├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── bin ├── preprocess_data.py ├── run_rosnode.py ├── run_testing.py ├── run_training.py └── visualize_pointcloud_normals.py ├── checkpoints ├── README.md ├── kitti_00_2d.png ├── kitti_02_2d.png ├── kitti_05_2d.png ├── kitti_07_2d.png ├── kitti_08_2d.png ├── kitti_10_2d.png └── kitti_example.pth ├── conda ├── DeLORA-py3.9.yml └── README.md ├── config ├── config_datasets.yaml ├── deployment_options.yaml └── hyperparameters.yaml ├── datasets └── README.md ├── images └── title_img.png ├── pip └── requirements.txt ├── scripts ├── convert_kitti_to_rosbag.py ├── convert_pytorch_models.py └── time_network.py ├── setup.py └── src ├── data ├── __init__.py ├── dataset.py ├── kitti_scans.py └── rosbag_scans.py ├── deploy ├── __init__.py ├── deployer.py ├── tester.py └── trainer.py ├── losses ├── __init__.py └── icp_losses.py ├── models ├── __init__.py ├── model.py ├── model_parts.py └── resnet_modified.py ├── preprocessing ├── __init__.py ├── kd_tree.py ├── normal_computation.py └── preprocesser.py ├── ros_utils ├── __init__.py ├── convert_to_rosbag.py ├── odometry_integrator.py ├── odometry_publisher.py ├── publish_point_cloud_and_normals.py └── rosbag_pcl_extractor.py └── utility ├── __init__.py ├── geometry.py ├── linalg.py ├── plotting.py ├── poses.py └── projection.py /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/README.md -------------------------------------------------------------------------------- /bin/preprocess_data.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/bin/preprocess_data.py -------------------------------------------------------------------------------- /bin/run_rosnode.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/bin/run_rosnode.py -------------------------------------------------------------------------------- /bin/run_testing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/bin/run_testing.py -------------------------------------------------------------------------------- /bin/run_training.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/bin/run_training.py -------------------------------------------------------------------------------- /bin/visualize_pointcloud_normals.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/bin/visualize_pointcloud_normals.py -------------------------------------------------------------------------------- /checkpoints/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/README.md -------------------------------------------------------------------------------- /checkpoints/kitti_00_2d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_00_2d.png -------------------------------------------------------------------------------- /checkpoints/kitti_02_2d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_02_2d.png -------------------------------------------------------------------------------- /checkpoints/kitti_05_2d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_05_2d.png -------------------------------------------------------------------------------- /checkpoints/kitti_07_2d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_07_2d.png -------------------------------------------------------------------------------- /checkpoints/kitti_08_2d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_08_2d.png -------------------------------------------------------------------------------- /checkpoints/kitti_10_2d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_10_2d.png -------------------------------------------------------------------------------- /checkpoints/kitti_example.pth: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/checkpoints/kitti_example.pth -------------------------------------------------------------------------------- /conda/DeLORA-py3.9.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/conda/DeLORA-py3.9.yml -------------------------------------------------------------------------------- /conda/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/conda/README.md -------------------------------------------------------------------------------- /config/config_datasets.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/config/config_datasets.yaml -------------------------------------------------------------------------------- /config/deployment_options.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/config/deployment_options.yaml -------------------------------------------------------------------------------- /config/hyperparameters.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/config/hyperparameters.yaml -------------------------------------------------------------------------------- /datasets/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/datasets/README.md -------------------------------------------------------------------------------- /images/title_img.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/images/title_img.png -------------------------------------------------------------------------------- /pip/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/pip/requirements.txt -------------------------------------------------------------------------------- /scripts/convert_kitti_to_rosbag.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/scripts/convert_kitti_to_rosbag.py -------------------------------------------------------------------------------- /scripts/convert_pytorch_models.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/scripts/convert_pytorch_models.py -------------------------------------------------------------------------------- /scripts/time_network.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/scripts/time_network.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/setup.py -------------------------------------------------------------------------------- /src/data/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/data/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/data/dataset.py -------------------------------------------------------------------------------- /src/data/kitti_scans.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/data/kitti_scans.py -------------------------------------------------------------------------------- /src/data/rosbag_scans.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/data/rosbag_scans.py -------------------------------------------------------------------------------- /src/deploy/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/deploy/deployer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/deploy/deployer.py -------------------------------------------------------------------------------- /src/deploy/tester.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/deploy/tester.py -------------------------------------------------------------------------------- /src/deploy/trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/deploy/trainer.py -------------------------------------------------------------------------------- /src/losses/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/losses/icp_losses.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/losses/icp_losses.py -------------------------------------------------------------------------------- /src/models/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/models/model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/models/model.py -------------------------------------------------------------------------------- /src/models/model_parts.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/models/model_parts.py -------------------------------------------------------------------------------- /src/models/resnet_modified.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/models/resnet_modified.py -------------------------------------------------------------------------------- /src/preprocessing/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/preprocessing/kd_tree.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/preprocessing/kd_tree.py -------------------------------------------------------------------------------- /src/preprocessing/normal_computation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/preprocessing/normal_computation.py -------------------------------------------------------------------------------- /src/preprocessing/preprocesser.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/preprocessing/preprocesser.py -------------------------------------------------------------------------------- /src/ros_utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/ros_utils/convert_to_rosbag.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/ros_utils/convert_to_rosbag.py -------------------------------------------------------------------------------- /src/ros_utils/odometry_integrator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/ros_utils/odometry_integrator.py -------------------------------------------------------------------------------- /src/ros_utils/odometry_publisher.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/ros_utils/odometry_publisher.py -------------------------------------------------------------------------------- /src/ros_utils/publish_point_cloud_and_normals.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/ros_utils/publish_point_cloud_and_normals.py -------------------------------------------------------------------------------- /src/ros_utils/rosbag_pcl_extractor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/ros_utils/rosbag_pcl_extractor.py -------------------------------------------------------------------------------- /src/utility/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/utility/geometry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/utility/geometry.py -------------------------------------------------------------------------------- /src/utility/linalg.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/utility/linalg.py -------------------------------------------------------------------------------- /src/utility/plotting.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/utility/plotting.py -------------------------------------------------------------------------------- /src/utility/poses.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/utility/poses.py -------------------------------------------------------------------------------- /src/utility/projection.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/delora/HEAD/src/utility/projection.py --------------------------------------------------------------------------------