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I have done validation on kitti data set and want to do validation on my own data set how do I generate the above file？
Besides why is the transformation matrix multiplied by the calib matrix and its inverse （in kitti_dateset 100:101）？

I am running main.py script, from the efficientLO-Net repository, and getting the following error too often.
**2024-05-13 18:26:48.443336: I tensorflow/core/util/port.cc:153] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable TF_ENABLE_ONEDNN_OPTS=0.
2024-05-13 18:26:49.214092: I tensorflow/core/util/port.cc:153] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable TF_ENABLE_ONEDNN_OPTS=0.
Traceback (most recent call last):
File "E:\clone\EfficientLO-Net\main.py", line 86, in
MODEL = importlib.import_module(FLAGS.model) # import network module
File "C:\ProgramData\Anaconda3\lib\importlib_init_.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "", line 1030, in _gcd_import
File "", line 1007, in _find_and_load
File "", line 986, in _find_and_load_unlocked
File "", line 680, in _load_unlocked
File "", line 850, in exec_module
File "", line 228, in _call_with_frames_removed
File "E:\clone\EfficientLO-Net\pwclo_model.py", line 15, in
from pointnet_util import *
File "E:\clone\EfficientLO-Net\utils\pointnet_util.py", line 10, in
from fused_conv_select_k import fused_conv_select_k
File "E:\clone\EfficientLO-Net\tf_ops/2d_conv_select_k\fused_conv_select_k.py", line 11, in
fused_conv_select_k_module = tf.load_op_library(os.path.join(BASE_DIR, 'fused_conv_so.so'))
File "C:\Users\t2508\AppData\Roaming\Python\Python39\site-packages\tensorflow\python\framework\load_library.py", line 54, in load_op_library
lib_handle = py_tf.TF_LoadLibrary(library_filename)
tensorflow.python.framework.errors_impl.NotFoundError: E:\clone\EfficientLO-Net\tf_ops\2d_conv_select_k\fused_conv_so.so not found

@XINRUII When will it be released？

Hello !
First of all, really appreciate nice efforts and thanks to opensource this code.
i encountered an issue while training the kitti odometry dataset. i follow the instructions as mentioned in README. error is given below,

InvalidArgumentError (see above for traceback): No OpKernel was registered to support Op 'FusedConvRandomK' used by node sa1/layer0/FusedConvRandomK (defined at :122) with these attrs: [flag_copy=0, kernel_size_W=15, kernel_size_H=9, distance=0.5, W=1800, npoints=3600, H=64, K=32, stride_w=1, stride_h=1]
Registered devices: [CPU, XLA_CPU]
Registered kernels:
device='GPU'

 [[node sa1/layer0/FusedConvRandomK (defined at <string>:122) ]]

i am using Nvidia RTX3090 and cuda 11.4 and other all requirements are fulfilled. I have modified cuda version in fused_conv.sh of both folders and compiled as well.
Could you please assist me to solve this issue @XINRUII

Regards
Arkin