├── .clang-format ├── .gitignore ├── README.md ├── config └── default_kitti.yaml ├── dataset ├── Kitti.py ├── __init__.py └── dataset_utils │ ├── __init__.py │ ├── collate_fn.py │ └── worker_init_fn.py ├── doc ├── D-GLSNet.jpg └── match.png ├── extensions ├── common │ └── torch_helper.h ├── cpu │ ├── grid_subsampling │ │ ├── grid_subsampling.cpp │ │ ├── grid_subsampling.h │ │ ├── grid_subsampling_cpu.cpp │ │ └── grid_subsampling_cpu.h │ └── radius_neighbors │ │ ├── radius_neighbors.cpp │ │ ├── radius_neighbors.h │ │ ├── radius_neighbors_cpu.cpp │ │ └── radius_neighbors_cpu.h ├── extra │ ├── cloud │ │ ├── cloud.cpp │ │ └── cloud.h │ └── nanoflann │ │ └── nanoflann.hpp └── pybind.cpp ├── loss ├── MatchLoss.py └── __init__.py ├── models ├── DGLSNet.py ├── __init__.py ├── backbone │ ├── __init__.py │ ├── kpconv │ │ ├── __init__.py │ │ ├── dispositions │ │ │ ├── k_007_center_3D.ply │ │ │ ├── k_013_center_3D.ply │ │ │ ├── k_015_center_3D.ply │ │ │ ├── k_019_center_3D.ply │ │ │ └── k_025_center_3D.ply │ │ ├── functional.py │ │ ├── kernel_points.py │ │ ├── kpconv.py │ │ └── modules.py │ ├── kpconv_fpn.py │ ├── occ │ │ ├── common.py │ │ ├── encoder │ │ │ ├── __init__.py │ │ │ ├── pointnet.py │ │ │ ├── pointnetpp.py │ │ │ ├── unet.py │ │ │ ├── unet3d.py │ │ │ └── voxels.py │ │ ├── layers.py │ │ └── models │ │ │ ├── __init__.py │ │ │ └── decoder.py │ └── resnet_fpn.py ├── coarse_matching.py ├── fine_matching.py ├── fine_preprocess.py ├── position_encoding.py └── transformer │ ├── __init__.py │ ├── factory.py │ ├── linear_attention.py │ └── transformer.py ├── optimizers └── __init__.py ├── pl_model ├── __init__.py └── pl_DGLSNet.py ├── requirements.txt ├── setup.py ├── train.py └── utils ├── __init__.py ├── factory.py ├── get_path.py ├── ops ├── __init__.py ├── grid_subsample.py ├── index_select.py ├── pairwise_distance.py ├── pointcloud_partition.py ├── radius_search.py ├── transformation.py └── vector_angle.py ├── pointcloud.py ├── supervision.py └── 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