├── README.md ├── datasets ├── __pycache__ │ ├── base_loader.cpython-39.pyc │ ├── infobatch.cpython-39.pyc │ └── lidarloc.cpython-39.pyc ├── base_loader.py ├── lidarloc.py ├── robotcar_sdk │ ├── extrinsics │ │ ├── ins.txt │ │ ├── ldmrs.txt │ │ ├── lms_front.txt │ │ ├── lms_rear.txt │ │ ├── mono_left.txt │ │ ├── mono_rear.txt │ │ ├── mono_right.txt │ │ ├── nlct_velodyne.txt │ │ ├── radar.txt │ │ ├── stereo.txt │ │ ├── velodyne_left.txt │ │ └── velodyne_right.txt │ └── python │ │ ├── README.md │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── interpolate_poses.cpython-36.pyc │ │ ├── interpolate_poses.cpython-37.pyc │ │ ├── interpolate_poses.cpython-38.pyc │ │ ├── transform.cpython-310.pyc │ │ ├── transform.cpython-36.pyc │ │ ├── transform.cpython-37.pyc │ │ ├── transform.cpython-38.pyc │ │ ├── transform.cpython-39.pyc │ │ ├── velodyne.cpython-310.pyc │ │ ├── velodyne.cpython-36.pyc │ │ ├── velodyne.cpython-37.pyc │ │ └── velodyne.cpython-38.pyc │ │ ├── build_pointcloud.py │ │ ├── camera_model.py │ │ ├── image.py │ │ ├── interpolate_poses.py │ │ ├── play_images.py │ │ ├── play_radar.py │ │ ├── play_velodyne.py │ │ ├── project_laser_into_camera.py │ │ ├── radar.py │ │ ├── requirements.txt │ │ ├── transform.py │ │ └── velodyne.py └── rsd.py ├── img ├── Pipline.png └── Teaser.png ├── install.sh ├── models ├── __pycache__ │ ├── ace.cpython-310.pyc │ ├── ace.cpython-39.pyc │ ├── loss.cpython-39.pyc │ └── sc2pcr.cpython-39.pyc ├── lightloc.py ├── loss.py └── sc2pcr.py ├── nclt_process.py ├── test.py ├── train.py └── utils ├── __init__.py ├── __pycache__ ├── __init__.cpython-39.pyc ├── augmentor.cpython-39.pyc ├── pose_util.cpython-39.pyc └── train_util.cpython-39.pyc ├── augmentor.py ├── pose_util.py └── train_util.py /README.md: -------------------------------------------------------------------------------- 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