├── .gitignore ├── README.md ├── assets ├── architecture.png ├── attention_diagram2.png ├── box_plot_easy.png ├── box_plot_hard.png ├── lc.png ├── local_correspondences4.png └── no_lc.png ├── requirements.txt └── src ├── __init__.py ├── config ├── model.yaml └── train.yaml ├── data ├── __init__.py ├── augmentation.py ├── dataset_utils.py ├── datasets │ ├── __init__.py │ ├── alita │ │ ├── alita_raw.py │ │ ├── generate_evaluation_sets.py │ │ └── test_val_5_0.01_5.pickle │ ├── augmentation.py │ ├── base_datasets.py │ ├── dataset_utils.py │ ├── kitti │ │ ├── generate_evaluation_sets.py │ │ ├── kitti_00_eval.pickle │ │ ├── kitti_raw.py │ │ └── utils.py │ ├── kitti360 │ │ ├── generate_evaluation_sets.py │ │ ├── kitti360_09_3.0_eval.pickle │ │ ├── kitti360_raw.py │ │ └── utils.py │ ├── mulran │ │ ├── generate_evaluation_sets.py │ │ ├── generate_training_tuples.py │ │ ├── mulran_raw.py │ │ ├── mulran_train.py │ │ ├── test_DCC1_DCC2_10.0_5.pickle │ │ ├── test_Sejong1_Sejong2_0.2_20.pickle │ │ ├── test_Sejong1_Sejong2_0.2_5.pickle │ │ └── utils.py │ ├── point_clouds_utils.py │ ├── poses_utils.py │ ├── quantization.py │ ├── samplers.py │ └── southbay │ │ ├── generate_evaluation_sets.py │ │ ├── generate_training_tuples.py │ │ ├── pypcd.py │ │ ├── southbay_raw.py │ │ ├── southbay_raw_old.py │ │ └── test_SunnyvaleBigloop_1.0_5_20m.pickle └── sejong_southbay.py ├── evaluate ├── SALSA │ ├── eval_salsa_sgv.py │ └── sgv_utils.py └── pca.py ├── loss ├── __init__.py ├── global_loss.py ├── local_consistency_loss.py └── loss.py ├── misc ├── point_clouds.py ├── poses.py ├── robot_trans.py └── utils.py ├── models ├── Mixer │ ├── __init__.py │ └── mixer.py ├── SphereFormer │ ├── 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 │ └── model │ │ ├── spherical_transformer.py │ │ └── unet_spherical_transformer.py ├── __init__.py ├── adappool.py ├── pca_model.py └── salsa.py ├── train.py └── utils ├── __init__.py ├── misc_utils.py └── o3d_utils.py /.gitignore: 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