├── .gitignore ├── LICENSE ├── README.md ├── config ├── __init__.py ├── config.py ├── dataset │ └── PITT.yaml └── network │ ├── spherevlad.yaml │ ├── spherevlad2.yaml │ └── spherevlad_visual.yaml ├── dataloader ├── __init__.py ├── data_augmentation.py ├── pittsburgh.py ├── triplet_dataloader.py └── utils.py ├── eval ├── __init__.py ├── eval_utils.py └── evaluate_pitt.py ├── generating_sph └── gene_pitt.py ├── models ├── __init__.py ├── loop_closure │ ├── __init__.py │ ├── aggregator │ │ ├── __init__.py │ │ └── netvlad.py │ ├── lidar │ │ ├── __init__.py │ │ ├── spherevlad.py │ │ └── spherevlad2.py │ ├── losses │ │ ├── __init__.py │ │ └── lazy_quadruplet_loss.py │ ├── transformer │ │ ├── __init__.py │ │ └── attention.py │ └── visual │ │ ├── __init__.py │ │ └── spherevlad.py └── robotLCD.py ├── pics ├── spherevlad.png └── spherevlad2.png ├── requirements.txt ├── train_lcd.py └── utils ├── __init__.py ├── equirectRotate ├── EquirectRotate.py ├── __init__.py └── utils.py ├── geometry ├── __init__.py ├── equi_trans.py └── so3_rotate.py ├── log_print.py ├── logger.py └── pointProcess.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MetaSLAM/SphereVLAD/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MetaSLAM/SphereVLAD/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MetaSLAM/SphereVLAD/HEAD/README.md -------------------------------------------------------------------------------- /config/__init__.py: -------------------------------------------------------------------------------- 1 | from .config import _C as cfg 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/eval/__init__.py: -------------------------------------------------------------------------------- 1 | from .eval_utils import EvaluationPitts -------------------------------------------------------------------------------- /eval/eval_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MetaSLAM/SphereVLAD/HEAD/eval/eval_utils.py -------------------------------------------------------------------------------- /eval/evaluate_pitt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MetaSLAM/SphereVLAD/HEAD/eval/evaluate_pitt.py -------------------------------------------------------------------------------- /generating_sph/gene_pitt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MetaSLAM/SphereVLAD/HEAD/generating_sph/gene_pitt.py 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