DiSCO-Pytorch

Differentiable Scan Context with Orientation

python train_DiSCO.py --dataset_folder $DATASET_FOLDER

python evaluate.py --dataset_folder $DATASET_FOLDER

python inference.py

Take a look at train_DiSCO.py and evaluate.py for more parameters

Name		Name	Last commit message	Last commit date
Latest commit History 3 Commits
generating_queries		generating_queries
loss		loss
models		models
msg		msg
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
PaperwithAppendix.pdf		PaperwithAppendix.pdf
README.md		README.md
config.py		config.py
evaluate.py		evaluate.py
gpuadder.cpython-37m-x86_64-linux-gnu.so		gpuadder.cpython-37m-x86_64-linux-gnu.so
infer_ros.py		infer_ros.py
inference.py		inference.py
loading_pointclouds.py		loading_pointclouds.py
package.xml		package.xml
test.bin		test.bin
train_DiSCO.py		train_DiSCO.py

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