├── .gitignore ├── LICENSE ├── README.md ├── completion ├── .gitignore ├── LICENSE ├── README.md ├── __init__.py ├── cfgs │ ├── __init__.py │ └── cp3.yaml ├── data │ └── .gitignore ├── dataset.py ├── model_utils.py ├── models │ ├── CP3.py │ ├── SPD_refine.py │ ├── __init__.py │ ├── dnnlib │ │ ├── __init__.py │ │ └── util.py │ ├── ecg.py │ ├── modulate_conv.py │ ├── pcn.py │ ├── skip_transformer.py │ ├── torch_utils │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── custom_ops.py │ │ ├── misc.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── bias_act.cpp │ │ │ ├── bias_act.cu │ │ │ ├── bias_act.h │ │ │ ├── bias_act.py │ │ │ ├── conv2d_gradfix.py │ │ │ ├── conv2d_resample.py │ │ │ ├── fma.py │ │ │ ├── grid_sample_gradfix.py │ │ │ ├── upfirdn2d.cpp │ │ │ ├── upfirdn2d.cu │ │ │ ├── upfirdn2d.h │ │ │ └── upfirdn2d.py │ │ ├── persistence.py │ │ └── training_stats.py │ └── vrcnet.py ├── ourShapeNet_FPS.py ├── requirements.txt ├── train.py ├── train_utils.py ├── utils │ ├── __init__.py │ ├── metrics │ │ ├── CD │ │ │ ├── .gitignore │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── chamfer3D │ │ │ │ ├── .gitignore │ │ │ │ ├── chamfer3D.cu │ │ │ │ ├── chamfer_cuda.cpp │ │ │ │ ├── dist_chamfer_3D.py │ │ │ │ ├── run_build.sh │ │ │ │ └── setup.py │ │ │ ├── chamfer_python.py │ │ │ ├── fscore.py │ │ │ └── unit_test.py │ │ ├── EMD │ │ │ ├── .gitignore │ │ │ ├── CDEMD.png │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── clean.sh │ │ │ ├── emd.cpp │ │ │ ├── emd_cuda.cu │ │ │ ├── emd_module.py │ │ │ ├── run_build.sh │ │ │ ├── run_compile.sh │ │ │ └── setup.py │ │ └── __init__.py │ └── mm3d_pn2 │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── ops │ │ ├── __init__.py │ │ ├── ball_query │ │ │ ├── __init__.py │ │ │ ├── ball_query.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ └── ball_query_cuda.cu │ │ ├── furthest_point_sample │ │ │ ├── __init__.py │ │ │ ├── furthest_point_sample.py │ │ │ ├── points_sampler.py │ │ │ ├── src │ │ │ │ ├── furthest_point_sample.cpp │ │ │ │ └── furthest_point_sample_cuda.cu │ │ │ └── utils.py │ │ ├── gather_points │ │ │ ├── __init__.py │ │ │ ├── gather_points.py │ │ │ └── src │ │ │ │ ├── gather_points.cpp │ │ │ │ └── gather_points_cuda.cu │ │ ├── group_points │ │ │ ├── __init__.py │ │ │ ├── group_points.py │ │ │ └── src │ │ │ │ ├── group_points.cpp │ │ │ │ └── group_points_cuda.cu │ │ ├── interpolate │ │ │ ├── __init__.py │ │ │ ├── src │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── three_interpolate_cuda.cu │ │ │ │ └── three_nn_cuda.cu │ │ │ ├── three_interpolate.py │ │ │ └── three_nn.py │ │ ├── iou3d │ │ │ ├── __init__.py │ │ │ ├── iou3d_utils.py │ │ │ └── src │ │ │ │ ├── iou3d.cpp │ │ │ │ └── iou3d_kernel.cu │ │ ├── knn │ │ │ ├── __init__.py │ │ │ ├── knn.py │ │ │ └── src │ │ │ │ ├── knn.cpp │ │ │ │ └── knn_cuda.cu │ │ ├── norm.py │ │ ├── paconv │ │ │ ├── __init__.py │ │ │ ├── assign_score.py │ │ │ ├── paconv.py │ │ │ ├── src │ │ │ │ ├── assign_score_withk.cpp │ │ │ │ └── assign_score_withk_cuda.cu │ │ │ └── utils.py │ │ ├── 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 │ │ │ └── src │ │ │ │ ├── points_in_boxes_cpu.cpp │ │ │ │ ├── points_in_boxes_cuda.cu │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ ├── sparse_block.py │ │ ├── spconv │ │ │ ├── __init__.py │ │ │ ├── conv.py │ │ │ ├── functional.py │ │ │ ├── include │ │ │ │ ├── paramsgrid.h │ │ │ │ ├── prettyprint.h │ │ │ │ ├── pybind11_utils.h │ │ │ │ ├── spconv │ │ │ │ │ ├── fused_spconv_ops.h │ │ │ │ │ ├── geometry.h │ │ │ │ │ ├── indice.cu.h │ │ │ │ │ ├── indice.h │ │ │ │ │ ├── maxpool.h │ │ │ │ │ ├── mp_helper.h │ │ │ │ │ ├── point2voxel.h │ │ │ │ │ ├── pool_ops.h │ │ │ │ │ ├── reordering.cu.h │ │ │ │ │ ├── reordering.h │ │ │ │ │ └── spconv_ops.h │ │ │ │ ├── tensorview │ │ │ │ │ ├── helper_kernel.cu.h │ │ │ │ │ ├── helper_launch.h │ │ │ │ │ └── tensorview.h │ │ │ │ ├── torch_utils.h │ │ │ │ └── utility │ │ │ │ │ └── timer.h │ │ │ ├── modules.py │ │ │ ├── ops.py │ │ │ ├── pool.py │ │ │ ├── src │ │ │ │ ├── all.cc │ │ │ │ ├── indice.cc │ │ │ │ ├── indice_cuda.cu │ │ │ │ ├── maxpool.cc │ │ │ │ ├── maxpool_cuda.cu │ │ │ │ ├── reordering.cc │ │ │ │ └── reordering_cuda.cu │ │ │ ├── structure.py │ │ │ └── test_utils.py │ │ └── voxel │ │ │ ├── __init__.py │ │ │ ├── scatter_points.py │ │ │ ├── src │ │ │ ├── scatter_points_cpu.cpp │ │ │ ├── scatter_points_cuda.cu │ │ │ ├── voxelization.cpp │ │ │ ├── voxelization.h │ │ │ ├── voxelization_cpu.cpp │ │ │ └── voxelization_cuda.cu │ │ │ └── voxelize.py │ │ ├── requirements.txt │ │ ├── requirements │ │ ├── build.txt │ │ ├── docs.txt │ │ ├── mminstall.txt │ │ ├── optional.txt │ │ ├── readthedocs.txt │ │ ├── runtime.txt │ │ └── tests.txt │ │ ├── run_build.sh │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── setup.sh │ │ └── version.py └── val.py ├── images └── fig_intro_framework.png └── setup.sh 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