├── .gitignore ├── LiSA-mink ├── data │ ├── Enhanced_OxfordVelodyne_datagenerator.py │ ├── NCLTVelodyne_datagenerator.py │ ├── OxfordVelodyne_datagenerator.py │ ├── base_loader.py │ ├── pose_util.py │ └── robotcar_sdk │ │ ├── extrinsics │ │ ├── ins.txt │ │ ├── ldmrs.txt │ │ ├── lms_front.txt │ │ ├── lms_rear.txt │ │ ├── mono_left.txt │ │ ├── mono_rear.txt │ │ ├── mono_right.txt │ │ ├── nlct_velodyne.txt │ │ ├── radar.txt │ │ ├── stereo.txt │ │ ├── velodyne_left.txt │ │ └── velodyne_right.txt │ │ └── python │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── build_pointcloud.py │ │ ├── camera_model.py │ │ ├── image.py │ │ ├── interpolate_poses.py │ │ ├── play_images.py │ │ ├── play_radar.py │ │ ├── play_velodyne.py │ │ ├── project_laser_into_camera.py │ │ ├── radar.py │ │ ├── requirements.txt │ │ ├── transform.py │ │ └── velodyne.py ├── kd_diffusion │ ├── diffkd.py │ ├── diffkd_modules.py │ ├── example.py │ └── scheduling_ddim.py ├── models │ ├── loss.py │ ├── model.py │ └── sc2pcr.py ├── test.py ├── train_ddp.py └── utils │ ├── __init__.py │ ├── avgMeter.py │ ├── module_util.py │ ├── pose_util.py │ └── pose_util_or.py ├── LiSA-spconv ├── config │ ├── NCLT │ │ └── lisa.yaml │ ├── Oxford │ │ └── lisa.yaml │ └── QEOxford │ │ └── lisa.yaml ├── data │ ├── dataset.py │ ├── nclt.py │ ├── oxford.py │ ├── qeoxford.py │ └── robotcar_sdk │ │ ├── extrinsics │ │ ├── ins.txt │ │ ├── ldmrs.txt │ │ ├── lms_front.txt │ │ ├── lms_rear.txt │ │ ├── mono_left.txt │ │ ├── mono_rear.txt │ │ ├── mono_right.txt │ │ ├── nlct_velodyne.txt │ │ ├── radar.txt │ │ ├── stereo.txt │ │ ├── velodyne_left.txt │ │ └── velodyne_right.txt │ │ └── python │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── build_pointcloud.py │ │ ├── camera_model.py │ │ ├── image.py │ │ ├── interpolate_poses.py │ │ ├── play_images.py │ │ ├── play_radar.py │ │ ├── play_velodyne.py │ │ ├── project_laser_into_camera.py │ │ ├── radar.py │ │ ├── requirements.txt │ │ ├── transform.py │ │ └── velodyne.py ├── kd_diffusion │ ├── diffkd.py │ ├── diffkd_modules.py │ ├── example.py │ └── scheduling_ddim.py ├── model │ ├── lisa.py │ ├── loss.py │ ├── sc2pcr.py │ ├── sphereformer.py │ ├── spherical_transformer.py │ └── voxel_fea_generator.py ├── test_LiSA_DDPM.py ├── third_party │ └── SparseTransformer │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── license │ │ ├── setup.py │ │ ├── sptr │ │ ├── __init__.py │ │ ├── functional.py │ │ ├── modules.py │ │ ├── position_embedding.py │ │ └── utils.py │ │ ├── src │ │ └── sptr │ │ │ ├── __init__.py │ │ │ ├── attention │ │ │ ├── attention_cuda.cpp │ │ │ ├── attention_cuda_kernel.cu │ │ │ └── attention_cuda_kernel.h │ │ │ ├── cuda_utils.h │ │ │ ├── pointops_api.cpp │ │ │ ├── precompute │ │ │ ├── precompute.cpp │ │ │ ├── precompute_cuda_kernel.cu │ │ │ └── precompute_cuda_kernel.h │ │ │ └── rpe │ │ │ ├── relative_pos_encoding_cuda.cpp │ │ │ ├── relative_pos_encoding_cuda_kernel.cu │ │ │ └── relative_pos_encoding_cuda_kernel.h │ │ └── test │ │ ├── pointops.py │ │ ├── test_attention_op_step1.py │ │ ├── test_attention_op_step2.py │ │ ├── test_precompute_all.py │ │ ├── test_relative_pos_encoding_op_step1.py │ │ ├── test_relative_pos_encoding_op_step1_all.py │ │ └── test_relative_pos_encoding_op_step2.py ├── train_ddp.py └── util │ ├── config.py │ ├── data_util.py │ ├── model_util.py │ └── pose_util.py ├── README.md ├── data_preprocess ├── dataset.py └── get_seg_feature.py ├── dataset ├── NCLT │ ├── 2012-01-22 │ │ └── velodyne_left_False.h5 │ ├── 2012-02-02 │ │ └── velodyne_left_False.h5 │ ├── 2012-02-12 │ │ └── velodyne_left_False.h5 │ ├── 2012-02-18 │ │ └── velodyne_left_False.h5 │ ├── 2012-02-19 │ │ └── velodyne_left_False.h5 │ ├── 2012-03-31 │ │ └── velodyne_left_False.h5 │ ├── 2012-05-11 │ │ └── velodyne_left_False.h5 │ ├── 2012-05-26 │ │ └── velodyne_left_False.h5 │ ├── NCLT_pose_stats.txt │ ├── pose_stats.txt │ ├── train_split.txt │ └── valid_split.txt └── Oxford │ ├── 2019-01-11-14-02-26-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-14-12-05-52-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-14-14-48-55-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-15-13-06-37-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-17-13-26-39-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-17-14-03-00-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-18-14-14-42-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── 2019-01-18-15-20-12-radar-oxford-10k │ ├── rot_tr.bin │ ├── tr.bin │ ├── tr_add_mean.bin │ ├── velodyne_left.timestamps │ ├── velodyne_left_False.h5 │ └── velodyne_left_calibrateFalse.h5 │ ├── Oxford_pose_stats.txt │ ├── QEOxford_pose_stats.txt │ ├── pose_stats.txt │ ├── pose_stats_PGO.txt │ ├── train_split.txt │ └── valid_split.txt ├── img ├── trajectory_all_small.gif ├── trajectory_nclt.png └── trajectory_qeoxford.png ├── lisa-mink.yaml └── lisa-spconv.yaml /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | *.tar 3 | .vscode 4 | output 5 | build 6 | log* 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