├── .gitignore ├── README.md ├── dist_train.sh ├── docs ├── CHANGE_LOG.md ├── DATA_PREPARE.md ├── GET_STARTED.md ├── INFER_WAYMO.md ├── INSTALL.md ├── INSTALL_SLURM.md ├── LICENSE ├── ROAD_MAP.md └── figs │ ├── demo-bev-1.gif │ ├── demo-bev-2.gif │ ├── demo-bev-3.gif │ ├── demo-rv-1.gif │ ├── demo-rv-2.gif │ ├── demo-rv-3.gif │ ├── pcseg_logo.png │ ├── wod_vis_01.png │ └── wod_vis_02.png ├── infer.py ├── infer.sh ├── package ├── range_lib.zip ├── sparsehash.zip └── torchsparse.zip ├── pcseg ├── data │ ├── __init__.py │ ├── dataset │ │ ├── __init__.py │ │ ├── base.py │ │ ├── scribblekitti │ │ │ └── .keep │ │ ├── semantickitti │ │ │ ├── LaserMix_semantickitti.py │ │ │ ├── PolarMix_semantickitti.py │ │ │ ├── __init__.py │ │ │ ├── laserscan.py │ │ │ ├── semantickitti.py │ │ │ ├── semantickitti.yaml │ │ │ ├── semantickitti_cylinder.py │ │ │ ├── semantickitti_fusion.py │ │ │ ├── semantickitti_rv.py │ │ │ ├── semantickitti_utils.py │ │ │ └── semantickitti_voxel.py │ │ └── waymo │ │ │ ├── __init__.py │ │ │ ├── scripts │ │ │ └── preprocess_waymo_data.py │ │ │ ├── waymo.py │ │ │ ├── waymo_cylinder.py │ │ │ ├── waymo_fusion.py │ │ │ ├── waymo_infer.py │ │ │ └── waymo_voxel.py │ └── split │ │ ├── nuscenes │ │ ├── nuscenes_10pct.txt │ │ ├── nuscenes_1pct.txt │ │ ├── nuscenes_20pct.txt │ │ └── nuscenes_50pct.txt │ │ ├── scribblekitti │ │ ├── scribblekitti_10pct.txt │ │ ├── scribblekitti_1pct.txt │ │ ├── scribblekitti_20pct.txt │ │ └── scribblekitti_50pct.txt │ │ └── semantickitti │ │ ├── semantickitti_10pct.txt │ │ ├── semantickitti_1pct.txt │ │ ├── semantickitti_20pct.txt │ │ └── semantickitti_50pct.txt ├── loss │ ├── __init__.py │ ├── dice_loss_v0.py │ ├── dice_loss_v1.py │ ├── ell_loss.py │ ├── eqlv2.py │ ├── focalloss.py │ ├── geo_loss.py │ ├── group_softmax.py │ ├── group_softmax_fgbg_2.py │ └── wce_loss.py ├── model │ ├── __init__.py │ └── segmentor │ │ ├── __init__.py │ │ ├── base_segmentors.py │ │ ├── bev │ │ └── .keep │ │ ├── fusion │ │ ├── rpvnet │ │ │ ├── __init__.py │ │ │ ├── range_lib │ │ │ │ ├── example.py │ │ │ │ ├── range_utils │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── nn │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── functional │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── denselize.py │ │ │ │ │ │ │ └── map_count.py │ │ │ │ │ └── src │ │ │ │ │ │ ├── denselize.cpp │ │ │ │ │ │ ├── denselize_gpu.cu │ │ │ │ │ │ ├── denselize_gpu.h │ │ │ │ │ │ ├── map_count.cpp │ │ │ │ │ │ ├── map_count_gpu.cu │ │ │ │ │ │ ├── map_count_gpu.h │ │ │ │ │ │ └── rangelib_bindings_gpu.cpp │ │ │ │ └── setup.py │ │ │ ├── rpvnet.py │ │ │ └── utils.py │ │ └── spvcnn │ │ │ ├── __init__.py │ │ │ ├── spvcnn.py │ │ │ └── utils.py │ │ ├── point │ │ └── .keep │ │ ├── range │ │ ├── cenet │ │ │ └── model │ │ │ │ └── semantic │ │ │ │ ├── .keep │ │ │ │ └── cenet.py │ │ ├── fidnet │ │ │ └── model │ │ │ │ └── semantic │ │ │ │ ├── __init__.py │ │ │ │ ├── fidnet.py │ │ │ │ ├── np_ioueval.py │ │ │ │ ├── torch_ioueval.py │ │ │ │ └── utils.py │ │ ├── np_ioueval.py │ │ ├── rangenet │ │ │ ├── model │ │ │ │ └── semantic │ │ │ │ │ ├── .keep │ │ │ │ │ └── rangenet.py │ │ │ ├── module │ │ │ │ └── darknet.py │ │ │ └── postproc │ │ │ │ ├── CRF.py │ │ │ │ ├── KNN.py │ │ │ │ ├── __init__.py │ │ │ │ └── borderMask.py │ │ ├── salsanext │ │ │ └── model │ │ │ │ └── semantic │ │ │ │ ├── .keep │ │ │ │ └── salsanext.py │ │ ├── torch_ioueval.py │ │ └── utils.py │ │ └── voxel │ │ ├── cylinder3d │ │ ├── __init__.py │ │ └── cylinder_ts.py │ │ └── minkunet │ │ ├── __init__.py │ │ ├── minkunet.py │ │ └── utils.py ├── optim │ ├── __init__.py │ ├── fastai_optim.py │ └── learning_schedules_fastai.py └── utils │ └── waymo_utils.py ├── setup.py ├── tools ├── _init_path.py ├── cfgs │ ├── bev │ │ └── .keep │ ├── fusion │ │ ├── semantic_kitti │ │ │ ├── rpvnet_mk18_cr10.yaml │ │ │ ├── rpvnet_mk34_cr17_5.yaml │ │ │ ├── spvcnn_mk18_cr10.yaml │ │ │ ├── spvcnn_mk18_cr5.yaml │ │ │ ├── spvcnn_mk34_cr10.yaml │ │ │ └── spvcnn_mk34_cr16.yaml │ │ └── waymo │ │ │ ├── rpvnet_mk18_cr10.yaml │ │ │ ├── spvcnn_mk18_cr10.yaml │ │ │ └── spvcnn_mk34_cr16.yaml │ ├── point │ │ └── .keep │ ├── range │ │ ├── cenet_res34.yaml │ │ ├── fidnet_res34.yaml │ │ ├── rangenet_darknet53.yaml │ │ └── salsanext_res34.yaml │ └── voxel │ │ ├── semantic_kitti │ │ ├── cylinder_cy480_cr10.yaml │ │ ├── cylinder_cy480_cr5.yaml │ │ ├── minkunet_mk18_cr10.yaml │ │ ├── minkunet_mk18_cr5.yaml │ │ ├── minkunet_mk34_cr10.yaml │ │ └── minkunet_mk34_cr16.yaml │ │ └── waymo │ │ ├── cylinder_cy480_cr10.yaml │ │ ├── minkunet_mk18_cr10.yaml │ │ ├── minkunet_mk34_cr10.yaml │ │ ├── minkunet_mk34_cr16.yaml │ │ ├── minkunet_mk34_cr16_infer.yaml │ │ └── minkunet_mk34_cr16_xyz.yaml ├── scripts │ ├── unpack_wod_sequence.py │ └── vis_waymo.py ├── utils │ ├── common │ │ ├── __init__.py │ │ ├── common_utils.py │ │ ├── commu_utils.py │ │ ├── lovasz_losses.py │ │ └── seg_utils.py │ ├── train │ │ ├── config.py │ │ └── loss.py │ └── train_utils.py └── visualizer │ ├── semantic-kitti.yaml │ └── vis_SemanticKITTI.py └── train.py 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