├── .gitignore ├── README.md ├── experiments ├── FLA │ ├── all_moving_unshuffled.csv │ ├── create_dataset_indices.py │ ├── indoor_test.csv │ ├── indoor_train.csv │ ├── indoor_train_reverse_False.csv │ ├── outdoor_test.csv │ ├── outdoor_train.csv │ ├── outdoor_train_reverse_False.csv │ └── transition.csv ├── autoencoder │ ├── kitti_train.sh │ ├── train_fla_autoencoder.py │ └── train_kitti_autoencoder.py ├── kitti │ ├── create_kitti_training_data_single_memory.py │ └── download_kitti_sequence_files.txt ├── kitti_exps.sh ├── plots │ ├── fla │ │ ├── fla_autoenc_errors_bar.pdf │ │ ├── fla_scatter_autoenc_processed_3tests_6DAsym_outdoor_01-28-2020-02-31-07.pdf │ │ ├── fla_scatter_autoenc_processed_3tests_fla_model_outdoor_A_sym_01-21-2020-15-45-02.pdf │ │ ├── fla_scatter_metric_sum_bingham_dispersion_coeff_processed_3tests_6DAsym_outdoor_01-28-2020-02-31-07.pdf │ │ ├── fla_scatter_metric_sum_bingham_dispersion_coeff_processed_fla_model_indoor_A_sym_01-21-2020-15-54-30.pdf │ │ └── fla_scatter_metric_sum_bingham_dispersion_coeff_processed_fla_model_outdoor_A_sym_01-21-2020-15-45-02.pdf │ ├── gen_plots_fla.py │ ├── gen_plots_kitti.py │ ├── gen_plots_pointclouds.py │ ├── kitti │ │ ├── images │ │ │ ├── img_1054.png │ │ │ ├── img_1201.png │ │ │ ├── img_1275.png │ │ │ ├── img_1432.png │ │ │ ├── img_161.png │ │ │ ├── img_1821.png │ │ │ ├── img_2181.png │ │ │ ├── img_225.png │ │ │ ├── img_2276.png │ │ │ ├── img_2293.png │ │ │ ├── img_2469.png │ │ │ ├── img_2483.png │ │ │ ├── img_3078.png │ │ │ ├── img_3099.png │ │ │ ├── img_3247.png │ │ │ ├── img_3290.png │ │ │ ├── img_3367.png │ │ │ ├── img_3572.png │ │ │ ├── img_3845.png │ │ │ └── img_4528.png │ │ ├── kitti_autoenc_errors_bar.pdf │ │ ├── kitti_autoenc_errors_corrupted_bar.pdf │ │ ├── kitti_box_seq_00_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_box_seq_02_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_box_seq_05_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_corrupted_errors_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_errors_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_prec_recall.pdf │ │ ├── kitti_scatter_seq_00_corrupted_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_scatter_seq_00_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_scatter_seq_02_corrupted_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_scatter_seq_02_metric_sum_bingham_dispersion_coeff.pdf │ │ ├── kitti_scatter_seq_05_corrupted_metric_sum_bingham_dispersion_coeff.pdf │ │ └── kitti_scatter_seq_05_metric_sum_bingham_dispersion_coeff.pdf │ ├── metrics.py │ ├── saved_data │ │ └── download_readme.txt │ ├── shapenet │ │ ├── diff_lr_shapenet_experiment_3models_01-24-2020-03-03-36_plot.pdf │ │ ├── diff_lr_shapenet_experiment_3models_01-25-2020-00-56-49_plot.pdf │ │ ├── shapenet_plot.pdf │ │ └── shapenet_vis_4_clouds_good.pdf │ └── synthetic │ │ ├── diff_lr_shapenet_experiment_3models_01-25-2020-00-56-49_plot.pdf │ │ ├── diff_lr_synthetic_wahba_experiment_3models_chordal_dynamic_01-16-2020-04-24-48_plot.pdf │ │ ├── maxrotangle_processed_rotangle_synthetic_wahba_experiment_3models_chordal_dynamic_06-16-2020-22-48-40.pdf │ │ └── maxrotangle_processed_rotangle_synthetic_wahba_experiment_3models_dynamic_01-06-2020-19-35-48.pdf ├── run_fla_relative_rot.py ├── run_kitti_relative_rot.py ├── run_kitti_relative_rot_exp.py ├── run_shapenet_lr_exp.py ├── run_shapenet_single.py ├── run_synthetic_wahba_lr_exp.py ├── run_synthetic_wahba_rot_angle_exp.py └── run_synthetic_wahba_single.py ├── helpers_sim.py ├── helpers_train_test.py ├── investigations ├── bingham_distribution.py ├── discontinuity.py ├── gap_gradient.py ├── gram_schmidt_process.py ├── inverse_continuity_proof.py ├── kitti_test.ipynb ├── networks_sdp.py ├── playground.ipynb ├── playground.py ├── qcqp_layers_playground.py ├── rotation_matrix_sdp.py ├── sdp_layers.py ├── test_rot_mat_grad.py ├── wahba_eigenvalue_gap.py └── wigner_surmise.py ├── loaders.py ├── losses.py ├── networks.py ├── qcqp_layers.py ├── quaternions.py ├── rss_demo.ipynb ├── run_rotation_learning_demo.py ├── so3_learning.png ├── tests ├── test_misc.py └── test_solvers.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasSTARS/bingham-rotation-learning/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasSTARS/bingham-rotation-learning/HEAD/README.md -------------------------------------------------------------------------------- /experiments/FLA/all_moving_unshuffled.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasSTARS/bingham-rotation-learning/HEAD/experiments/FLA/all_moving_unshuffled.csv 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