├── .gitignore ├── DiffTS ├── Datasets │ └── demo │ │ └── test │ │ └── lane1_tree_13_24_07_25_lane1.pt ├── __init__.py ├── config │ ├── config_orchard.yaml │ ├── config_syntree.yaml │ ├── config_treenet.yaml │ └── default_config.yaml ├── datasets │ ├── __init__.py │ ├── dataloader │ │ ├── OrchardDataset.py │ │ ├── SyntheticTrees.py │ │ ├── TreeNet3D.py │ │ └── __init__.py │ └── datasets.py ├── evaluate.py ├── models │ ├── __init__.py │ ├── diff_skeletonizer.py │ ├── minkunet_blocks.py │ └── models.py ├── pred_visualizer.py ├── pretrained_models │ ├── orchard_model.yaml │ ├── syntheticTrees_model.yaml │ └── treenet3d_model.yaml ├── scripts │ ├── __init__.py │ ├── average_nn_dist.py │ ├── extract_syntree_pcds.py │ ├── orchard_preprocessing.py │ ├── sem_pred_apply.py │ ├── syntree_preprocessing.py │ └── treenet3d_preprocessing.py ├── smart_tree │ ├── __init__.py │ ├── cli.py │ ├── conf │ │ ├── __init__.py │ │ ├── pipeline.yaml │ │ ├── training-split.json │ │ └── training.yaml │ ├── data_types │ │ ├── __init__.py │ │ ├── branch.py │ │ ├── cloud.py │ │ ├── graph.py │ │ ├── tree.py │ │ └── tube.py │ ├── dataset │ │ ├── __init__.py │ │ ├── augmentations.py │ │ └── dataset.py │ ├── model │ │ ├── __init__.py │ │ ├── fp16.py │ │ ├── helper.py │ │ ├── loss.py │ │ ├── model.py │ │ ├── model_blocks.py │ │ ├── model_inference.py │ │ ├── render.py │ │ ├── sparse.py │ │ ├── tracker.py │ │ ├── train.py │ │ └── weights │ │ │ ├── __init__.py │ │ │ ├── noble-elevator-58_model.pt │ │ │ ├── noble-elevator-58_model_weights.pt │ │ │ ├── peach-forest-65_model.pt │ │ │ └── peach-forest-65_model_weights.pt │ ├── o3d_abstractions │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── geometries.py │ │ └── visualizer.py │ ├── pipeline.py │ ├── scripts │ │ ├── __init__.py │ │ ├── bench_dataloader.py │ │ ├── clean_up.sh │ │ ├── laz2ply.py │ │ ├── split-data.py │ │ ├── view_npz.py │ │ └── vis_dataloader.py │ ├── skeleton │ │ ├── __init__.py │ │ ├── connection.py │ │ ├── filter.py │ │ ├── graph.py │ │ ├── path.py │ │ ├── shortest_path.py │ │ └── skeletonize.py │ ├── tests │ │ ├── dataloader.py │ │ └── test-dataloader.yaml │ └── util │ │ ├── __init__.py │ │ ├── file.py │ │ ├── maths.py │ │ ├── misc.py │ │ └── queries.py ├── train.py ├── train_semantics.py ├── tree_utils │ ├── __init__.py │ ├── branch.py │ ├── cloud.py │ ├── file.py │ ├── filter.py │ ├── graph.py │ ├── graph_utils.py │ ├── math.py │ ├── misc.py │ ├── o3d_abstractions.py │ ├── operations.py │ ├── path.py │ ├── queries.py │ ├── shortest_path.py │ ├── skeletonize.py │ ├── tree.py │ └── tube.py ├── unittest_pretrained.py └── utils │ ├── __init__.py │ ├── collations.py │ ├── graph_utils.py │ ├── metrics.py │ ├── pcd_transforms.py │ ├── postprocess.py │ ├── pytimer.py │ ├── scheduling.py │ └── utils.py ├── Dockerfile ├── LICENSE ├── Makefile ├── README.md ├── docker-compose.yml ├── logs └── .init ├── media └── diff_steps.png ├── requirements.txt └── setup.py /.gitignore: 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