├── README.md ├── command_train.sh ├── doc ├── network.png └── result.png ├── ground_truth_pose ├── 00.txt ├── 01.txt ├── 02.txt ├── 03.txt ├── 04.txt ├── 05.txt ├── 06.txt ├── 07.txt ├── 08.txt ├── 09.txt ├── 10.txt └── kitti_T_diff │ ├── 00_diff.npy │ ├── 01_diff.npy │ ├── 02_diff.npy │ ├── 03_diff.npy │ ├── 04_diff.npy │ ├── 05_diff.npy │ ├── 06_diff.npy │ ├── 07_diff.npy │ ├── 08_diff.npy │ ├── 09_diff.npy │ └── 10_diff.npy ├── kitti_dataset.py ├── kitti_evaluation.py ├── main.py ├── model_util.py ├── pretrained_model ├── checkpoint ├── pretrained_model.ckpt.data-00000-of-00001 ├── pretrained_model.ckpt.index └── pretrained_model.ckpt.meta ├── pwclo_model.py ├── tf_ops ├── 2d_conv_random_k │ ├── fused_conv.cpp │ ├── fused_conv.sh │ ├── fused_conv_g.cu │ └── fused_conv_random_k.py └── 2d_conv_select_k │ ├── fused_conv.cpp │ ├── fused_conv.sh │ ├── fused_conv_g.cu │ └── fused_conv_select_k.py └── utils ├── pointnet_util.py └── tf_util.py /README.md: 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