├── .gitignore ├── LICENSE ├── README.md ├── configs ├── _base_ │ ├── .DS_Store │ ├── datasets │ │ ├── .DS_Store │ │ ├── fs_scannet │ │ │ ├── .DS_Store │ │ │ ├── split0 │ │ │ │ ├── .DS_Store │ │ │ │ ├── scannet-3d-18class_1_shot.py │ │ │ │ ├── scannet-3d-18class_3_shot.py │ │ │ │ └── scannet-3d-18class_5_shot.py │ │ │ ├── split0_fs │ │ │ │ ├── .DS_Store │ │ │ │ ├── scannet-3d-18class_1_shot.py │ │ │ │ ├── scannet-3d-18class_3_shot.py │ │ │ │ └── scannet-3d-18class_5_shot.py │ │ │ ├── split1 │ │ │ │ ├── .DS_Store │ │ │ │ ├── scannet-3d-18class_1_shot.py │ │ │ │ ├── scannet-3d-18class_3_shot.py │ │ │ │ └── scannet-3d-18class_5_shot.py │ │ │ └── split1_fs │ │ │ │ ├── .DS_Store │ │ │ │ ├── scannet-3d-18class_1_shot.py │ │ │ │ ├── scannet-3d-18class_3_shot.py │ │ │ │ └── scannet-3d-18class_5_shot.py │ │ └── fs_sunrgbd │ │ │ ├── .DS_Store │ │ │ ├── split1 │ │ │ ├── .DS_Store │ │ │ ├── sunrgbd-3d-10class_1_shot.py │ │ │ ├── sunrgbd-3d-10class_2_shot.py │ │ │ ├── sunrgbd-3d-10class_3_shot.py │ │ │ ├── sunrgbd-3d-10class_4_shot.py │ │ │ └── sunrgbd-3d-10class_5_shot.py │ │ │ └── split1_fs │ │ │ ├── .DS_Store │ │ │ ├── sunrgbd-3d-10class_1_shot.py │ │ │ ├── sunrgbd-3d-10class_2_shot.py │ │ │ ├── sunrgbd-3d-10class_3_shot.py │ │ │ ├── sunrgbd-3d-10class_4_shot.py │ │ │ └── sunrgbd-3d-10class_5_shot.py │ ├── default_runtime.py │ ├── models │ │ ├── .DS_Store │ │ └── prototypical_votenet.py │ └── schedules │ │ ├── .DS_Store │ │ ├── schedule_3x-fs.py │ │ ├── schedule_3x-fs_sun.py │ │ ├── schedule_3x.py │ │ └── schedule_3x_sun.py ├── pointnet2 │ ├── README.md │ ├── metafile.yml │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py └── prototypical_votenet │ ├── train_ftl_meta_vote │ ├── .DS_Store │ ├── __init__.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_0_1_mv.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_0_3_mv.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_0_5_mv.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_1_1_mv.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_1_3_mv.py │ └── prototypical_votenet_8x8_scannet-3d-18class_1_5_mv.py │ ├── train_together │ ├── .DS_Store │ ├── prototypical_votenet_8x8_scannet-3d-18class_0_1.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_0_3.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_0_5.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_1_1.py │ ├── prototypical_votenet_8x8_scannet-3d-18class_1_3.py │ └── prototypical_votenet_8x8_scannet-3d-18class_1_5.py │ └── train_together_sun │ ├── .DS_Store │ ├── prototypical_votenet_16x8_sunrgbd-3d-10class_1_1.py │ ├── prototypical_votenet_16x8_sunrgbd-3d-10class_1_2.py │ ├── prototypical_votenet_16x8_sunrgbd-3d-10class_1_3.py │ ├── prototypical_votenet_16x8_sunrgbd-3d-10class_1_4.py │ └── prototypical_votenet_16x8_sunrgbd-3d-10class_1_5.py ├── fs3d.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── not-zip-safe ├── requires.txt └── top_level.txt ├── fs3d ├── .mim │ └── model-index.yml ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ └── partial_bin_based_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── evaluation │ │ ├── .DS_Store │ │ ├── __init__.py │ │ └── indoor_eval.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ └── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py ├── datasets │ ├── .DS_Store │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── dataset_wrappers.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── scannet_dataset.py │ ├── sunrgbd_dataset.py │ └── utils.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── pointnet2_sa_msg.py │ │ └── pointnet2_sa_ssg.py │ ├── builder.py │ ├── decode_heads │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── decode_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── base_conv_bbox_head.py │ │ └── vote_head.py │ ├── detectors │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── base.py │ │ ├── prototypical_votenet.py │ │ └── single_stage.py │ ├── losses │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ └── chamfer_distance.py │ ├── model_utils │ │ ├── .DS_Store │ │ ├── __init__.py │ │ └── prototypical_vote_module.py │ └── utils │ │ ├── .DS_Store │ │ └── __init__.py ├── ops │ ├── __init__.py │ ├── ball_query │ │ ├── __init__.py │ │ ├── ball_query.py │ │ ├── ball_query_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ └── ball_query_cuda.cu │ ├── furthest_point_sample │ │ ├── __init__.py │ │ ├── furthest_point_sample.py │ │ ├── furthest_point_sample_ext.cpython-38-x86_64-linux-gnu.so │ │ ├── points_sampler.py │ │ ├── src │ │ │ ├── furthest_point_sample.cpp │ │ │ └── furthest_point_sample_cuda.cu │ │ └── utils.py │ ├── gather_points │ │ ├── __init__.py │ │ ├── gather_points.py │ │ ├── gather_points_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── gather_points.cpp │ │ │ └── gather_points_cuda.cu │ ├── group_points │ │ ├── __init__.py │ │ ├── group_points.py │ │ ├── group_points_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── group_points.cpp │ │ │ └── group_points_cuda.cu │ ├── interpolate │ │ ├── __init__.py │ │ ├── interpolate_ext.cpython-38-x86_64-linux-gnu.so │ │ ├── src │ │ │ ├── interpolate.cpp │ │ │ ├── three_interpolate_cuda.cu │ │ │ └── three_nn_cuda.cu │ │ ├── three_interpolate.py │ │ └── three_nn.py │ ├── iou3d │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── iou3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── iou3d_utils.py │ │ └── src │ │ │ ├── iou3d.cpp │ │ │ └── iou3d_kernel.cu │ ├── knn │ │ ├── __init__.py │ │ ├── knn.py │ │ ├── knn_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── knn.cpp │ │ │ └── knn_cuda.cu │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ └── roiaware_pool3d │ │ ├── __init__.py │ │ ├── points_in_boxes.py │ │ ├── roiaware_pool3d.py │ │ ├── roiaware_pool3d_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ ├── points_in_boxes_cpu.cpp │ │ ├── points_in_boxes_cuda.cu │ │ ├── roiaware_pool3d.cpp │ │ └── roiaware_pool3d_kernel.cu ├── prototypical_vote_info │ ├── .DS_Store │ ├── __init__.py │ └── cls_information.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ └── logger.py └── version.py ├── install.sh ├── model-index.yml ├── pic └── method.png ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── setup.cfg ├── setup.py ├── tests ├── data │ ├── .DS_Store │ ├── kitti │ │ ├── a.bin │ │ ├── kitti_dbinfos_train.pkl │ │ ├── kitti_gt_database │ │ │ └── 0_Pedestrian_0.bin │ │ ├── kitti_infos_mono3d.coco.json │ │ ├── kitti_infos_mono3d.pkl │ │ ├── kitti_infos_train.pkl │ │ ├── mono3d_sample_results.pkl │ │ ├── mono3d_sample_results2d.pkl │ │ └── training │ │ │ ├── image_2 │ │ │ ├── 000000.png │ │ │ └── 000007.png │ │ │ ├── velodyne │ │ │ └── 000000.bin │ │ │ └── velodyne_reduced │ │ │ └── 000000.bin │ ├── lyft │ │ ├── lidar │ │ │ ├── host-a017_lidar1_1236118886501000046.bin │ │ │ ├── host-a017_lidar1_1236118886701083686.bin │ │ │ └── host-a017_lidar1_1236118886901125926.bin │ │ ├── lyft_infos.pkl │ │ ├── lyft_infos_val.pkl │ │ ├── sample_results.pkl │ │ ├── v1.01-train │ │ │ ├── maps │ │ │ │ └── map_raster_palo_alto.png │ │ │ └── v1.01-train │ │ │ │ ├── attribute.json │ │ │ │ ├── calibrated_sensor.json │ │ │ │ ├── category.json │ │ │ │ ├── ego_pose.json │ │ │ │ ├── instance.json │ │ │ │ ├── log.json │ │ │ │ ├── map.json │ │ │ │ ├── sample.json │ │ │ │ ├── sample_annotation.json │ │ │ │ ├── sample_data.json │ │ │ │ ├── scene.json │ │ │ │ ├── sensor.json │ │ │ │ └── visibility.json │ │ └── val.txt │ ├── nuscenes │ │ ├── mono3d_sample_results.pkl │ │ ├── nus_info.pkl │ │ ├── nus_infos_mono3d.coco.json │ │ ├── samples │ │ │ ├── CAM_BACK_LEFT │ │ │ │ └── n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883530447423.jpg │ │ │ └── LIDAR_TOP │ │ │ │ └── n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470948018.pcd.bin │ │ └── sweeps │ │ │ └── LIDAR_TOP │ │ │ ├── n008-2018-09-18-12-07-26-0400__LIDAR_TOP__1537287083900561.pcd.bin │ │ │ └── n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470898274.pcd.bin │ ├── ops │ │ ├── features_for_fps_distance.npy │ │ └── fps_idx.npy │ ├── s3dis │ │ ├── instance_mask │ │ │ └── Area_1_office_2.bin │ │ ├── points │ │ │ └── Area_1_office_2.bin │ │ ├── s3dis_infos.pkl │ │ └── semantic_mask │ │ │ └── Area_1_office_2.bin │ ├── scannet │ │ ├── instance_mask │ │ │ └── scene0000_00.bin │ │ ├── points │ │ │ └── scene0000_00.bin │ │ ├── scannet_infos.pkl │ │ └── semantic_mask │ │ │ └── scene0000_00.bin │ ├── semantickitti │ │ ├── semantickitti_infos.pkl │ │ └── sequences │ │ │ └── 00 │ │ │ ├── labels │ │ │ └── 000000.label │ │ │ └── velodyne │ │ │ └── 000000.bin │ ├── sunrgbd │ │ ├── points │ │ │ └── 000001.bin │ │ ├── sunrgbd_infos.pkl │ │ └── sunrgbd_trainval │ │ │ └── image │ │ │ └── 000001.jpg │ └── waymo │ │ ├── kitti_format │ │ ├── training │ │ │ ├── image_0 │ │ │ │ ├── 0000000.png │ │ │ │ └── 1000000.png │ │ │ └── velodyne │ │ │ │ ├── 0000000.bin │ │ │ │ └── 1000000.bin │ │ ├── waymo_dbinfos_train.pkl │ │ ├── waymo_gt_database │ │ │ └── 0_Car_0.bin │ │ ├── waymo_infos_train.pkl │ │ └── waymo_infos_val.pkl │ │ └── waymo_format │ │ ├── gt.bin │ │ └── validation │ │ └── val.tfrecord ├── test_data │ ├── .DS_Store │ ├── test_datasets │ │ ├── test_dataset_wrappers.py │ │ ├── test_kitti_dataset.py │ │ ├── test_kitti_mono_dataset.py │ │ ├── test_lyft_dataset.py │ │ ├── test_nuscene_dataset.py │ │ ├── test_nuscenes_mono_dataset.py │ │ ├── test_s3dis_dataset.py │ │ ├── test_scannet_dataset.py │ │ ├── test_semantickitti_dataset.py │ │ ├── test_sunrgbd_dataset.py │ │ └── test_waymo_dataset.py │ └── test_pipelines │ │ ├── test_augmentations │ │ ├── test_data_augment_utils.py │ │ ├── test_test_augment_utils.py │ │ └── test_transforms_3d.py │ │ ├── test_indoor_pipeline.py │ │ ├── test_indoor_sample.py │ │ ├── test_loadings │ │ ├── test_load_images_from_multi_views.py │ │ ├── test_load_points_from_multi_sweeps.py │ │ └── test_loading.py │ │ └── test_outdoor_pipeline.py ├── test_metrics │ ├── test_indoor_eval.py │ ├── test_kitti_eval.py │ ├── test_losses.py │ └── test_seg_eval.py ├── test_models │ ├── .DS_Store │ ├── test_backbones.py │ ├── test_common_modules │ │ ├── test_middle_encoders.py │ │ ├── test_paconv_modules.py │ │ ├── test_paconv_ops.py │ │ ├── test_pointnet_modules.py │ │ ├── test_pointnet_ops.py │ │ ├── test_roiaware_pool3d.py │ │ ├── test_sparse_unet.py │ │ └── test_vote_module.py │ ├── test_detectors.py │ ├── test_forward.py │ ├── test_fusion │ │ ├── test_fusion_coord_trans.py │ │ ├── test_point_fusion.py │ │ └── test_vote_fusion.py │ ├── test_heads │ │ ├── test_heads.py │ │ ├── test_paconv_decode_head.py │ │ ├── test_parta2_bbox_head.py │ │ ├── test_pointnet2_decode_head.py │ │ ├── test_roi_extractors.py │ │ └── test_semantic_heads.py │ ├── test_necks │ │ ├── test_fpn.py │ │ └── test_necks.py │ ├── test_segmentors.py │ └── test_voxel_encoder │ │ ├── test_dynamic_scatter.py │ │ ├── test_voxel_encoders.py │ │ ├── test_voxel_generator.py │ │ └── test_voxelize.py ├── test_runtime │ ├── test_apis.py │ └── test_config.py ├── test_samples │ └── parta2_roihead_inputs.npz └── test_utils │ ├── test_anchors.py │ ├── test_assigners.py │ ├── test_bbox_coders.py │ ├── test_box3d.py │ ├── test_box_np_ops.py │ ├── test_coord_3d_mode.py │ ├── test_merge_augs.py │ ├── test_nms.py │ ├── test_points.py │ ├── test_samplers.py │ └── test_utils.py └── tools ├── create_data.py ├── create_data.sh ├── data_converter ├── .DS_Store ├── __init__.py ├── create_gt_database.py ├── indoor_converter.py ├── scannet_data_utils.py └── sunrgbd_data_utils.py ├── scannet_split0_shot1.sh ├── scannet_split0_shot3.sh ├── scannet_split0_shot5.sh ├── scannet_split1_shot1.sh ├── scannet_split1_shot3.sh ├── scannet_split1_shot5.sh ├── sunrgbd_split1_shot1.sh ├── sunrgbd_split1_shot2.sh ├── sunrgbd_split1_shot3.sh ├── sunrgbd_split1_shot4.sh ├── sunrgbd_split1_shot5.sh ├── test.py └── train.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CVMI-Lab/FS3D/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CVMI-Lab/FS3D/HEAD/LICENSE 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