├── .gitignore ├── Dockerfile ├── README.md ├── config ├── kitti_eval_ours.prototxt ├── kitti_eval_ours_moredata.prototxt ├── kitti_train_ours.prototxt └── kitti_train_ours_moredata.prototxt ├── demo ├── framework.png ├── output.gif ├── pointcov.png ├── traj+pointcov.png └── traj.png ├── doc └── train.md ├── evaluate.py ├── freeze.yml ├── rslo ├── builder │ ├── __init__.py │ ├── dataset_builder.py │ ├── input_reader_builder.py │ ├── losses_builder.py │ ├── lr_scheduler_builder.py │ ├── optimizer_builder.py │ ├── preprocess_builder.py │ ├── second_builder.py │ └── voxel_builder.py ├── core │ ├── __init__.py │ └── losses.py ├── data │ ├── __init__.py │ ├── dataset.py │ ├── kitti_common.py │ ├── kitti_dataset_crossnorm_hdf5.py │ ├── kitti_dataset_hdf5.py │ └── preprocess.py ├── layers │ ├── MaskConv.py │ ├── SparseConv.py │ ├── common.py │ ├── confidence.py │ ├── normalization.py │ ├── se_module.py │ └── svd.py ├── models │ ├── custom_resnet_spc.py │ ├── middle.py │ ├── odom_pred.py │ ├── odom_pred_base.py │ ├── voxel_encoder.py │ └── voxel_odom_net.py ├── protos │ ├── __init__.py │ ├── complile.sh │ ├── input_reader.proto │ ├── input_reader_pb2.py │ ├── losses.proto │ ├── losses.proto.bak │ ├── losses_pb2.py │ ├── model.proto │ ├── model_pb2.py │ ├── optimizer.proto │ ├── optimizer_pb2.py │ ├── pipeline.proto │ ├── pipeline_pb2.py │ ├── preprocess.proto │ ├── preprocess_pb2.py │ ├── sampler.proto │ ├── sampler_pb2.py │ ├── second.proto │ ├── second_pb2.py │ ├── similarity.proto │ ├── similarity_pb2.py │ ├── target.proto.bak │ ├── train.proto │ ├── train_pb2.py │ ├── voxel_generator.proto │ └── voxel_generator_pb2.py ├── torchplus │ ├── __init__.py │ ├── metrics.py │ ├── nn │ │ ├── __init__.py │ │ ├── functional.py │ │ └── modules │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ └── normalization.py │ ├── ops │ │ ├── __init__.py │ │ └── array_ops.py │ ├── tools.py │ └── train │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── common.py │ │ ├── fastai_optim.py │ │ ├── learning_schedules.py │ │ ├── learning_schedules_fastai.py │ │ └── optim.py └── utils │ ├── __init__.py │ ├── check.py │ ├── config_tool.py │ ├── config_tool │ ├── __init__.py │ └── train.py │ ├── distributed_utils.py │ ├── find.py │ ├── geometric.py │ ├── kitti_evaluation.py │ ├── loader.py │ ├── log_tool.py │ ├── math.py │ ├── pose_utils.py │ ├── pose_utils_np.py │ ├── progress_bar.py │ ├── singleton.py │ ├── timer.py │ ├── util.py │ └── visualization.py ├── script ├── create_hdf5.py ├── create_hdf5_crossnormal.py └── eval_ours.sh ├── thirdparty └── chamfer_distance │ ├── __init__.py │ ├── chamfer_distance.cpp │ ├── chamfer_distance.cu │ └── chamfer_distance.py └── train_hdf5.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DecaYale/RSLO/HEAD/.gitignore -------------------------------------------------------------------------------- /Dockerfile: 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