├── LICENSE ├── README.md ├── data_process ├── generate_loop_GT_KITTI.py └── generate_loop_GT_KITTI360.py ├── datasets ├── KITTI360Classes.py ├── KITTI360Dataset.py ├── KITTI360SuperClassMapper.py ├── KITTIClasses.py └── KITTI_data_loader.py ├── docker └── Dockerfile ├── docs ├── eval.md ├── img │ ├── opendr_logo.png │ └── padloc_architecture.png ├── install.md ├── preproc.md └── training.md ├── environment.yaml ├── evaluate_kitti.py ├── evaluation_comparison ├── inference_placerecognition_general.py ├── inference_yaw_general.py └── metrics │ ├── detection.py │ ├── registration.py │ └── timing.py ├── loss.py ├── models ├── backbone3D │ ├── MyVoxelSetAbstraction.py │ ├── PVRCNN.py │ ├── PointNetVlad.py │ ├── ThreeDM_dataset.yaml │ ├── __init__.py │ ├── attention_aggregator.py │ ├── boreas_dataset.yaml │ ├── deep_closest_point.py │ ├── deepclosestpoint_head.py │ ├── deepclosestpointorig_head.py │ ├── functional.py │ ├── heads.py │ ├── kitti_dataset.yaml │ ├── match_weighter.py │ ├── matchers.py │ ├── models_3d.py │ ├── positional_encoder.py │ ├── pv_rcnn.yaml │ ├── pv_rcnn_boreas.yaml │ ├── pytransformer_feature_multilayer_head_v2.py │ ├── pytransformer_head.py │ ├── registration.py │ ├── tf_head.py │ ├── transformer_head.py │ ├── utils.py │ └── xatransformer.py └── get_models.py ├── requirements.txt ├── training2D3D_hard_KITTI_DDP.py ├── triple_selector.py ├── utils ├── cityscapes_superclasses.yaml ├── data.py ├── geometry.py ├── qcqp_layer.py ├── rotation_conversion.py ├── semantic_superclass_mapper.py └── tools.py ├── wandb_config.yaml ├── wandb_config_padloc.yaml └── wandb_config_transformer.yaml /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robot-learning-freiburg/PADLoC/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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