├── LICENSE ├── NCLT ├── 2012-01-22 │ └── velodyne_left_False.h5 ├── 2012-02-02 │ └── velodyne_left_False.h5 ├── 2012-02-12 │ └── velodyne_left_False.h5 ├── 2012-02-18 │ └── velodyne_left_False.h5 ├── 2012-02-19 │ └── velodyne_left_False.h5 ├── 2012-03-31 │ └── velodyne_left_False.h5 ├── 2012-05-11 │ └── velodyne_left_False.h5 ├── 2012-05-26 │ └── velodyne_left_False.h5 ├── NCLT_pose_stats.txt ├── train_split.txt └── valid_split.txt ├── Oxford&QEOxford ├── 2019-01-11-14-02-26-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-14-12-05-52-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-14-14-48-55-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-15-13-06-37-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-17-13-26-39-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-17-14-03-00-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-18-14-14-42-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── 2019-01-18-15-20-12-radar-oxford-10k │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 ├── Oxford_pose_stats.txt ├── QEOxford_pose_stats.txt ├── train_split.txt └── valid_split.txt ├── README.md ├── code ├── data │ ├── Enhanced_OxfordVelodyne_datagenerator.py │ ├── NCLTVelodyne_datagenerator.py │ ├── OxfordVelodyne_datagenerator.py │ ├── QEOxfordVelodyne_datagenerator.py │ ├── __pycache__ │ │ ├── NCLTVelodyne_datagenerator.cpython-38.pyc │ │ ├── OxfordVelodyne_datagenerator.cpython-38.pyc │ │ ├── QEOxfordVelodyne_datagenerator.cpython-38.pyc │ │ └── base_loader.cpython-38.pyc │ ├── base_loader.py │ ├── pose_util.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 │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── 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 ├── data_prepare.py ├── environment.yml ├── models │ ├── __pycache__ │ │ ├── loss.cpython-38.pyc │ │ └── model.cpython-38.pyc │ ├── loss.py │ └── model.py ├── test.py ├── train.py └── utils │ ├── __init__.py │ ├── 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