├── CMakeLists.txt ├── README.md ├── assets └── README │ ├── image-20221101200714176.png │ ├── image-20221101200922875.png │ ├── image-20221101201105328.png │ ├── loop1.gif │ └── loop2.gif ├── environment.yml ├── launch ├── iscloam.launch ├── iscloam_mapping.launch ├── iscloam_sgpr.launch └── iscloam_velodyne.launch ├── msg └── LoopInfo.msg ├── package.xml └── src ├── SGPR.py ├── gtRelativePose.py ├── iscGenerationClass.cpp ├── iscGenerationGnnNode.cpp ├── iscGenerationNode.cpp ├── iscOptimizationClass.cpp ├── iscOptimizationNode.cpp ├── laserMappingClass.cpp ├── laserMappingNode.cpp ├── laserProcessingClass.cpp ├── laserProcessingNode.cpp ├── lidar.cpp ├── lidarOptimization.cpp ├── loopGeneration.py ├── loop_generation.py ├── loop_pub.py ├── odomEstimationClass.cpp ├── odomEstimationNode.cpp ├── outputNode.cpp └── sgpr_attention ├── .idea ├── .gitignore ├── inspectionProfiles │ ├── Project_Default.xml │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── sgpr_new.iml ├── __init__.py ├── __pycache__ └── __init__.cpython-36.pyc ├── configs ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── config_loader.cpython-36.pyc │ └── config_loader.cpython-37.pyc ├── config_loader.py ├── sgpr_attention.yml ├── sgpr_attention_attention_fusion.yml ├── sgpr_attention_consistent.yml ├── sgpr_baseline.yml ├── sgpr_baseline_attention_fusion.yml ├── sgpr_geo_attention.yml ├── sgpr_geo_attention_attention_fusion.yml ├── sgpr_geo_baseline.yml ├── sgpr_geo_bbox.yml ├── sgpr_geo_globalcenter.yml └── sgpr_single.yml ├── evaluate_batch.py ├── experiments ├── SGPR_Geo_Attention_Attention_Fusion_mindata_all │ └── all_dp0.05 │ │ └── best.pth └── SGPR_Geo_Attention_mindata_all │ ├── all_dp0.05 │ └── best.pth │ └── all_test │ └── best.pth ├── src ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── trainer.cpython-36.pyc │ └── trainer.cpython-37.pyc ├── dataset │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── semantickitti.cpython-36.pyc │ │ ├── semantickitti.cpython-37.pyc │ │ ├── semantickitti_bbox.cpython-36.pyc │ │ ├── semantickitti_bbox.cpython-37.pyc │ │ ├── semantickitti_bbox_ros.cpython-36.pyc │ │ ├── semantickitti_globalcenter.cpython-36.pyc │ │ ├── semantickitti_globalcenter.cpython-37.pyc │ │ ├── transforms.cpython-36.pyc │ │ ├── transforms.cpython-37.pyc │ │ ├── utils.cpython-36.pyc │ │ └── utils.cpython-37.pyc │ ├── semantickitti.py │ ├── semantickitti_bbox.py │ ├── semantickitti_bbox_ros.py │ ├── semantickitti_globalcenter.py │ ├── transforms.py │ └── utils.py ├── models │ ├── SGPR_attention.py │ ├── SGPR_attention_attention_fusion.py │ ├── SGPR_attention_consistent.py │ ├── SGPR_baseline.py │ ├── SGPR_baseline_attention_fusion.py │ ├── SGPR_geo_attention.py │ ├── SGPR_geo_attention_attention_fusion.py │ ├── SGPR_geo_baseline.py │ ├── SGPR_single.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── SGPR_attention.cpython-36.pyc │ │ ├── SGPR_attention.cpython-37.pyc │ │ ├── SGPR_attention_attention_fusion.cpython-36.pyc │ │ ├── SGPR_attention_attention_fusion.cpython-37.pyc │ │ ├── SGPR_attention_consistent.cpython-36.pyc │ │ ├── SGPR_attention_consistent.cpython-37.pyc │ │ ├── SGPR_baseline.cpython-36.pyc │ │ ├── SGPR_baseline.cpython-37.pyc │ │ ├── SGPR_baseline_attention_fusion.cpython-36.pyc │ │ ├── SGPR_baseline_attention_fusion.cpython-37.pyc │ │ ├── SGPR_geo_attention.cpython-36.pyc │ │ ├── SGPR_geo_attention.cpython-37.pyc │ │ ├── SGPR_geo_attention_attention_fusion.cpython-36.pyc │ │ ├── SGPR_geo_baseline.cpython-36.pyc │ │ ├── SGPR_geo_baseline.cpython-37.pyc │ │ ├── SGPR_single.cpython-36.pyc │ │ ├── SGPR_single.cpython-37.pyc │ │ ├── __init__.cpython-36.pyc │ │ └── __init__.cpython-37.pyc │ └── components │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── dgcnn.cpython-36.pyc │ │ ├── dgcnn.cpython-37.pyc │ │ 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