├── .gitignore ├── LICENCE ├── README.md ├── datasets ├── alita │ ├── alita_raw.py │ └── generate_evaluation_sets.py ├── base_datasets.py ├── kitti │ ├── generate_evaluation_sets.py │ ├── kitti_raw.py │ └── utils.py ├── kitti360 │ ├── generate_evaluation_sets.py │ ├── kitti360_raw.py │ └── utils.py ├── mulran │ ├── generate_evaluation_sets.py │ ├── mulran_raw.py │ └── utils.py ├── point_clouds_utils.py ├── poses_utils.py └── southbay │ ├── generate_evaluation_sets.py │ ├── pypcd.py │ └── southbay_raw.py ├── demo ├── demo_alpha_qe.py ├── demo_ransac_gv.py ├── demo_spectral_gv.py └── sgv_utils.py ├── docs ├── qualitative_rerank.png ├── reranking_comparison.PNG └── reranking_pipeline.png └── evaluation ├── EgoNN ├── README.md └── SGV_EgoNN │ ├── eval_egonn_sgv.py │ └── sgv_utils.py ├── LCDNet ├── README.md └── SGV_LCDNet │ ├── eval_lcdnet_sgv.py │ ├── get_models_cfg.py │ └── sgv_utils.py ├── LoGG3D-Net ├── README.md ├── eval_logg3d_sgv.py ├── models │ ├── aggregators │ │ └── SOP.py │ ├── backbones │ │ └── spvnas │ │ │ ├── README.md │ │ │ ├── core │ │ │ └── models │ │ │ │ ├── semantic_kitti │ │ │ │ └── spvcnn.py │ │ │ │ └── utils.py │ │ │ └── model_zoo.py │ ├── model_factory.py │ └── pipelines │ │ └── LOGG3D.py └── sgv_utils.py └── ScanContext └── README.md /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csiro-robotics/SpectralGV/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENCE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csiro-robotics/SpectralGV/HEAD/LICENCE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csiro-robotics/SpectralGV/HEAD/README.md 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