Defines a function that embeds x to (x, sin(2^k x), cos(2^k x), ...) :param in_channels: number of input channels (2 for both xyz and direct

This class is a visualizer for localization results.

IPB 2D Mapping Dataset Class. :param root_dir: the root directory of the dataset. :param split: the type of the current split. ({'train'

Rendering novel views with Neural Occupancy Field

Rendering novel views with Neural Occupancy Grid

L1Loss for predicted scan with real scan

MSELoss for predicted scan with real scan

SmoothL1Loss for predicted scan with real scan