├── README.md ├── RMSEacc_mul.py ├── data ├── calib │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt ├── gt_local │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt ├── gt_local_euler │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt └── gt_world │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ └── 10.txt ├── data_preprocess_zbb ├── matlab_ground │ └── devkit │ │ ├── cpp │ │ └── tracklets.h │ │ ├── matlab │ │ ├── constructNPYheader.m │ │ ├── convertOxtsToPose.m │ │ ├── datToNPY.m │ │ ├── drawBox2D.m │ │ ├── drawBox3D.m │ │ ├── echoTracklet.m │ │ ├── extractPoses.m │ │ ├── groundtest.m │ │ ├── latToScale.m │ │ ├── latlonToMercator.m │ │ ├── loadCalibration.m │ │ ├── loadCalibrationCamToCam.m │ │ ├── loadCalibrationRigid.m │ │ ├── loadOxtsliteData.m │ │ ├── loadTimestamps.m │ │ ├── main.m │ │ ├── make.m │ │ ├── project.m │ │ ├── projectToImage.m │ │ ├── readNPY.m │ │ ├── readNPYheader.m │ │ ├── readTracklets.m │ │ ├── readTrackletsMex.cpp │ │ ├── readTrackletsMex.mexa64 │ │ ├── run_demoTracklets.m │ │ ├── run_demoVehiclePath.m │ │ ├── run_demoVelodyne.m │ │ ├── test_labels.xml │ │ ├── visualization.m │ │ ├── wrapToPi.m │ │ └── writeNPY.m │ │ └── readme.txt └── python_downsample │ ├── __pycache__ │ ├── zbb_generate_loss10240.cpython-39.pyc │ ├── zbb_generate_train8192.cpython-39.pyc │ └── zbb_normal_saveall.cpython-39.pyc │ ├── zbb_data_process.py │ ├── zbb_generate_loss10240.py │ ├── zbb_generate_train8192.py │ └── zbb_normal_saveall.py ├── model ├── __init__.py ├── __pycache__ │ ├── DeepLIO_rnnpart.cpython-37.pyc │ ├── DeepPCO.cpython-37.pyc │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── alldataloss.cpython-37.pyc │ ├── comloss.cpython-37.pyc │ ├── lonet.cpython-37.pyc │ ├── npointloss.cpython-37.pyc │ ├── npointlossold.cpython-36.pyc │ ├── npointlossold.cpython-37.pyc │ ├── pointseg_modules.cpython-37.pyc │ ├── pointseg_net.cpython-37.pyc │ ├── pointseg_siamese.cpython-37.pyc │ └── spatial.cpython-37.pyc ├── comloss.py ├── npointloss.py ├── spatial.py └── voxelnetvlad │ ├── SVDnet.py │ ├── __init__.py │ ├── __pycache__ │ ├── SVDnet.cpython-37.pyc │ ├── __init__.cpython-37.pyc │ ├── fc.cpython-37.pyc │ ├── middle_conv3d.cpython-37.pyc │ ├── middle_spconv3.cpython-37.pyc │ ├── netvlad.cpython-37.pyc │ ├── second_vfe.cpython-37.pyc │ ├── voxel_encoder.cpython-37.pyc │ ├── voxelnet_vfe.cpython-37.pyc │ └── voxelnetvlad.cpython-37.pyc │ ├── flownet3d │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── flownet3d.cpython-37.pyc │ │ ├── pointnet2_utils.cpython-37.pyc │ │ └── util.cpython-37.pyc │ ├── flownet3d.py │ ├── pointnet2_utils.py │ └── util.py │ ├── pointPWC │ ├── __pycache__ │ │ ├── nonLocalNet.cpython-37.pyc │ │ ├── nonLocalSingle.cpython-37.pyc │ │ ├── pointPWC.cpython-37.pyc │ │ └── pointconv_util_fastknn.cpython-37.pyc │ ├── nonLocalNet.py │ ├── nonLocalSingle.py │ ├── pointPWC.py │ ├── pointconv_util.py │ └── pointconv_util_fastknn.py │ ├── pointnet2 │ ├── __pycache__ │ │ └── pointnet2_utils.cpython-37.pyc │ ├── pointnet2_modules.py │ ├── pointnet2_utils.py │ └── pytorch_utils.py │ ├── sample.yaml │ ├── samplechange.yaml │ └── voxelnetvlad.py ├── param ├── __pycache__ │ ├── common.cpython-37.pyc │ ├── summaryparam.cpython-37.pyc │ ├── titanrtx_1.cpython-37.pyc │ └── titanrtx_1_first.cpython-37.pyc ├── common.yaml ├── config.yaml ├── configvoxel.yaml ├── nowbest_flow.yaml ├── summaryparam.py └── titanrtx_1.py ├── preprocess ├── __pycache__ │ ├── map.cpython-37.pyc │ ├── parser.cpython-36.pyc │ ├── parser.cpython-37.pyc │ └── scanread.cpython-37.pyc └── parser.py ├── tools ├── __pycache__ 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