(folder)

(self, d_model, eps=1e-6)

(current_vertex, fov_up=10.67, fov_down=-30.67, proj_H=32, proj_W=900, max_range=80, cut_range=True,

(file_num, ri_bev_root)

(self)

(query, pos_vecs)

(current_vertex, proj_H=32, proj_W=900, max_range=80, cut_height=True, lower_bound=10, upper_bound=20)

(calib_path)

(pose_path)

(scan_path)

(self)

(self, feature_size, max_samples, cluster_size, output_dim, gating=True, add_batch_norm=True,

(q, k, v, d_k, mask=None, dropout=None)

(recog_list_path, ground_truth_file_name, ri_bev_query_root, topn)

(scan_paths, poses, frame_idx, leg_output_width=360)

(data, flip=True)

(self)

(self, x)

(velofile)

(f1_index, f1_seq, train_imgf1, train_imgf2, train_dir1, train_dir2, train_o

(file_num, ri_bev_root, divd)

(q_vec, pos_vecs, neg_vecs, margin, use_min=False, lazy=False, ignore_zero_loss=False)

(self, heads, d_model, dropout=0.1)

(self, d_model, d_ff=1024, dropout=0.1)

(self, d_model, heads, dropout=0.1)

(self, channels=5, use_transformer = True)

(self, channels=5, use_transformer = True)

(self, dim, add_batch_norm=True)

(self, channels=1, ri_bev_database_root=None, ri_bev_query_root=None, pretrained_weights=None, topn=50, save_r

(self, channels=1, ri_bev_database_root=None, ri_bev_query_root=None, pretrained_weights=None, topn=50, save_r

(self, channels=1, lr = 0.001, step_size=5, gamma=0.9, overlap_th=0.3, use_shuffle=False, num

(self, q, k, v, mask=None)

(self, x)

(self, x, mask)

(self, x_l)

(self, x_ri_bev)

(self, x)

(self, x)

(npzfilenames, shuffle=True)

(q_vec, pos_vecs, neg_vecs, margin, use_min=True, lazy=False, ignore_zero_loss=False)

(q_vec, pos_vecs, neg_vecs, m1, m2, use_min=False, lazy=False, ignore_zero_loss=False)