├── CVTNet_libtorch ├── gen_libtorch_model.py └── ws │ ├── 1.pcd │ ├── CMakeLists.txt │ └── fast_cvtnet.cpp ├── LICENSE ├── README.md ├── config ├── config.yml └── config_kitti.yml ├── corresponding_rotation.gif ├── modules ├── cvtnet.py ├── loss.py └── netvlad.py ├── motivation.png ├── test ├── cal_topn_recall.py ├── test_cvtnet_prepare.py └── test_yaw_rotation_invariance.py ├── tools ├── gen_ground_truth_kitti.py ├── gen_ri_bev.py ├── gen_training_index_kitti.py ├── read_all_sets.py ├── read_samples.py └── utils │ ├── __init__.py │ ├── com_overlap_yaw.py │ └── utils.py ├── train ├── train_cvtnet.py └── train_seqcvt.py └── yaw_rotation_invariance.gif /CVTNet_libtorch/gen_libtorch_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BIT-MJY/CVTNet/HEAD/CVTNet_libtorch/gen_libtorch_model.py -------------------------------------------------------------------------------- /CVTNet_libtorch/ws/1.pcd: 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