| """ | |
| LiDAR-Perfect Depth: sparse-LiDAR-prompted extension of PPD with Kalman-in-the-loop | |
| denoising and a temporal Kalman filter for video. | |
| All modules here are additive on top of `ppd/`: training only the lightweight prompt | |
| encoder + gate keeps the DiT backbone frozen, so the full framework can be applied | |
| to any pretrained PPD checkpoint. | |
| """ | |