├── README.md ├── config ├── __pycache__ │ └── params.cpython-37.pyc └── params.py ├── cpp_plugins ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.28.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeConfigureLog.yaml │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── point2voxel.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── compiler_depend.make │ │ │ ├── compiler_depend.ts │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ ├── point2voxel.cpp.o │ │ │ │ └── point2voxel.cpp.o.d │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ └── point2voxel.cpython-37m-x86_64-linux-gnu.so ├── include │ └── point2voxel.h └── src │ └── point2voxel.cpp ├── datasets ├── CAM_BACK.png ├── __pycache__ │ ├── nuscenes_dataloader.cpython-37.pyc │ ├── nuscenes_dataset.cpython-37.pyc │ ├── read_scene_info.cpython-37.pyc │ └── utils.cpython-37.pyc ├── gaussian_downsample.py ├── gen_index.py ├── gen_info.py ├── gen_semantic_info.py ├── lidar_dataset.py ├── nuscenes_dataloader.py ├── nuscenes_dataset.py ├── point2voxel.cpython-37m-x86_64-linux-gnu.so ├── read_scene_info.py ├── utils.py └── voxel_generator.py ├── modules ├── GSPR.py ├── __pycache__ │ ├── GSPR.cpython-37.pyc │ ├── gcn3d.cpython-37.pyc │ ├── gcn_backbone.cpython-37.pyc │ └── netvlad.cpython-37.pyc ├── gaussian_encoder.py ├── gcn3d.py ├── gcn_backbone.py ├── loss.py └── netvlad.py ├── pics └── motivation.png ├── test.py ├── tools ├── gen_semantic_mask.py ├── pointpillars_nusc_infer.py └── train_batch.py └── 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