├── LTI ├── NCLT │ ├── intp_nclt+2.py │ ├── intp_nclt-2.py │ └── velodyne_left_False.h5 ├── Oxford │ ├── intp_oxford_q+2.py │ ├── intp_oxford_q-2.py │ └── velodyne_left_False.h5 ├── QEOxford │ ├── QEOxford_pose_stats_PELoc.txt │ ├── intp_qeoxford_q+2.py │ ├── intp_qeoxford_q_2.py │ └── velodyne_left_calibrateFalse.h5 └── readme.md ├── PELoc ├── 1.txt ├── SGLoc_env.yaml ├── config │ ├── kitti.yaml │ ├── nclt.yaml │ ├── nuscenes.yaml │ ├── oxford.yaml │ ├── qeoxford.yaml │ └── xac.yaml ├── datasets │ ├── __pycache__ │ │ ├── base_loader.cpython-38.pyc │ │ ├── base_loader.cpython-39.pyc │ │ ├── infobatch.cpython-39.pyc │ │ ├── lidar_loc_nclt.cpython-38.pyc │ │ ├── lidarloc.cpython-38.pyc │ │ ├── lidarloc.cpython-39.pyc │ │ ├── lidarloc_2.cpython-38.pyc │ │ ├── lidarloc_clip_frame.cpython-38.pyc │ │ ├── lidarloc_ox.cpython-38.pyc │ │ └── lidarloc_xac.cpython-38.pyc │ ├── base_loader.py │ ├── infobatch.py │ ├── kitti.py │ ├── lidarloc.py │ └── robotcar_sdk │ │ ├── extrinsics │ │ ├── ins.txt │ │ ├── ldmrs.txt │ │ ├── lms_front.txt │ │ ├── lms_rear.txt │ │ ├── mono_left.txt │ │ ├── mono_rear.txt │ │ ├── mono_right.txt │ │ ├── nlct_velodyne.txt │ │ ├── radar.txt │ │ ├── stereo.txt │ │ ├── velodyne_left.txt │ │ └── velodyne_right.txt │ │ └── python │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── build_pointcloud.py │ │ ├── camera_model.py │ │ ├── image.py │ │ ├── interpolate_poses.py │ │ ├── play_images.py │ │ ├── play_radar.py │ │ ├── play_velodyne.py │ │ ├── project_laser_into_camera.py │ │ ├── radar.py │ │ ├── requirements.txt │ │ ├── transform.py │ │ └── velodyne.py ├── models │ ├── __pycache__ │ │ ├── ace.cpython-310.pyc │ │ ├── ace.cpython-38.pyc │ │ ├── ace.cpython-39.pyc │ │ ├── loss.cpython-38.pyc │ │ ├── loss.cpython-39.pyc │ │ ├── sc2pcr.cpython-38.pyc │ │ ├── sc2pcr.cpython-39.pyc │ │ └── sgloc_v2.cpython-38.pyc │ ├── loss.py │ ├── sc2pcr.py │ └── sgloc_v2.py ├── test.py ├── train.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── augmentor.cpython-38.pyc │ ├── augmentor.cpython-39.pyc │ ├── pose_util.cpython-38.pyc │ ├── pose_util.cpython-39.pyc │ ├── train_util.cpython-38.pyc │ └── train_util.cpython-39.pyc │ ├── augmentor.py │ ├── avgMeter.py │ ├── pose_util.py │ ├── projection.py │ └── train_util.py ├── log ├── log_NCLT │ ├── log_PELoc │ │ ├── distribution_q.png │ │ ├── distribution_t.png │ │ ├── error_q.txt │ │ ├── error_t.txt │ │ ├── gt_q.txt │ │ ├── gt_t.txt │ │ ├── log_02-12_full.txt │ │ ├── log_02_19_full.txt │ │ ├── log_03_31_full.txt │ │ ├── log_05_26_FULL.txt │ │ ├── pred_q.txt │ │ ├── pred_t.txt │ │ ├── readme.md │ │ ├── stats.jgz │ │ ├── trajectory_02-19_full.png │ │ ├── trajectory_02_12_full.png │ │ ├── trajectory_03_31_full.png │ │ └── trajectory_05_26_FULL.png │ └── log_baseline │ │ ├── distribution_q.png │ │ ├── distribution_t.png │ │ ├── error_q.txt │ │ ├── error_t.txt │ │ ├── gt_q.txt │ │ ├── gt_t.txt │ │ ├── log-02-12.txt │ │ ├── log-05-26.txt │ │ ├── log.txt │ │ ├── log_01_22.txt │ │ ├── log_03-31.txt │ │ ├── pred_q.txt │ │ ├── pred_t.txt │ │ ├── readme.md │ │ ├── stats.jgz │ │ ├── trajectory.png │ │ ├── trajectory_01-02.png │ │ ├── trajectory_02-02.png │ │ ├── trajectory_02-12.png │ │ ├── trajectory_02-19-误差30多米.png │ │ ├── trajectory_03-31.png │ │ └── trajectory_05_31.png ├── log_Oxford │ ├── log_PELoc │ │ ├── distribution_q.png │ │ ├── distribution_t.png │ │ ├── error_q.txt │ │ ├── error_t.txt │ │ ├── gt_q.txt │ │ ├── gt_t.txt │ │ ├── log.txt │ │ ├── log_1513.txt │ │ ├── log_1713.txt │ │ ├── log_1714.txt │ │ ├── log_1814.txt │ │ ├── pred_q.txt │ │ ├── pred_t.txt │ │ ├── readme.md │ │ ├── trajectory.png │ │ ├── trajectory_1513.png │ │ ├── trajectory_1713.png │ │ ├── trajectory_1714.png │ │ └── trajectory_1814.png │ └── log_baseline │ │ ├── distribution_q.png │ │ ├── distribution_t.png │ │ ├── error_q.txt │ │ ├── error_t.txt │ │ ├── gt_q.txt │ │ ├── gt_t.txt │ │ ├── log_1513.txt │ │ ├── log_1713.txt │ │ ├── log_1714.txt │ │ ├── log_1814.txt │ │ ├── pred_q.txt │ │ ├── pred_t.txt │ │ ├── readme.md │ │ ├── trajectory_1513.png │ │ ├── trajectory_1713.png │ │ ├── trajectory_1714.png │ │ └── trajectory_1814.png └── log_QEOxford │ ├── log_PELoc │ ├── distribution_q.png │ ├── distribution_t.png │ ├── error_q_1513.txt │ ├── error_q_1713.txt │ ├── error_q_1714.txt │ ├── error_q_1814.txt │ ├── error_t_1513.txt │ ├── error_t_1713.txt │ ├── error_t_1714.txt │ ├── error_t_1814.txt │ ├── gt_q_1513.txt │ ├── gt_q_1713.txt │ ├── gt_q_1714.txt │ ├── gt_q_1814.txt │ ├── gt_t_1513.txt │ ├── gt_t_1713.txt │ ├── gt_t_1714.txt │ ├── gt_t_1814.txt │ ├── log.txt │ ├── log_1513.txt │ ├── log_1713.txt │ ├── log_1714.txt │ ├── log_1814.txt │ ├── pred_q_1513.txt │ ├── pred_q_1713.txt │ ├── pred_q_1714.txt │ ├── pred_q_1814.txt │ ├── pred_t_1513.txt │ ├── pred_t_1713.txt │ ├── pred_t_1714.txt │ ├── pred_t_1814.txt │ ├── readme.md │ ├── trajectory.png │ ├── trajectory_1513.png │ ├── trajectory_1713.png │ ├── 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