text: import torch
  import torch.nn as nn
  
  class ChamferLoss(nn.Module):
  
      def __init__(self):
          super(ChamferLoss, self).__init__()
          self.use_cuda = torch.cuda.is_available()
  
      def forward(self, preds, gts):
          P = self.batch_pairwise_dist(gts, preds)
          mins, _ = torch.min(P, 1)
          loss_1 = torch.sum(mins)
          mins, _ = torch.min(P, 2)
          loss_2 = torch.sum(mins)
          return loss_1 + loss_2
  
      def batch_pairwise_dist(self, x, y):
          bs, num_points_x, points_dim = x.size()
          _, num_points_y, _ = y.size()
          xx = torch.bmm(x, x.transpose(2, 1))
          yy = torch.bmm(y, y.transpose(2, 1))
          zz = torch.bmm(x, y.transpose(2, 1))
          if self.use_cuda:
              dtype = torch.cuda.LongTensor
          else:
              dtype = torch.LongTensor
          diag_ind_x = torch.arange(0, num_points_x).type(dtype)
          diag_ind_y = torch.arange(0, num_points_y).type(dtype)
          rx = xx[:, diag_ind_x, diag_ind_x].unsqueeze(1).expand_as(
              zz.transpose(2, 1))
          ry = yy[:, diag_ind_y, diag_ind_y].unsqueeze(1).expand_as(zz)
          P = rx.transpose(2, 1) + ry - 2 * zz
          return P
  