├── LICENSE ├── README.md ├── cfgs ├── nclt_bev.yaml └── oxford_bev.yaml ├── datasets ├── augmentor.py ├── composition_bev.py ├── nclt_bev.py ├── oxford_bev.py ├── projection.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 │ ├── 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 ├── img ├── nclt.gif └── oxford.gif ├── install.sh ├── log └── count_SR.py ├── merge_nclt.py ├── merge_oxford.py ├── models ├── __init__.py ├── decoders.py ├── denoiser_bev.py ├── difussion_loc_model_bev.py ├── gaussian_diffuser.py ├── 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