├── README.md ├── config ├── config_ford.txt ├── config_kitti.txt ├── config_nclt.txt └── config_nuscenes.txt ├── datasets ├── augmentation.py ├── base_datasets.py ├── dataset_utils.py ├── nclt │ ├── read_ground_truth.py │ ├── read_vel_hits.py │ └── read_vel_sync.py ├── pointnetvlad │ ├── __pycache__ │ │ ├── generate_test_kitti.cpython-37.pyc │ │ ├── generate_test_sets.cpython-310.pyc │ │ ├── generate_test_sets.cpython-37.pyc │ │ ├── pnv_raw.cpython-310.pyc │ │ ├── pnv_raw.cpython-37.pyc │ │ ├── pnv_raw.cpython-38.pyc │ │ ├── pnv_train.cpython-310.pyc │ │ ├── pnv_train.cpython-37.pyc │ │ └── pnv_train.cpython-38.pyc │ ├── generate_test_ford.py │ ├── generate_test_kitti.py │ ├── generate_test_nclt.py │ ├── generate_test_nuscenes.py │ ├── generate_test_sets copy.py │ ├── generate_training_tuples_baseline.py │ ├── generate_training_tuples_kitti.py │ ├── generate_training_tuples_nclt.py │ ├── generate_training_tuples_nuscenes.py │ ├── generate_training_tuples_refine.py │ ├── pnv_raw.py │ └── pnv_train.py ├── quantization.py └── samplers.py ├── environment.yaml ├── eval ├── pnv_evaluate.py ├── pnv_evaluate_ford.py ├── pnv_evaluate_nclt.py └── pnv_evaluate_nuscenes.py ├── misc ├── misc.py └── utils.py ├── models ├── GeM.py ├── OT.txt ├── __init__.py ├── __pycache__ │ ├── GeM.cpython-310.pyc │ ├── GeM.cpython-37.pyc │ ├── GlobalTransformer.cpython-310.pyc │ ├── GlobalTransformer.cpython-37.pyc │ ├── __init__.cpython-310.pyc │ ├── __init__.cpython-38.pyc │ ├── context_block.cpython-310.pyc │ ├── context_block.cpython-37.pyc │ ├── context_block.cpython-38.pyc │ ├── fpn.cpython-310.pyc │ ├── fpn.cpython-37.pyc │ ├── minkfpn.cpython-310.pyc │ ├── minkfpn.cpython-37.pyc │ ├── minkloc.cpython-310.pyc │ ├── minkloc.cpython-37.pyc │ ├── mixvpr.cpython-310.pyc │ ├── mixvpr.cpython-37.pyc │ ├── model_factory.cpython-310.pyc │ ├── model_factory.cpython-37.pyc │ ├── model_factory.cpython-38.pyc │ ├── netvlad.cpython-310.pyc │ ├── netvlad.cpython-37.pyc │ ├── netvlad.cpython-38.pyc │ ├── overlap_transformer.cpython-310.pyc │ ├── overlap_transformer.cpython-37.pyc │ ├── overlap_transformer.cpython-38.pyc │ ├── overlap_transformer1.cpython-310.pyc │ ├── overlap_transformer1.cpython-37.pyc │ ├── resnet.cpython-310.pyc │ ├── resnet.cpython-37.pyc │ ├── swin.cpython-310.pyc │ ├── swin.cpython-37.pyc │ ├── swin_mae.cpython-37.pyc │ ├── swin_unet.cpython-37.pyc │ ├── vit.cpython-310.pyc │ ├── vit.cpython-37.pyc │ └── vit.cpython-38.pyc ├── context_block.py ├── fpn.py ├── layers │ ├── __pycache__ │ │ ├── eca_block.cpython-310.pyc │ │ ├── eca_block.cpython-37.pyc │ │ ├── netvlad.cpython-310.pyc │ │ ├── netvlad.cpython-37.pyc │ │ ├── pooling.cpython-310.pyc │ │ ├── pooling.cpython-37.pyc │ │ ├── pooling_wrapper.cpython-310.pyc │ │ └── pooling_wrapper.cpython-37.pyc │ ├── eca_block.py │ ├── netvlad.py │ ├── pooling.py │ └── pooling_wrapper.py ├── loss.py ├── losses │ ├── __pycache__ │ │ ├── loss.cpython-310.pyc │ │ ├── loss.cpython-37.pyc │ │ ├── loss.cpython-38.pyc │ │ ├── loss_utils.cpython-310.pyc │ │ ├── loss_utils.cpython-37.pyc │ │ ├── loss_utils.cpython-38.pyc │ │ ├── truncated_smoothap.cpython-310.pyc │ │ ├── truncated_smoothap.cpython-37.pyc │ │ └── truncated_smoothap.cpython-38.pyc │ ├── loss.py │ ├── loss_utils.py │ └── truncated_smoothap.py ├── minkfpn.py ├── minkloc.py ├── minkloc3dv2.txt ├── mixvpr.py ├── model_factory.py ├── netvlad.py ├── overlap_transformer.py ├── rangeplace.py ├── rangeplace.txt ├── resnet.py ├── swin.py ├── test.py └── visualize.py ├── tools ├── create_data_nusc.py ├── data_converter │ ├── __pycache__ │ │ └── nuscenes_converter.cpython-38.pyc │ └── nuscenes_converter.py ├── engine_pretrain.py ├── lr_sched.py ├── read_all_sets.py ├── read_samples.py ├── read_samples_haomo.py ├── utils │ ├── com_overlap_yaw.py │ ├── dataset_denoise.py │ ├── gen_depth_data copy.py │ ├── gen_depth_data.py │ ├── gen_depth_data_32.py │ ├── gen_gt_data.py │ ├── gen_noisy_data.py │ ├── pos_embed.py │ ├── split_train_val.py │ └── utils.py └── 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