├── .gitignore ├── LICENSE ├── README.md ├── configs ├── _base_ │ ├── default_runtime.py │ ├── incrseg_runtime.py │ └── openseg_runtime.py ├── modelnet40 │ └── cls-spunet-v1m1-0-base.py ├── nuscenes │ ├── semseg-ppt-v1m1-0-nu-sk-wa-spunet.py │ ├── semseg-ppt-v1m2-0-nu-sk-wa-spunet.py │ ├── semseg-ppt-v1m2-1-nu-sk-wa-spunet-submit.py │ ├── semseg-pt-v2m2-0-base.py │ ├── semseg-pt-v2m2-1-benchmark-submit.py │ ├── semseg-pt-v3m1-0-base.py │ └── semseg-spunet-v1m1-0-base.py ├── s3dis │ ├── insseg-pointgroup-v1m1-0-spunet-base-vs0p02-sc-aug.py │ ├── insseg-pointgroup-v1m1-0-spunet-base-vs0p02.py │ ├── insseg-pointgroup-v1m1-0-spunet-base.py │ ├── insseg-ppt-v1m1-0-pointgroup-spunet-ft-vs0p05.py │ ├── insseg-ppt-v1m1-0-pointgroup-spunet-ft.py │ ├── openseg-pt-v1-0-ml.py │ ├── openseg-pt-v1-0-msp.py │ ├── openseg-pt-v1-0-pointpdf-v1m1-base.py │ ├── openseg-st-v1m1-0-origin-msp.py │ ├── openseg-st-v1m1-0-origin-pointpdf-v1m1-base.py │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-ppt-v1m1-0-s3-sc-st-spunet.py │ ├── semseg-pt-v1-0-base.py │ ├── semseg-pt-v2m1-0-base.py │ ├── semseg-pt-v2m2-0-base.py │ ├── semseg-pt-v2m2-0-lovasz.py │ ├── semseg-pt-v2m2-1-one-cycle.py │ ├── semseg-pt-v3m1-0-rpe.py │ ├── semseg-pt-v3m1-1-ppt-extreme.py │ ├── semseg-spunet-v1m1-0-base.py │ ├── semseg-spunet-v1m1-0-cn-base.py │ ├── semseg-spunet-v1m2-0-base.py │ ├── semseg-swin3d-v1m1-0-small.py │ └── semseg-swin3d-v1m1-1-large.py ├── scannet │ ├── insseg-pointgroup-v1m1-0-spunet-base.py │ ├── insseg-ppt-v1m1-0-pointgroup-spunet-ft.py │ ├── objdet-cagroup3d-v1m1-0-base.py │ ├── openseg-pt-v1-0-ml.py │ ├── openseg-pt-v1-0-msp.py │ ├── openseg-pt-v1-0-pointpdf-v1m1-base.py │ ├── openseg-st-v1m1-0-origin-msp.py │ ├── openseg-st-v1m1-0-origin-pointpdf-v1m1-base.py │ ├── pretrain-msc-v1m1-0-spunet-base.py │ ├── pretrain-msc-v1m1-1-spunet-pointcontrast.py │ ├── pretrain-msc-v1m2-0-spunet-csc.py │ ├── semseg-cac-v1m1-0-spunet-base.py │ ├── semseg-cac-v1m1-1-spunet-lovasz.py │ ├── semseg-cac-v1m1-2-ptv2-lovasz.py │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-oacnns-v1m1-0-base.py │ ├── semseg-octformer-v1m1-0-base.py │ ├── semseg-ppt-v1m1-0-sc-st-spunet.py │ ├── semseg-ppt-v1m1-1-sc-st-spunet-submit.py │ ├── semseg-pt-v1-0-base.py │ ├── semseg-pt-v2m1-0-origin.py │ ├── semseg-pt-v2m2-0-base.py │ ├── semseg-pt-v2m2-1-benchmark-submit.py │ ├── semseg-pt-v2m2-2-precise-evaluate.py │ ├── semseg-pt-v2m2-3-lovasz.py │ ├── semseg-pt-v3m1-0-base.py │ ├── semseg-pt-v3m1-1-ppt-extreme.py │ ├── semseg-spunet-v1m1-0-base.py │ ├── semseg-spunet-v1m1-1-interp-eval.py │ ├── semseg-spunet-v1m1-1-precise-eval.py │ ├── semseg-spunet-v1m1-2-efficient-la100.py │ ├── semseg-spunet-v1m1-2-efficient-la20.py │ ├── semseg-spunet-v1m1-2-efficient-la200.py │ ├── semseg-spunet-v1m1-2-efficient-la50.py │ ├── semseg-spunet-v1m1-2-efficient-lr1.py │ ├── semseg-spunet-v1m1-2-efficient-lr10.py │ ├── semseg-spunet-v1m1-2-efficient-lr20.py │ ├── semseg-spunet-v1m1-2-efficient-lr5.py │ ├── semseg-spunet-v1m1-3-enable-profiler.py │ ├── semseg-spunet-v1m1-4-ft.py │ ├── semseg-spunet-v1m1-5-lovasz.py │ ├── semseg-spunet-v1m3-0-pdnorm-base.py │ ├── semseg-st-v1m1-0-origin.py │ ├── semseg-st-v1m2-0-refined.py │ ├── semseg-swin3d-v1m1-0-small.py │ └── semseg-swin3d-v1m1-1-large.py ├── scannet200 │ ├── insseg-pointgroup-spunet-0-base.py │ ├── semseg-cac-v1m1-0-spunet-base.py │ ├── semseg-cac-v1m1-1-spunet-lovasz.py │ ├── semseg-cac-v1m1-2-ptv2-lovasz.py │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-pt-v1-0-base.py │ ├── semseg-pt-v2m1-0-base.py │ ├── semseg-pt-v2m2-0-base.py │ ├── semseg-pt-v2m2-1-benchmark-submit.py │ ├── semseg-pt-v2m2-2-lovasz.py │ ├── semseg-pt-v3m1-0-base.py │ ├── semseg-pt-v3m1-1-ppt-ft.py │ ├── semseg-spunet-v1m1-0-base.py │ ├── semseg-spunet-v1m1-1-lovasz.py │ └── semseg-st-v1m2-0-refined.py ├── semantic_kitti │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-ppt-v1m1-0-sk-nu-wa-spunet.py │ ├── semseg-ppt-v1m2-0-sk-nu-wa-spunet-submit.py │ ├── semseg-ppt-v1m2-0-sk-nu-wa-spunet.py │ ├── semseg-pt-v2m2-0-base.py │ ├── semseg-pt-v2m2-1-benchmark-submit.py │ ├── semseg-spunet-v1m1-0-base.py │ └── semseg-spvcnn-v1m1-0-base.py ├── structured3d │ ├── semseg-pt-v2m2-0-base.py │ ├── semseg-spunet-v1m1-0-base.py │ ├── semseg-swin3d-v1m1-0-small.py │ └── semseg-swin3d-v1m1-1-large.py └── waymo │ ├── semseg-pt-v3m1-0-base.py │ └── semseg-spunet-v1m1-0-base.py ├── docs ├── README_Pointcept.md ├── logo.png ├── logo_dark.png ├── offset.png ├── offset_dark.png └── teaser.png ├── libs ├── pointgroup_ops │ ├── functions │ │ ├── __init__.py │ │ └── functions.py │ ├── setup.py │ └── src │ │ ├── bfs_cluster.cpp │ │ └── bfs_cluster_kernel.cu ├── pointops │ ├── __init__.py │ ├── functions │ │ ├── __init__.py │ │ ├── aggregation.py │ │ ├── attention.py │ │ ├── grouping.py │ │ ├── interpolation.py │ │ ├── query.py │ │ ├── sampling.py │ │ ├── subtraction.py │ │ └── utils.py │ ├── setup.py │ └── src │ │ ├── __init__.py │ │ ├── aggregation │ │ ├── aggregation_cuda.cpp │ │ ├── aggregation_cuda_kernel.cu │ │ └── aggregation_cuda_kernel.h │ │ ├── attention │ │ ├── attention_cuda.cpp │ │ ├── attention_cuda_kernel.cu │ │ └── attention_cuda_kernel.h │ │ ├── ball_query │ │ ├── ball_query_cuda.cpp │ │ ├── ball_query_cuda_kernel.cu │ │ └── ball_query_cuda_kernel.h │ │ ├── cuda_utils.h │ │ ├── grouping │ │ ├── grouping_cuda.cpp │ │ ├── grouping_cuda_kernel.cu │ │ └── grouping_cuda_kernel.h │ │ ├── interpolation │ │ ├── interpolation_cuda.cpp │ │ ├── interpolation_cuda_kernel.cu │ │ └── interpolation_cuda_kernel.h │ │ ├── knn_query │ │ ├── knn_query_cuda.cpp │ │ ├── knn_query_cuda_kernel.cu │ │ └── knn_query_cuda_kernel.h │ │ ├── pointops_api.cpp │ │ ├── random_ball_query │ │ ├── random_ball_query_cuda.cpp │ │ ├── random_ball_query_cuda_kernel.cu │ │ └── random_ball_query_cuda_kernel.h │ │ ├── sampling │ │ ├── sampling_cuda.cpp │ │ ├── sampling_cuda_kernel.cu │ │ └── sampling_cuda_kernel.h │ │ └── subtraction │ │ ├── subtraction_cuda.cpp │ │ ├── subtraction_cuda_kernel.cu │ │ └── subtraction_cuda_kernel.h └── pointops2 │ ├── __init__.py │ ├── functions │ ├── __init__.py │ ├── pointops.py │ ├── pointops2.py │ ├── pointops_ablation.py │ ├── test_attention_op_step1.py │ ├── test_attention_op_step1_v2.py │ ├── test_attention_op_step2.py │ ├── test_relative_pos_encoding_op_step1.py │ ├── test_relative_pos_encoding_op_step1_v2.py │ ├── test_relative_pos_encoding_op_step1_v3.py │ ├── test_relative_pos_encoding_op_step2.py │ └── test_relative_pos_encoding_op_step2_v2.py │ ├── setup.py │ └── src │ ├── __init__.py │ ├── aggregation │ ├── aggregation_cuda.cpp │ ├── aggregation_cuda_kernel.cu │ └── aggregation_cuda_kernel.h │ ├── attention │ ├── attention_cuda.cpp │ ├── attention_cuda_kernel.cu │ └── attention_cuda_kernel.h │ ├── attention_v2 │ ├── attention_cuda_kernel_v2.cu │ ├── attention_cuda_kernel_v2.h │ └── attention_cuda_v2.cpp │ ├── cuda_utils.h │ ├── grouping │ ├── grouping_cuda.cpp │ ├── grouping_cuda_kernel.cu │ └── grouping_cuda_kernel.h │ ├── interpolation │ ├── interpolation_cuda.cpp │ ├── interpolation_cuda_kernel.cu │ └── interpolation_cuda_kernel.h │ ├── knnquery │ ├── knnquery_cuda.cpp │ ├── knnquery_cuda_kernel.cu │ └── knnquery_cuda_kernel.h │ ├── pointops_api.cpp │ ├── rpe │ ├── relative_pos_encoding_cuda.cpp │ ├── relative_pos_encoding_cuda_kernel.cu │ └── relative_pos_encoding_cuda_kernel.h │ ├── rpe_v2 │ ├── relative_pos_encoding_cuda_kernel_v2.cu │ ├── relative_pos_encoding_cuda_kernel_v2.h │ └── relative_pos_encoding_cuda_v2.cpp │ ├── sampling │ ├── sampling_cuda.cpp │ ├── sampling_cuda_kernel.cu │ └── sampling_cuda_kernel.h │ └── subtraction │ ├── subtraction_cuda.cpp │ ├── subtraction_cuda_kernel.cu │ └── subtraction_cuda_kernel.h ├── pointcept ├── __init__.py ├── datasets │ ├── __init__.py │ ├── arkitscenes.py │ ├── builder.py │ ├── dataloader.py │ ├── defaults.py │ ├── modelnet.py │ ├── nuscenes.py │ ├── preprocessing │ │ ├── arkitscenes │ │ │ └── preprocess_arkitscenes_mesh.py │ │ ├── nuscenes │ │ │ └── preprocess_nuscenes_info.py │ │ ├── s3dis │ │ │ ├── preprocess_s3dis.py │ │ │ └── preprocess_s3dis_voxelized.py │ │ ├── scannet │ │ │ ├── meta_data │ │ │ │ ├── classes_ObjClassification-ShapeNetCore55.txt │ │ │ │ ├── classes_SemVoxLabel-nyu40id.txt │ │ │ │ ├── scannet200_constants.py │ │ │ │ ├── scannet200_splits.py │ │ │ │ ├── scannet_means.npz │ │ │ │ ├── scannetv1_test.txt │ │ │ │ ├── scannetv1_train.txt │ │ │ │ ├── scannetv1_val.txt │ │ │ │ ├── scannetv2-labels-old.combined.tsv │ │ │ │ ├── scannetv2-labels.combined.tsv │ │ │ │ ├── scannetv2_test.txt │ │ │ │ ├── scannetv2_train.txt │ │ │ │ └── scannetv2_val.txt │ │ │ ├── preprocess_scannet.py │ │ │ └── scannet_pair │ │ │ │ ├── SensorData.py │ │ │ │ ├── compute_full_overlapping.py │ │ │ │ ├── generage_list.py │ │ │ │ ├── plyfile.py │ │ │ │ ├── point_cloud_extractor.py │ │ │ │ ├── preprocess.py │ │ │ │ └── reader.py │ │ ├── structured3d │ │ │ └── preprocess_structured3d.py │ │ └── waymo │ │ │ └── preprocess_waymo.py │ ├── s3dis.py │ ├── scannet.py │ ├── scannet_pair.py │ ├── semantic_kitti.py │ ├── shapenet_part.py │ ├── structure3d.py │ ├── transform.py │ ├── utils.py │ └── waymo.py ├── engines │ ├── __init__.py │ ├── defaults.py │ ├── hooks │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── default.py │ │ ├── evaluator.py │ │ └── misc.py │ ├── launch.py │ ├── test.py │ └── train.py ├── incrLearners │ └── builder.py ├── models │ ├── __init__.py │ ├── builder.py │ ├── context_aware_classifier │ │ ├── __init__.py │ │ └── context_aware_classifier_v1m1_base.py │ ├── default.py │ ├── losses │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── lovasz.py │ │ └── misc.py │ ├── masked_scene_contrast │ │ ├── __init__.py │ │ ├── masked_scene_contrast_v1m1_base.py │ │ └── masked_scene_contrast_v1m2_csc.py │ ├── modules.py │ ├── oacnns │ │ ├── __init__.py │ │ └── oacnns_v1m1_base.py │ ├── octformer │ │ ├── __init__.py │ │ └── octformer_v1m1_base.py │ ├── point_group │ │ ├── __init__.py │ │ ├── point_group_v1m1_base.py │ │ └── utils.py │ ├── point_prompt_training │ │ ├── __init__.py │ │ ├── point_prompt_training_v1m1_language_guided.py │ │ ├── point_prompt_training_v1m2_decoupled.py │ │ └── prompt_driven_normalization.py │ ├── point_transformer │ │ ├── __init__.py │ │ ├── point_transformer_cls.py │ │ ├── point_transformer_partseg.py │ │ ├── point_transformer_seg.py │ │ └── utils.py │ ├── point_transformer_v2 │ │ ├── __init__.py │ │ ├── point_transformer_v2m1_origin.py │ │ ├── point_transformer_v2m2_base.py │ │ └── point_transformer_v2m3_pdnorm.py │ ├── point_transformer_v3 │ │ ├── __init__.py │ │ └── point_transformer_v3m1_base.py │ ├── sparse_unet │ │ ├── __init__.py │ │ ├── mink_unet.py │ │ ├── spconv_unet_v1m1_base.py │ │ ├── spconv_unet_v1m2_bn_momentum.py │ │ └── spconv_unet_v1m3_pdnorm.py │ ├── spvcnn │ │ ├── __init__.py │ │ └── ts_spvcnn.py │ ├── stratified_transformer │ │ ├── __init__.py │ │ ├── stratified_transformer_v1m1_origin.py │ │ └── stratified_transformer_v1m2_refine.py │ ├── swin3d │ │ ├── __init__.py │ │ ├── mink_layers.py │ │ ├── swin3d_layers.py │ │ └── swin3d_v1m1_base.py │ └── utils │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── misc.py │ │ ├── model_hook.py │ │ ├── serialization │ │ ├── __init__.py │ │ ├── default.py │ │ ├── hilbert.py │ │ └── z_order.py │ │ └── structure.py ├── recognizers │ ├── __init__.py │ ├── builder.py │ ├── max_probability │ │ ├── __init__.py │ │ └── max_probability_v1m1_base.py │ ├── ours │ │ ├── __init__.py │ │ ├── pointpdf_v1m1_base.py │ │ └── utils.py │ └── recognizer_model │ │ ├── __init__.py │ │ ├── pt_v1.py │ │ └── st_v1m1.py └── utils │ ├── __init__.py │ ├── cache.py │ ├── comm.py │ ├── config.py │ ├── env.py │ ├── events.py │ ├── logger.py │ ├── misc.py │ ├── optimizer.py │ ├── path.py │ ├── registry.py │ ├── scheduler.py │ ├── timer.py │ └── visualization.py ├── scripts ├── build_image.sh ├── test.sh └── train.sh └── tools ├── test.py ├── test_s3dis_6fold.py └── train.py 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