35: Optional[float], focal: Optional[float], sensor_width, sensor_string
+) -> Tuple[float, float]:
+    if focal_35 is not None and focal_35 > 0:
+        focal_ratio = focal_35 / 36.0  # 35mm film produces 36x24mm pictures.
+    else:
+        if not sensor_width:
+            sensor_width = sensor_data().get(sensor_string, None)
+        if sensor_width and focal:
+            focal_ratio = focal / sensor_width
+            focal_35 = 36.0 * focal_ratio
+        else:
+            focal_35 = 0.0
+            focal_ratio = 0.0
+    return focal_35, focal_ratio
+
+
+def sensor_string(make: str, model: str) -> str:
+    if make != "unknown":
+        # remove duplicate 'make' information in 'model'
+        model = model.replace(make, "")
+    return (make.strip() + " " + model.strip()).strip().lower()
+
+
+def unescape_string(s) -> str:
+    return decode(encode(s, "latin-1", "backslashreplace"), "unicode-escape")
+
+
+class EXIF:
+    def __init__(
+        self, fileobj, image_size_loader, use_exif_size=True, name=None
+    ) -> None:
+        self.image_size_loader = image_size_loader
+        self.use_exif_size = use_exif_size
+        self.fileobj = fileobj
+        self.tags = exifread.process_file(fileobj, details=False)
+        fileobj.seek(0)
+        self.fileobj_name = self.fileobj.name if name is None else name
+
+    def extract_image_size(self) -> Tuple[int, int]:
+        if (
+            self.use_exif_size
+            and "EXIF ExifImageWidth" in self.tags
+            and "EXIF ExifImageLength" in self.tags
+        ):
+            width, height = (
+                int(self.tags["EXIF ExifImageWidth"].values[0]),
+                int(self.tags["EXIF ExifImageLength"].values[0]),
+            )
+        elif (
+            self.use_exif_size
+            and "Image ImageWidth" in self.tags
+            and "Image ImageLength" in self.tags
+        ):
+            width, height = (
+                int(self.tags["Image ImageWidth"].values[0]),
+                int(self.tags["Image ImageLength"].values[0]),
+            )
+        else:
+            height, width = self.image_size_loader()
+        return width, height
+
+    def _decode_make_model(self, value) -> str:
+        """Python 2/3 compatible decoding of make/model field."""
+        if hasattr(value, "decode"):
+            try:
+                return value.decode("utf-8")
+            except UnicodeDecodeError:
+                return "unknown"
+        else:
+            return value
+
+    def extract_make(self) -> str:
+        # Camera make and model
+        if "EXIF LensMake" in self.tags:
+            make = self.tags["EXIF LensMake"].values
+        elif "Image Make" in self.tags:
+            make = self.tags["Image Make"].values
+        else:
+            make = "unknown"
+        return self._decode_make_model(make)
+
+    def extract_model(self) -> str:
+        if "EXIF LensModel" in self.tags:
+            model = self.tags["EXIF LensModel"].values
+        elif "Image Model" in self.tags:
+            model = self.tags["Image Model"].values
+        else:
+            model = "unknown"
+        return self._decode_make_model(model)
+
+    def extract_focal(self) -> Tuple[float, float]:
+        make, model = self.extract_make(), self.extract_model()
+        focal_35, focal_ratio = compute_focal(
+            get_tag_as_float(self.tags, "EXIF FocalLengthIn35mmFilm"),
+            get_tag_as_float(self.tags, "EXIF FocalLength"),
+            self.extract_sensor_width(),
+            sensor_string(make, model),
+        )
+        return focal_35, focal_ratio
+
+    def extract_sensor_width(self) -> Optional[float]:
+        """Compute sensor with from width and resolution."""
+        if (
+            "EXIF FocalPlaneResolutionUnit" not in self.tags
+            or "EXIF FocalPlaneXResolution" not in self.tags
+        ):
+            return None
+        resolution_unit = self.tags["EXIF FocalPlaneResolutionUnit"].values[0]
+        mm_per_unit = self.get_mm_per_unit(resolution_unit)
+        if not mm_per_unit:
+            return None
+        pixels_per_unit = get_tag_as_float(self.tags, "EXIF FocalPlaneXResolution")
+        if pixels_per_unit is None:
+            return None
+        if pixels_per_unit <= 0.0:
+            pixels_per_unit = get_tag_as_float(self.tags, "EXIF FocalPlaneYResolution")
+            if pixels_per_unit is None or pixels_per_unit <= 0.0:
+                return None
+        units_per_pixel = 1 / pixels_per_unit
+        width_in_pixels = self.extract_image_size()[0]
+        return width_in_pixels * units_per_pixel * mm_per_unit
+
+    def get_mm_per_unit(self, resolution_unit) -> Optional[float]:
+        """Length of a resolution unit in millimeters.
+
+        Uses the values from the EXIF specs in
+        https://www.sno.phy.queensu.ca/~phil/exiftool/TagNames/EXIF.html
+
+        Args:
+            resolution_unit: the resolution unit value given in the EXIF
+        """
+        if resolution_unit == 2:  # inch
+            return inch_in_mm
+        elif resolution_unit == 3:  # cm
+            return cm_in_mm
+        elif resolution_unit == 4:  # mm
+            return 1
+        elif resolution_unit == 5:  # um
+            return um_in_mm
+        else:
+            logger.warning(
+                "Unknown EXIF resolution unit value: {}".format(resolution_unit)
+            )
+            return None
+
+    def extract_orientation(self) -> int:
+        orientation = 1
+        if "Image Orientation" in self.tags:
+            value = self.tags.get("Image Orientation").values[0]
+            if type(value) == int and value != 0:
+                orientation = value
+        return orientation
+
+    def extract_ref_lon_lat(self) -> Tuple[str, str]:
+        if "GPS GPSLatitudeRef" in self.tags:
+            reflat = self.tags["GPS GPSLatitudeRef"].values
+        else:
+            reflat = "N"
+        if "GPS GPSLongitudeRef" in self.tags:
+            reflon = self.tags["GPS GPSLongitudeRef"].values
+        else:
+            reflon = "E"
+        return reflon, reflat
+
+    def extract_lon_lat(self) -> Tuple[Optional[float], Optional[float]]:
+        if "GPS GPSLatitude" in self.tags:
+            reflon, reflat = self.extract_ref_lon_lat()
+            lat = gps_to_decimal(self.tags["GPS GPSLatitude"].values, reflat)
+            lon = gps_to_decimal(self.tags["GPS GPSLongitude"].values, reflon)
+        else:
+            lon, lat = None, None
+        return lon, lat
+
+    def extract_altitude(self) -> Optional[float]:
+        if "GPS GPSAltitude" in self.tags:
+            alt_value = self.tags["GPS GPSAltitude"].values[0]
+            if isinstance(alt_value, exifread.utils.Ratio):
+                altitude = eval_frac(alt_value)
+            elif isinstance(alt_value, int):
+                altitude = float(alt_value)
+            else:
+                altitude = None
+
+            # Check if GPSAltitudeRef is equal to 1, which means GPSAltitude should be negative, reference: http://www.exif.org/Exif2-2.PDF#page=53
+            if (
+                "GPS GPSAltitudeRef" in self.tags
+                and self.tags["GPS GPSAltitudeRef"].values[0] == 1
+                and altitude is not None
+            ):
+                altitude = -altitude
+        else:
+            altitude = None
+        return altitude
+
+    def extract_dop(self) -> Optional[float]:
+        if "GPS GPSDOP" in self.tags:
+            return eval_frac(self.tags["GPS GPSDOP"].values[0])
+        return None
+
+    def extract_geo(self) -> Dict[str, Any]:
+        altitude = self.extract_altitude()
+        dop = self.extract_dop()
+        lon, lat = self.extract_lon_lat()
+        d = {}
+
+        if lon is not None and lat is not None:
+            d["latitude"] = lat
+            d["longitude"] = lon
+        if altitude is not None:
+            d["altitude"] = min([maximum_altitude, altitude])
+        if dop is not None:
+            d["dop"] = dop
+        return d
+
+    def extract_capture_time(self) -> float:
+        if (
+            "GPS GPSDate" in self.tags
+            and "GPS GPSTimeStamp" in self.tags  # Actually GPSDateStamp
+        ):
+            try:
+                hours_f = get_tag_as_float(self.tags, "GPS GPSTimeStamp", 0)
+                minutes_f = get_tag_as_float(self.tags, "GPS GPSTimeStamp", 1)
+                if hours_f is None or minutes_f is None:
+                    raise TypeError
+                hours = int(hours_f)
+                minutes = int(minutes_f)
+                seconds = get_tag_as_float(self.tags, "GPS GPSTimeStamp", 2)
+                gps_timestamp_string = "{0:s} {1:02d}:{2:02d}:{3:02f}".format(
+                    self.tags["GPS GPSDate"].values, hours, minutes, seconds
+                )
+                return (
+                    datetime.datetime.strptime(
+                        gps_timestamp_string, "%Y:%m:%d %H:%M:%S.%f"
+                    )
+                    - datetime.datetime(1970, 1, 1)
+                ).total_seconds()
+            except (TypeError, ValueError):
+                logger.info(
+                    'The GPS time stamp in image file "{0:s}" is invalid. '
+                    "Falling back to DateTime*".format(self.fileobj_name)
+                )
+
+        time_strings = [
+            ("EXIF DateTimeOriginal", "EXIF SubSecTimeOriginal", "EXIF Tag 0x9011"),
+            ("EXIF DateTimeDigitized", "EXIF SubSecTimeDigitized", "EXIF Tag 0x9012"),
+            ("Image DateTime", "Image SubSecTime", "Image Tag 0x9010"),
+        ]
+        for datetime_tag, subsec_tag, offset_tag in time_strings:
+            if datetime_tag in self.tags:
+                date_time = self.tags[datetime_tag].values
+                if subsec_tag in self.tags:
+                    subsec_time = self.tags[subsec_tag].values
+                else:
+                    subsec_time = "0"
+                try:
+                    s = "{0:s}.{1:s}".format(date_time, subsec_time)
+                    d = datetime.datetime.strptime(s, "%Y:%m:%d %H:%M:%S.%f")
+                except ValueError:
+                    logger.debug(
+                        'The "{1:s}" time stamp or "{2:s}" tag is invalid in '
+                        'image file "{0:s}"'.format(
+                            self.fileobj_name, datetime_tag, subsec_tag
+                        )
+                    )
+                    continue
+                # Test for OffsetTimeOriginal | OffsetTimeDigitized | OffsetTime
+                if offset_tag in self.tags:
+                    offset_time = self.tags[offset_tag].values
+                    try:
+                        d += datetime.timedelta(
+                            hours=-int(offset_time[0:3]), minutes=int(offset_time[4:6])
+                        )
+                    except (TypeError, ValueError):
+                        logger.debug(
+                            'The "{0:s}" time zone offset in image file "{1:s}"'
+                            " is invalid".format(offset_tag, self.fileobj_name)
+                        )
+                        logger.debug(
+                            'Naively assuming UTC on "{0:s}" in image file '
+                            '"{1:s}"'.format(datetime_tag, self.fileobj_name)
+                        )
+                else:
+                    logger.debug(
+                        "No GPS time stamp and no time zone offset in image "
+                        'file "{0:s}"'.format(self.fileobj_name)
+                    )
+                    logger.debug(
+                        'Naively assuming UTC on "{0:s}" in image file "{1:s}"'.format(
+                            datetime_tag, self.fileobj_name
+                        )
+                    )
+                return (d - datetime.datetime(1970, 1, 1)).total_seconds()
+        logger.info(
+            'Image file "{0:s}" has no valid time stamp'.format(self.fileobj_name)
+        )
+        return 0.0
diff --git a/utils/geo.py b/utils/geo.py
new file mode 100644
index 0000000000000000000000000000000000000000..7f97e501f81092b57fc3ad043aa520779b44faeb
--- /dev/null
+++ b/utils/geo.py
@@ -0,0 +1,130 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+from typing import Union
+
+import numpy as np
+import torch
+
+from .geo_opensfm import TopocentricConverter
+
+
+class BoundaryBox:
+    def __init__(self, min_: np.ndarray, max_: np.ndarray):
+        self.min_ = np.asarray(min_)
+        self.max_ = np.asarray(max_)
+        assert np.all(self.min_ <= self.max_)
+
+    @classmethod
+    def from_string(cls, string: str):
+        return cls(*np.split(np.array(string.split(","), float), 2))
+
+    @property
+    def left_top(self):
+        return np.stack([self.min_[..., 0], self.max_[..., 1]], -1)
+
+    @property
+    def right_bottom(self) -> (np.ndarray, np.ndarray):
+        return np.stack([self.max_[..., 0], self.min_[..., 1]], -1)
+
+    @property
+    def center(self) -> np.ndarray:
+        return (self.min_ + self.max_) / 2
+
+    @property
+    def size(self) -> np.ndarray:
+        return self.max_ - self.min_
+
+    def translate(self, t: float):
+        return self.__class__(self.min_ + t, self.max_ + t)
+
+    def contains(self, xy: Union[np.ndarray, "BoundaryBox"]):
+        if isinstance(xy, self.__class__):
+            return self.contains(xy.min_) and self.contains(xy.max_)
+        return np.all((xy >= self.min_) & (xy <= self.max_), -1)
+
+    def normalize(self, xy):
+        min_, max_ = self.min_, self.max_
+        if isinstance(xy, torch.Tensor):
+            min_ = torch.from_numpy(min_).to(xy)
+            max_ = torch.from_numpy(max_).to(xy)
+        return (xy - min_) / (max_ - min_)
+
+    def unnormalize(self, xy):
+        min_, max_ = self.min_, self.max_
+        if isinstance(xy, torch.Tensor):
+            min_ = torch.from_numpy(min_).to(xy)
+            max_ = torch.from_numpy(max_).to(xy)
+        return xy * (max_ - min_) + min_
+
+    def format(self) -> str:
+        return ",".join(np.r_[self.min_, self.max_].astype(str))
+
+    def __add__(self, x):
+        if isinstance(x, (int, float)):
+            return self.__class__(self.min_ - x, self.max_ + x)
+        else:
+            raise TypeError(f"Cannot add {self.__class__.__name__} to {type(x)}.")
+
+    def __and__(self, other):
+        return self.__class__(
+            np.maximum(self.min_, other.min_), np.minimum(self.max_, other.max_)
+        )
+
+    def __repr__(self):
+        return self.format()
+
+
+class Projection:
+    def __init__(self, lat, lon, alt=0, max_extent=25e3):
+        # The approximation error is |L - radius * tan(L / radius)|
+        # and is around 13cm for L=25km.
+        self.latlonalt = (lat, lon, alt)
+        self.converter = TopocentricConverter(lat, lon, alt)
+        min_ = self.converter.to_lla(*(-max_extent,) * 2, 0)[:2]
+        max_ = self.converter.to_lla(*(max_extent,) * 2, 0)[:2]
+        self.bounds = BoundaryBox(min_, max_)
+
+    @classmethod
+    def from_points(cls, all_latlon):
+        assert all_latlon.shape[-1] == 2
+        all_latlon = all_latlon.reshape(-1, 2)
+        latlon_mid = (all_latlon.min(0) + all_latlon.max(0)) / 2
+        return cls(*latlon_mid)
+
+    def check_bbox(self, bbox: BoundaryBox):
+        if self.bounds is not None and not self.bounds.contains(bbox):
+            raise ValueError(
+                f"Bbox {bbox.format()} is not contained in "
+                f"projection with bounds {self.bounds.format()}."
+            )
+
+    def project(self, geo, return_z=False):
+        if isinstance(geo, BoundaryBox):
+            return BoundaryBox(*self.project(np.stack([geo.min_, geo.max_])))
+        geo = np.asarray(geo)
+        assert geo.shape[-1] in (2, 3)
+        if self.bounds is not None:
+            if not np.all(self.bounds.contains(geo[..., :2])):
+                raise ValueError(
+                    f"Points {geo} are out of the valid bounds "
+                    f"{self.bounds.format()}."
+                )
+        lat, lon = geo[..., 0], geo[..., 1]
+        if geo.shape[-1] == 3:
+            alt = geo[..., -1]
+        else:
+            alt = np.zeros_like(lat)
+        x, y, z = self.converter.to_topocentric(lat, lon, alt)
+        return np.stack([x, y] + ([z] if return_z else []), -1)
+
+    def unproject(self, xy, return_z=False):
+        if isinstance(xy, BoundaryBox):
+            return BoundaryBox(*self.unproject(np.stack([xy.min_, xy.max_])))
+        xy = np.asarray(xy)
+        x, y = xy[..., 0], xy[..., 1]
+        if xy.shape[-1] == 3:
+            z = xy[..., -1]
+        else:
+            z = np.zeros_like(x)
+        lat, lon, alt = self.converter.to_lla(x, y, z)
+        return np.stack([lat, lon] + ([alt] if return_z else []), -1)
diff --git a/utils/geo_opensfm.py b/utils/geo_opensfm.py
new file mode 100644
index 0000000000000000000000000000000000000000..d42145236dd4c65a8764cbe37fa25c527814017e
--- /dev/null
+++ b/utils/geo_opensfm.py
@@ -0,0 +1,180 @@
+"""Copied from opensfm.geo to minimize hard dependencies."""
+import numpy as np
+from numpy import ndarray
+from typing import Tuple
+
+WGS84_a = 6378137.0
+WGS84_b = 6356752.314245
+
+
+def ecef_from_lla(lat, lon, alt: float) -> Tuple[float, ...]:
+    """
+    Compute ECEF XYZ from latitude, longitude and altitude.
+
+    All using the WGS84 model.
+    Altitude is the distance to the WGS84 ellipsoid.
+    Check results here http://www.oc.nps.edu/oc2902w/coord/llhxyz.htm
+
+    >>> lat, lon, alt = 10, 20, 30
+    >>> x, y, z = ecef_from_lla(lat, lon, alt)
+    >>> np.allclose(lla_from_ecef(x,y,z), [lat, lon, alt])
+    True
+    """
+    a2 = WGS84_a**2
+    b2 = WGS84_b**2
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+    L = 1.0 / np.sqrt(a2 * np.cos(lat) ** 2 + b2 * np.sin(lat) ** 2)
+    x = (a2 * L + alt) * np.cos(lat) * np.cos(lon)
+    y = (a2 * L + alt) * np.cos(lat) * np.sin(lon)
+    z = (b2 * L + alt) * np.sin(lat)
+    return x, y, z
+
+
+def lla_from_ecef(x, y, z):
+    """
+    Compute latitude, longitude and altitude from ECEF XYZ.
+
+    All using the WGS84 model.
+    Altitude is the distance to the WGS84 ellipsoid.
+    """
+    a = WGS84_a
+    b = WGS84_b
+    ea = np.sqrt((a**2 - b**2) / a**2)
+    eb = np.sqrt((a**2 - b**2) / b**2)
+    p = np.sqrt(x**2 + y**2)
+    theta = np.arctan2(z * a, p * b)
+    lon = np.arctan2(y, x)
+    lat = np.arctan2(
+        z + eb**2 * b * np.sin(theta) ** 3, p - ea**2 * a * np.cos(theta) ** 3
+    )
+    N = a / np.sqrt(1 - ea**2 * np.sin(lat) ** 2)
+    alt = p / np.cos(lat) - N
+    return np.degrees(lat), np.degrees(lon), alt
+
+
+def ecef_from_topocentric_transform(lat, lon, alt: float) -> ndarray:
+    """
+    Transformation from a topocentric frame at reference position to ECEF.
+
+    The topocentric reference frame is a metric one with the origin
+    at the given (lat, lon, alt) position, with the X axis heading east,
+    the Y axis heading north and the Z axis vertical to the ellipsoid.
+    >>> a = ecef_from_topocentric_transform(30, 20, 10)
+    >>> b = ecef_from_topocentric_transform_finite_diff(30, 20, 10)
+    >>> np.allclose(a, b)
+    True
+    """
+    x, y, z = ecef_from_lla(lat, lon, alt)
+    sa = np.sin(np.radians(lat))
+    ca = np.cos(np.radians(lat))
+    so = np.sin(np.radians(lon))
+    co = np.cos(np.radians(lon))
+    return np.array(
+        [
+            [-so, -sa * co, ca * co, x],
+            [co, -sa * so, ca * so, y],
+            [0, ca, sa, z],
+            [0, 0, 0, 1],
+        ]
+    )
+
+
+def ecef_from_topocentric_transform_finite_diff(lat, lon, alt: float) -> ndarray:
+    """
+    Transformation from a topocentric frame at reference position to ECEF.
+
+    The topocentric reference frame is a metric one with the origin
+    at the given (lat, lon, alt) position, with the X axis heading east,
+    the Y axis heading north and the Z axis vertical to the ellipsoid.
+    """
+    eps = 1e-2
+    x, y, z = ecef_from_lla(lat, lon, alt)
+    v1 = (
+        (
+            np.array(ecef_from_lla(lat, lon + eps, alt))
+            - np.array(ecef_from_lla(lat, lon - eps, alt))
+        )
+        / 2
+        / eps
+    )
+    v2 = (
+        (
+            np.array(ecef_from_lla(lat + eps, lon, alt))
+            - np.array(ecef_from_lla(lat - eps, lon, alt))
+        )
+        / 2
+        / eps
+    )
+    v3 = (
+        (
+            np.array(ecef_from_lla(lat, lon, alt + eps))
+            - np.array(ecef_from_lla(lat, lon, alt - eps))
+        )
+        / 2
+        / eps
+    )
+    v1 /= np.linalg.norm(v1)
+    v2 /= np.linalg.norm(v2)
+    v3 /= np.linalg.norm(v3)
+    return np.array(
+        [
+            [v1[0], v2[0], v3[0], x],
+            [v1[1], v2[1], v3[1], y],
+            [v1[2], v2[2], v3[2], z],
+            [0, 0, 0, 1],
+        ]
+    )
+
+
+def topocentric_from_lla(lat, lon, alt: float, reflat, reflon, refalt: float):
+    """
+    Transform from lat, lon, alt to topocentric XYZ.
+
+    >>> lat, lon, alt = -10, 20, 100
+    >>> np.allclose(topocentric_from_lla(lat, lon, alt, lat, lon, alt),
+    ...     [0,0,0])
+    True
+    >>> x, y, z = topocentric_from_lla(lat, lon, alt, 0, 0, 0)
+    >>> np.allclose(lla_from_topocentric(x, y, z, 0, 0, 0),
+    ...     [lat, lon, alt])
+    True
+    """
+    T = np.linalg.inv(ecef_from_topocentric_transform(reflat, reflon, refalt))
+    x, y, z = ecef_from_lla(lat, lon, alt)
+    tx = T[0, 0] * x + T[0, 1] * y + T[0, 2] * z + T[0, 3]
+    ty = T[1, 0] * x + T[1, 1] * y + T[1, 2] * z + T[1, 3]
+    tz = T[2, 0] * x + T[2, 1] * y + T[2, 2] * z + T[2, 3]
+    return tx, ty, tz
+
+
+def lla_from_topocentric(x, y, z, reflat, reflon, refalt: float):
+    """
+    Transform from topocentric XYZ to lat, lon, alt.
+    """
+    T = ecef_from_topocentric_transform(reflat, reflon, refalt)
+    ex = T[0, 0] * x + T[0, 1] * y + T[0, 2] * z + T[0, 3]
+    ey = T[1, 0] * x + T[1, 1] * y + T[1, 2] * z + T[1, 3]
+    ez = T[2, 0] * x + T[2, 1] * y + T[2, 2] * z + T[2, 3]
+    return lla_from_ecef(ex, ey, ez)
+
+
+class TopocentricConverter(object):
+    """Convert to and from a topocentric reference frame."""
+
+    def __init__(self, reflat, reflon, refalt):
+        """Init the converter given the reference origin."""
+        self.lat = reflat
+        self.lon = reflon
+        self.alt = refalt
+
+    def to_topocentric(self, lat, lon, alt):
+        """Convert lat, lon, alt to topocentric x, y, z."""
+        return topocentric_from_lla(lat, lon, alt, self.lat, self.lon, self.alt)
+
+    def to_lla(self, x, y, z):
+        """Convert topocentric x, y, z to lat, lon, alt."""
+        return lla_from_topocentric(x, y, z, self.lat, self.lon, self.alt)
+
+    def __eq__(self, o):
+        return np.allclose([self.lat, self.lon, self.alt], (o.lat, o.lon, o.alt))
diff --git a/utils/geometry.py b/utils/geometry.py
new file mode 100644
index 0000000000000000000000000000000000000000..9bcbcba7c41e689e9dd9e35fe33e7787fdd13b03
--- /dev/null
+++ b/utils/geometry.py
@@ -0,0 +1,68 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import numpy as np
+import torch
+
+
+def from_homogeneous(points, eps: float = 1e-8):
+    """Remove the homogeneous dimension of N-dimensional points.
+    Args:
+        points: torch.Tensor or numpy.ndarray with size (..., N+1).
+    Returns:
+        A torch.Tensor or numpy ndarray with size (..., N).
+    """
+    return points[..., :-1] / (points[..., -1:] + eps)
+
+
+def to_homogeneous(points):
+    """Convert N-dimensional points to homogeneous coordinates.
+    Args:
+        points: torch.Tensor or numpy.ndarray with size (..., N).
+    Returns:
+        A torch.Tensor or numpy.ndarray with size (..., N+1).
+    """
+    if isinstance(points, torch.Tensor):
+        pad = points.new_ones(points.shape[:-1] + (1,))
+        return torch.cat([points, pad], dim=-1)
+    elif isinstance(points, np.ndarray):
+        pad = np.ones((points.shape[:-1] + (1,)), dtype=points.dtype)
+        return np.concatenate([points, pad], axis=-1)
+    else:
+        raise ValueError
+
+
+@torch.jit.script
+def undistort_points(pts, dist):
+    dist = dist.unsqueeze(-2)  # add point dimension
+    ndist = dist.shape[-1]
+    undist = pts
+    valid = torch.ones(pts.shape[:-1], device=pts.device, dtype=torch.bool)
+    if ndist > 0:
+        k1, k2 = dist[..., :2].split(1, -1)
+        r2 = torch.sum(pts**2, -1, keepdim=True)
+        radial = k1 * r2 + k2 * r2**2
+        undist = undist + pts * radial
+
+        # The distortion model is supposedly only valid within the image
+        # boundaries. Because of the negative radial distortion, points that
+        # are far outside of the boundaries might actually be mapped back
+        # within the image. To account for this, we discard points that are
+        # beyond the inflection point of the distortion model,
+        # e.g. such that d(r + k_1 r^3 + k2 r^5)/dr = 0
+        limited = ((k2 > 0) & ((9 * k1**2 - 20 * k2) > 0)) | ((k2 <= 0) & (k1 > 0))
+        limit = torch.abs(
+            torch.where(
+                k2 > 0,
+                (torch.sqrt(9 * k1**2 - 20 * k2) - 3 * k1) / (10 * k2),
+                1 / (3 * k1),
+            )
+        )
+        valid = valid & torch.squeeze(~limited | (r2 < limit), -1)
+
+        if ndist > 2:
+            p12 = dist[..., 2:]
+            p21 = p12.flip(-1)
+            uv = torch.prod(pts, -1, keepdim=True)
+            undist = undist + 2 * p12 * uv + p21 * (r2 + 2 * pts**2)
+
+    return undist, valid
diff --git a/utils/io.py b/utils/io.py
new file mode 100644
index 0000000000000000000000000000000000000000..e092ef8695a41f2fae6da4e03d7cad74eab5cadf
--- /dev/null
+++ b/utils/io.py
@@ -0,0 +1,61 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import json
+import requests
+import shutil
+from pathlib import Path
+
+import cv2
+import numpy as np
+import torch
+from tqdm.auto import tqdm
+
+import logger
+
+DATA_URL = "https://cvg-data.inf.ethz.ch/OrienterNet_CVPR2023"
+
+
+def read_image(path, grayscale=False):
+    if grayscale:
+        mode = cv2.IMREAD_GRAYSCALE
+    else:
+        mode = cv2.IMREAD_COLOR
+    image = cv2.imread(str(path), mode)
+    if image is None:
+        raise ValueError(f"Cannot read image {path}.")
+    if not grayscale and len(image.shape) == 3:
+        image = np.ascontiguousarray(image[:, :, ::-1])  # BGR to RGB
+    return image
+
+
+def write_torch_image(path, image):
+    image_cv2 = np.round(image.clip(0, 1) * 255).astype(int)[..., ::-1]
+    cv2.imwrite(str(path), image_cv2)
+
+
+class JSONEncoder(json.JSONEncoder):
+    def default(self, obj):
+        if isinstance(obj, (np.ndarray, torch.Tensor)):
+            return obj.tolist()
+        elif isinstance(obj, np.generic):
+            return obj.item()
+        return json.JSONEncoder.default(self, obj)
+
+
+def write_json(path, data):
+    with open(path, "w") as f:
+        json.dump(data, f, cls=JSONEncoder)
+
+
+def download_file(url, path):
+    path = Path(path)
+    if path.is_dir():
+        path = path / Path(url).name
+    path.parent.mkdir(exist_ok=True, parents=True)
+    logger.info("Downloading %s to %s.", url, path)
+    with requests.get(url, stream=True) as r:
+        total_length = int(r.headers.get("Content-Length"))
+        with tqdm.wrapattr(r.raw, "read", total=total_length, desc="") as raw:
+            with open(path, "wb") as output:
+                shutil.copyfileobj(raw, output)
+    return path
diff --git a/utils/tools.py b/utils/tools.py
new file mode 100644
index 0000000000000000000000000000000000000000..adbc3eae97c599d9ce606426ae5628484b9e2499
--- /dev/null
+++ b/utils/tools.py
@@ -0,0 +1,17 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import time
+
+
+class Timer:
+    def __init__(self, name=None):
+        self.name = name
+
+    def __enter__(self):
+        self.tstart = time.time()
+        return self
+
+    def __exit__(self, type, value, traceback):
+        self.duration = time.time() - self.tstart
+        if self.name is not None:
+            print("[%s] Elapsed: %s" % (self.name, self.duration))
diff --git a/utils/viz_2d.py b/utils/viz_2d.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac93d002e2666559f3d77dd54c4f52d465e96869
--- /dev/null
+++ b/utils/viz_2d.py
@@ -0,0 +1,195 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+# Adapted from Hierarchical-Localization, Paul-Edouard Sarlin, ETH Zurich
+# https://github.com/cvg/Hierarchical-Localization/blob/master/hloc/utils/viz.py
+# Released under the Apache License 2.0
+
+import matplotlib
+import matplotlib.patheffects as path_effects
+import matplotlib.pyplot as plt
+import numpy as np
+
+
+def plot_images(imgs, titles=None, cmaps="gray", dpi=100, pad=0.5, adaptive=True):
+    """Plot a set of images horizontally.
+    Args:
+        imgs: a list of NumPy or PyTorch images, RGB (H, W, 3) or mono (H, W).
+        titles: a list of strings, as titles for each image.
+        cmaps: colormaps for monochrome images.
+        adaptive: whether the figure size should fit the image aspect ratios.
+    """
+    n = len(imgs)
+    if not isinstance(cmaps, (list, tuple)):
+        cmaps = [cmaps] * n
+
+    if adaptive:
+        ratios = [i.shape[1] / i.shape[0] for i in imgs]  # W / H
+    else:
+        ratios = [4 / 3] * n
+    figsize = [sum(ratios) * 4.5, 4.5]
+    fig, ax = plt.subplots(
+        1, n, figsize=figsize, dpi=dpi, gridspec_kw={"width_ratios": ratios}
+    )
+    if n == 1:
+        ax = [ax]
+    for i in range(n):
+        ax[i].imshow(imgs[i], cmap=plt.get_cmap(cmaps[i]))
+        ax[i].get_yaxis().set_ticks([])
+        ax[i].get_xaxis().set_ticks([])
+        ax[i].set_axis_off()
+        for spine in ax[i].spines.values():  # remove frame
+            spine.set_visible(False)
+        if titles:
+            ax[i].set_title(titles[i])
+    fig.tight_layout(pad=pad)
+    return fig
+
+
+def plot_keypoints(kpts, colors="lime", ps=4):
+    """Plot keypoints for existing images.
+    Args:
+        kpts: list of ndarrays of size (N, 2).
+        colors: string, or list of list of tuples (one for each keypoints).
+        ps: size of the keypoints as float.
+    """
+    if not isinstance(colors, list):
+        colors = [colors] * len(kpts)
+    axes = plt.gcf().axes
+    for a, k, c in zip(axes, kpts, colors):
+        a.scatter(k[:, 0], k[:, 1], c=c, s=ps, linewidths=0)
+
+
+def plot_matches(kpts0, kpts1, color=None, lw=1.5, ps=4, indices=(0, 1), a=1.0):
+    """Plot matches for a pair of existing images.
+    Args:
+        kpts0, kpts1: corresponding keypoints of size (N, 2).
+        color: color of each match, string or RGB tuple. Random if not given.
+        lw: width of the lines.
+        ps: size of the end points (no endpoint if ps=0)
+        indices: indices of the images to draw the matches on.
+        a: alpha opacity of the match lines.
+    """
+    fig = plt.gcf()
+    ax = fig.axes
+    assert len(ax) > max(indices)
+    ax0, ax1 = ax[indices[0]], ax[indices[1]]
+    fig.canvas.draw()
+
+    assert len(kpts0) == len(kpts1)
+    if color is None:
+        color = matplotlib.cm.hsv(np.random.rand(len(kpts0))).tolist()
+    elif len(color) > 0 and not isinstance(color[0], (tuple, list)):
+        color = [color] * len(kpts0)
+
+    if lw > 0:
+        # transform the points into the figure coordinate system
+        transFigure = fig.transFigure.inverted()
+        fkpts0 = transFigure.transform(ax0.transData.transform(kpts0))
+        fkpts1 = transFigure.transform(ax1.transData.transform(kpts1))
+        fig.lines += [
+            matplotlib.lines.Line2D(
+                (fkpts0[i, 0], fkpts1[i, 0]),
+                (fkpts0[i, 1], fkpts1[i, 1]),
+                zorder=1,
+                transform=fig.transFigure,
+                c=color[i],
+                linewidth=lw,
+                alpha=a,
+            )
+            for i in range(len(kpts0))
+        ]
+
+    # freeze the axes to prevent the transform to change
+    ax0.autoscale(enable=False)
+    ax1.autoscale(enable=False)
+
+    if ps > 0:
+        ax0.scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps)
+        ax1.scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps)
+
+
+def add_text(
+    idx,
+    text,
+    pos=(0.01, 0.99),
+    fs=15,
+    color="w",
+    lcolor="k",
+    lwidth=2,
+    ha="left",
+    va="top",
+    normalized=True,
+    zorder=3,
+):
+    ax = plt.gcf().axes[idx]
+    tfm = ax.transAxes if normalized else ax.transData
+    t = ax.text(
+        *pos,
+        text,
+        fontsize=fs,
+        ha=ha,
+        va=va,
+        color=color,
+        transform=tfm,
+        clip_on=True,
+        zorder=zorder,
+    )
+    if lcolor is not None:
+        t.set_path_effects(
+            [
+                path_effects.Stroke(linewidth=lwidth, foreground=lcolor),
+                path_effects.Normal(),
+            ]
+        )
+
+
+def save_plot(path, **kw):
+    """Save the current figure without any white margin."""
+    plt.savefig(path, bbox_inches="tight", pad_inches=0, **kw)
+
+
+def features_to_RGB(*Fs, masks=None, skip=1):
+    """Project a list of d-dimensional feature maps to RGB colors using PCA."""
+    from sklearn.decomposition import PCA
+
+    def normalize(x):
+        return x / np.linalg.norm(x, axis=-1, keepdims=True)
+
+    if masks is not None:
+        assert len(Fs) == len(masks)
+
+    flatten = []
+    for i, F in enumerate(Fs):
+        c, h, w = F.shape
+        F = np.rollaxis(F, 0, 3)
+        F_flat = F.reshape(-1, c)
+        if masks is not None and masks[i] is not None:
+            mask = masks[i]
+            assert mask.shape == F.shape[:2]
+            F_flat = F_flat[mask.reshape(-1)]
+        flatten.append(F_flat)
+    flatten = np.concatenate(flatten, axis=0)
+    flatten = normalize(flatten)
+
+    pca = PCA(n_components=3)
+    if skip > 1:
+        pca.fit(flatten[::skip])
+        flatten = pca.transform(flatten)
+    else:
+        flatten = pca.fit_transform(flatten)
+    flatten = (normalize(flatten) + 1) / 2
+
+    Fs_rgb = []
+    for i, F in enumerate(Fs):
+        h, w = F.shape[-2:]
+        if masks is None or masks[i] is None:
+            F_rgb, flatten = np.split(flatten, [h * w], axis=0)
+            F_rgb = F_rgb.reshape((h, w, 3))
+        else:
+            F_rgb = np.zeros((h, w, 3))
+            indices = np.where(masks[i])
+            F_rgb[indices], flatten = np.split(flatten, [len(indices[0])], axis=0)
+            F_rgb = np.concatenate([F_rgb, masks[i][..., None]], axis=-1)
+        Fs_rgb.append(F_rgb)
+    assert flatten.shape[0] == 0, flatten.shape
+    return Fs_rgb
diff --git a/utils/viz_localization.py b/utils/viz_localization.py
new file mode 100644
index 0000000000000000000000000000000000000000..3e15da2329ae2956c4eb663dfcd3a0cf841f2b84
--- /dev/null
+++ b/utils/viz_localization.py
@@ -0,0 +1,160 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+import copy
+
+import matplotlib as mpl
+import matplotlib.pyplot as plt
+import numpy as np
+import torch
+
+
+def likelihood_overlay(
+    prob, map_viz=None, p_rgb=0.2, p_alpha=1 / 15, thresh=None, cmap="jet"
+):
+    prob = prob / prob.max()
+    cmap = plt.get_cmap(cmap)
+    rgb = cmap(prob**p_rgb)
+    alpha = prob[..., None] ** p_alpha
+    if thresh is not None:
+        alpha[prob <= thresh] = 0
+    if map_viz is not None:
+        faded = map_viz + (1 - map_viz) * 0.5
+        rgb = rgb[..., :3] * alpha + faded * (1 - alpha)
+        rgb = np.clip(rgb, 0, 1)
+    else:
+        rgb[..., -1] = alpha.squeeze(-1)
+    return rgb
+
+
+def heatmap2rgb(scores, mask=None, clip_min=0.05, alpha=0.8, cmap="jet"):
+    min_, max_ = np.quantile(scores, [clip_min, 1])
+    scores = scores.clip(min=min_)
+    rgb = plt.get_cmap(cmap)((scores - min_) / (max_ - min_))
+    if mask is not None:
+        if alpha == 0:
+            rgb[mask] = np.nan
+        else:
+            rgb[..., -1] = 1 - (1 - 1.0 * mask) * (1 - alpha)
+    return rgb
+
+
+def plot_pose(axs, xy, yaw=None, s=1 / 35, c="r", a=1, w=0.015, dot=True, zorder=10):
+    if yaw is not None:
+        yaw = np.deg2rad(yaw)
+        uv = np.array([np.sin(yaw), -np.cos(yaw)])
+    xy = np.array(xy) + 0.5
+    if not isinstance(axs, list):
+        axs = [axs]
+    for ax in axs:
+        if isinstance(ax, int):
+            ax = plt.gcf().axes[ax]
+        if dot:
+            ax.scatter(*xy, c=c, s=70, zorder=zorder, linewidths=0, alpha=a)
+        if yaw is not None:
+            ax.quiver(
+                *xy,
+                *uv,
+                scale=s,
+                scale_units="xy",
+                angles="xy",
+                color=c,
+                zorder=zorder,
+                alpha=a,
+                width=w,
+            )
+
+
+def plot_dense_rotations(
+    ax, prob, thresh=0.01, skip=10, s=1 / 15, k=3, c="k", w=None, **kwargs
+):
+    t = torch.argmax(prob, -1)
+    yaws = t.numpy() / prob.shape[-1] * 360
+    prob = prob.max(-1).values / prob.max()
+    mask = prob > thresh
+    masked = prob.masked_fill(~mask, 0)
+    max_ = torch.nn.functional.max_pool2d(
+        masked.float()[None, None], k, stride=1, padding=k // 2
+    )
+    mask = (max_[0, 0] == masked.float()) & mask
+    indices = np.where(mask.numpy() > 0)
+    plot_pose(
+        ax,
+        indices[::-1],
+        yaws[indices],
+        s=s,
+        c=c,
+        dot=False,
+        zorder=0.1,
+        w=w,
+        **kwargs,
+    )
+
+
+def copy_image(im, ax):
+    prop = im.properties()
+    prop.pop("children")
+    prop.pop("size")
+    prop.pop("tightbbox")
+    prop.pop("transformed_clip_path_and_affine")
+    prop.pop("window_extent")
+    prop.pop("figure")
+    prop.pop("transform")
+    return ax.imshow(im.get_array(), **prop)
+
+
+def add_circle_inset(
+    ax,
+    center,
+    corner=None,
+    radius_px=10,
+    inset_size=0.4,
+    inset_offset=0.005,
+    color="red",
+):
+    data_t_axes = ax.transAxes + ax.transData.inverted()
+    if corner is None:
+        center_axes = np.array(data_t_axes.inverted().transform(center))
+        corner = 1 - np.round(center_axes).astype(int)
+    corner = np.array(corner)
+    bottom_left = corner * (1 - inset_size - inset_offset) + (1 - corner) * inset_offset
+    axins = ax.inset_axes([*bottom_left, inset_size, inset_size])
+    if ax.yaxis_inverted():
+        axins.invert_yaxis()
+    axins.set_axis_off()
+
+    c = mpl.patches.Circle(center, radius_px, fill=False, color=color)
+    c1 = mpl.patches.Circle(center, radius_px, fill=False, color=color)
+    # ax.add_patch(c)
+    ax.add_patch(c1)
+    # ax.add_patch(c.frozen())
+    axins.add_patch(c)
+
+    radius_inset = radius_px + 1
+    axins.set_xlim([center[0] - radius_inset, center[0] + radius_inset])
+    ylim = center[1] - radius_inset, center[1] + radius_inset
+    if axins.yaxis_inverted():
+        ylim = ylim[::-1]
+    axins.set_ylim(ylim)
+
+    for im in ax.images:
+        im2 = copy_image(im, axins)
+        im2.set_clip_path(c)
+    return axins
+
+
+def plot_bev(bev, uv, yaw, ax=None, zorder=10, **kwargs):
+    if ax is None:
+        ax = plt.gca()
+    h, w = bev.shape[:2]
+    tfm = mpl.transforms.Affine2D().translate(-w / 2, -h)
+    tfm = tfm.rotate_deg(yaw).translate(*uv + 0.5)
+    tfm += plt.gca().transData
+    ax.imshow(bev, transform=tfm, zorder=zorder, **kwargs)
+    ax.plot(
+        [0, w - 1, w / 2, 0],
+        [0, 0, h - 0.5, 0],
+        transform=tfm,
+        c="k",
+        lw=1,
+        zorder=zorder + 1,
+    )
diff --git a/utils/wrappers.py b/utils/wrappers.py
new file mode 100644
index 0000000000000000000000000000000000000000..4d8b35a35fdc83569e943735e7433ed72da1343e
--- /dev/null
+++ b/utils/wrappers.py
@@ -0,0 +1,342 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+# Adapted from PixLoc, Paul-Edouard Sarlin, ETH Zurich
+# https://github.com/cvg/pixloc
+# Released under the Apache License 2.0
+
+"""
+Convenience classes for an SE3 pose and a pinhole Camera with lens distortion.
+Based on PyTorch tensors: differentiable, batched, with GPU support.
+"""
+
+import functools
+import inspect
+import math
+from typing import Dict, List, NamedTuple, Tuple, Union
+
+import numpy as np
+import torch
+
+from .geometry import undistort_points
+
+
+def autocast(func):
+    """Cast the inputs of a TensorWrapper method to PyTorch tensors
+    if they are numpy arrays. Use the device and dtype of the wrapper.
+    """
+
+    @functools.wraps(func)
+    def wrap(self, *args):
+        device = torch.device("cpu")
+        dtype = None
+        if isinstance(self, TensorWrapper):
+            if self._data is not None:
+                device = self.device
+                dtype = self.dtype
+        elif not inspect.isclass(self) or not issubclass(self, TensorWrapper):
+            raise ValueError(self)
+
+        cast_args = []
+        for arg in args:
+            if isinstance(arg, np.ndarray):
+                arg = torch.from_numpy(arg)
+                arg = arg.to(device=device, dtype=dtype)
+            cast_args.append(arg)
+        return func(self, *cast_args)
+
+    return wrap
+
+
+class TensorWrapper:
+    _data = None
+
+    @autocast
+    def __init__(self, data: torch.Tensor):
+        self._data = data
+
+    @property
+    def shape(self):
+        return self._data.shape[:-1]
+
+    @property
+    def device(self):
+        return self._data.device
+
+    @property
+    def dtype(self):
+        return self._data.dtype
+
+    def __getitem__(self, index):
+        return self.__class__(self._data[index])
+
+    def __setitem__(self, index, item):
+        self._data[index] = item.data
+
+    def to(self, *args, **kwargs):
+        return self.__class__(self._data.to(*args, **kwargs))
+
+    def cpu(self):
+        return self.__class__(self._data.cpu())
+
+    def cuda(self):
+        return self.__class__(self._data.cuda())
+
+    def pin_memory(self):
+        return self.__class__(self._data.pin_memory())
+
+    def float(self):
+        return self.__class__(self._data.float())
+
+    def double(self):
+        return self.__class__(self._data.double())
+
+    def detach(self):
+        return self.__class__(self._data.detach())
+
+    @classmethod
+    def stack(cls, objects: List, dim=0, *, out=None):
+        data = torch.stack([obj._data for obj in objects], dim=dim, out=out)
+        return cls(data)
+
+    @classmethod
+    def __torch_function__(cls, func, types, args=(), kwargs=None):
+        if kwargs is None:
+            kwargs = {}
+        if func is torch.stack:
+            return cls.stack(*args, **kwargs)
+        else:
+            return NotImplemented
+
+
+class Pose(TensorWrapper):
+    def __init__(self, data: torch.Tensor):
+        assert data.shape[-1] == 12
+        super().__init__(data)
+
+    @classmethod
+    @autocast
+    def from_Rt(cls, R: torch.Tensor, t: torch.Tensor):
+        """Pose from a rotation matrix and translation vector.
+        Accepts numpy arrays or PyTorch tensors.
+
+        Args:
+            R: rotation matrix with shape (..., 3, 3).
+            t: translation vector with shape (..., 3).
+        """
+        assert R.shape[-2:] == (3, 3)
+        assert t.shape[-1] == 3
+        assert R.shape[:-2] == t.shape[:-1]
+        data = torch.cat([R.flatten(start_dim=-2), t], -1)
+        return cls(data)
+
+    @classmethod
+    def from_4x4mat(cls, T: torch.Tensor):
+        """Pose from an SE(3) transformation matrix.
+        Args:
+            T: transformation matrix with shape (..., 4, 4).
+        """
+        assert T.shape[-2:] == (4, 4)
+        R, t = T[..., :3, :3], T[..., :3, 3]
+        return cls.from_Rt(R, t)
+
+    @classmethod
+    def from_colmap(cls, image: NamedTuple):
+        """Pose from a COLMAP Image."""
+        return cls.from_Rt(image.qvec2rotmat(), image.tvec)
+
+    @property
+    def R(self) -> torch.Tensor:
+        """Underlying rotation matrix with shape (..., 3, 3)."""
+        rvec = self._data[..., :9]
+        return rvec.reshape(rvec.shape[:-1] + (3, 3))
+
+    @property
+    def t(self) -> torch.Tensor:
+        """Underlying translation vector with shape (..., 3)."""
+        return self._data[..., -3:]
+
+    def inv(self) -> "Pose":
+        """Invert an SE(3) pose."""
+        R = self.R.transpose(-1, -2)
+        t = -(R @ self.t.unsqueeze(-1)).squeeze(-1)
+        return self.__class__.from_Rt(R, t)
+
+    def compose(self, other: "Pose") -> "Pose":
+        """Chain two SE(3) poses: T_B2C.compose(T_A2B) -> T_A2C."""
+        R = self.R @ other.R
+        t = self.t + (self.R @ other.t.unsqueeze(-1)).squeeze(-1)
+        return self.__class__.from_Rt(R, t)
+
+    @autocast
+    def transform(self, p3d: torch.Tensor) -> torch.Tensor:
+        """Transform a set of 3D points.
+        Args:
+            p3d: 3D points, numpy array or PyTorch tensor with shape (..., 3).
+        """
+        assert p3d.shape[-1] == 3
+        # assert p3d.shape[:-2] == self.shape  # allow broadcasting
+        return p3d @ self.R.transpose(-1, -2) + self.t.unsqueeze(-2)
+
+    def __matmul__(
+        self, other: Union["Pose", torch.Tensor]
+    ) -> Union["Pose", torch.Tensor]:
+        """Transform a set of 3D points: T_A2B * p3D_A -> p3D_B.
+        or chain two SE(3) poses: T_B2C @ T_A2B -> T_A2C."""
+        if isinstance(other, self.__class__):
+            return self.compose(other)
+        else:
+            return self.transform(other)
+
+    def numpy(self) -> Tuple[np.ndarray]:
+        return self.R.numpy(), self.t.numpy()
+
+    def magnitude(self) -> Tuple[torch.Tensor]:
+        """Magnitude of the SE(3) transformation.
+        Returns:
+            dr: rotation anngle in degrees.
+            dt: translation distance in meters.
+        """
+        trace = torch.diagonal(self.R, dim1=-1, dim2=-2).sum(-1)
+        cos = torch.clamp((trace - 1) / 2, -1, 1)
+        dr = torch.acos(cos).abs() / math.pi * 180
+        dt = torch.norm(self.t, dim=-1)
+        return dr, dt
+
+    def __repr__(self):
+        return f"Pose: {self.shape} {self.dtype} {self.device}"
+
+
+class Camera(TensorWrapper):
+    eps = 1e-4
+
+    def __init__(self, data: torch.Tensor):
+        assert data.shape[-1] in {6, 8, 10}
+        super().__init__(data)
+
+    @classmethod
+    def from_dict(cls, camera: Union[Dict, NamedTuple]):
+        """Camera from a COLMAP Camera tuple or dictionary.
+        We assume that the origin (0, 0) is the center of the top-left pixel.
+        This is different from COLMAP.
+        """
+        if isinstance(camera, tuple):
+            camera = camera._asdict()
+
+        model = camera["model"]
+        params = camera["params"]
+
+        if model in ["OPENCV", "PINHOLE"]:
+            (fx, fy, cx, cy), params = np.split(params, [4])
+        elif model in ["SIMPLE_PINHOLE", "SIMPLE_RADIAL", "RADIAL"]:
+            (f, cx, cy), params = np.split(params, [3])
+            fx = fy = f
+            if model == "SIMPLE_RADIAL":
+                params = np.r_[params, 0.0]
+        else:
+            raise NotImplementedError(model)
+
+        data = np.r_[
+            camera["width"], camera["height"], fx, fy, cx - 0.5, cy - 0.5, params
+        ]
+        return cls(data)
+
+    @property
+    def size(self) -> torch.Tensor:
+        """Size (width height) of the images, with shape (..., 2)."""
+        return self._data[..., :2]
+
+    @property
+    def f(self) -> torch.Tensor:
+        """Focal lengths (fx, fy) with shape (..., 2)."""
+        return self._data[..., 2:4]
+
+    @property
+    def c(self) -> torch.Tensor:
+        """Principal points (cx, cy) with shape (..., 2)."""
+        return self._data[..., 4:6]
+
+    @property
+    def dist(self) -> torch.Tensor:
+        """Distortion parameters, with shape (..., {0, 2, 4})."""
+        return self._data[..., 6:]
+
+    def scale(self, scales: Union[float, int, Tuple[Union[float, int]]]):
+        """Update the camera parameters after resizing an image."""
+        if isinstance(scales, (int, float)):
+            scales = (scales, scales)
+        s = self._data.new_tensor(scales)
+        data = torch.cat(
+            [self.size * s, self.f * s, (self.c + 0.5) * s - 0.5, self.dist], -1
+        )
+        return self.__class__(data)
+
+    def crop(self, left_top: Tuple[float], size: Tuple[int]):
+        """Update the camera parameters after cropping an image."""
+        left_top = self._data.new_tensor(left_top)
+        size = self._data.new_tensor(size)
+        data = torch.cat([size, self.f, self.c - left_top, self.dist], -1)
+        return self.__class__(data)
+
+    @autocast
+    def in_image(self, p2d: torch.Tensor):
+        """Check if 2D points are within the image boundaries."""
+        assert p2d.shape[-1] == 2
+        # assert p2d.shape[:-2] == self.shape  # allow broadcasting
+        size = self.size.unsqueeze(-2)
+        valid = torch.all((p2d >= 0) & (p2d <= (size - 1)), -1)
+        return valid
+
+    @autocast
+    def project(self, p3d: torch.Tensor) -> Tuple[torch.Tensor]:
+        """Project 3D points into the camera plane and check for visibility."""
+        z = p3d[..., -1]
+        valid = z > self.eps
+        z = z.clamp(min=self.eps)
+        p2d = p3d[..., :-1] / z.unsqueeze(-1)
+        return p2d, valid
+
+    def J_project(self, p3d: torch.Tensor):
+        x, y, z = p3d[..., 0], p3d[..., 1], p3d[..., 2]
+        zero = torch.zeros_like(z)
+        J = torch.stack([1 / z, zero, -x / z**2, zero, 1 / z, -y / z**2], dim=-1)
+        J = J.reshape(p3d.shape[:-1] + (2, 3))
+        return J  # N x 2 x 3
+
+    @autocast
+    def undistort(self, pts: torch.Tensor) -> Tuple[torch.Tensor]:
+        """Undistort normalized 2D coordinates
+        and check for validity of the distortion model.
+        """
+        assert pts.shape[-1] == 2
+        # assert pts.shape[:-2] == self.shape  # allow broadcasting
+        return undistort_points(pts, self.dist)
+
+    @autocast
+    def denormalize(self, p2d: torch.Tensor) -> torch.Tensor:
+        """Convert normalized 2D coordinates into pixel coordinates."""
+        return p2d * self.f.unsqueeze(-2) + self.c.unsqueeze(-2)
+
+    @autocast
+    def normalize(self, p2d: torch.Tensor) -> torch.Tensor:
+        """Convert pixel coordinates into normalized 2D coordinates."""
+        return (p2d - self.c.unsqueeze(-2)) / self.f.unsqueeze(-2)
+
+    def J_denormalize(self):
+        return torch.diag_embed(self.f).unsqueeze(-3)  # 1 x 2 x 2
+
+    @autocast
+    def world2image(self, p3d: torch.Tensor) -> Tuple[torch.Tensor]:
+        """Transform 3D points into 2D pixel coordinates."""
+        p2d, visible = self.project(p3d)
+        p2d, mask = self.undistort(p2d)
+        p2d = self.denormalize(p2d)
+        valid = visible & mask & self.in_image(p2d)
+        return p2d, valid
+
+    def J_world2image(self, p3d: torch.Tensor):
+        p2d_dist, valid = self.project(p3d)
+        J = self.J_denormalize() @ self.J_undistort(p2d_dist) @ self.J_project(p3d)
+        return J, valid
+
+    def __repr__(self):
+        return f"Camera {self.shape} {self.dtype} {self.device}"