├── .gitignore ├── README.md ├── configs ├── _base_ │ ├── datasets │ │ ├── modelnet40.py │ │ ├── s3dis.py │ │ ├── scannet.py │ │ ├── scannet200.py │ │ ├── scannet_submit.py │ │ ├── semantic_kitti_19cls.py │ │ └── shapenet_part.py │ ├── default_runtime.py │ └── tests │ │ ├── classification.py │ │ ├── part_segmentation.py │ │ └── segmentation.py ├── s3dis │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-ptv1-0-base.py │ ├── semseg-ptv2m1-0-base.py │ ├── semseg-ptv2m2-0-base.py │ └── semseg-spunet34c-0-base.py ├── scannet │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-ptv1-0-base.py │ ├── semseg-ptv2m1-0-origin.py │ ├── semseg-ptv2m2-0-base.py │ ├── semseg-ptv2m2-1-benchmark-submit.py │ ├── semseg-ptv2m2-2-precise-evaluate.py │ ├── semseg-spunet34c-0-base.py │ ├── semseg-spunet34c-1-cn-base.py │ ├── semseg-stv1m1-0-origin.py │ └── semseg-stv1m2-0-refined.py ├── scannet200 │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-ptv1-0-base.py │ ├── semseg-ptv2m1-0-base.py │ ├── semseg-ptv2m2-0-base.py │ ├── semseg-ptv2m2-1-benchmark-submit.py │ ├── semseg-spunet34c-0-base.py │ └── semseg-stv1m2-0-refined.py └── semantic_kitti │ ├── semseg-minkunet34c-0-base.py │ ├── semseg-spunet34c-0-base.py │ └── semseg-spvcnn34c-0-base.py ├── figures ├── design.png └── offset.png ├── libs ├── 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 ├── pcr ├── __init__.py ├── datasets │ ├── __init__.py │ ├── arkitscenes.py │ ├── builder.py │ ├── defaults.py │ ├── modelnet.py │ ├── preprocessing │ │ ├── arkitscenes │ │ │ └── preprocess_arkitscenes_mesh.py │ │ ├── s3dis │ │ │ ├── preprocess_s3dis.py │ │ │ └── preprocess_s3dis_align_raw.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 │ ├── s3dis.py │ ├── scannet.py │ ├── scannet_pair.py │ ├── semantic_kitti.py │ ├── shapenet_part.py │ ├── transform.py │ └── utils.py ├── engines │ ├── __init__.py │ ├── defaults.py │ ├── launch.py │ ├── test.py │ └── train.py ├── models │ ├── __init__.py │ ├── builder.py │ ├── point_transformer │ │ ├── __init__.py │ │ ├── point_transformer_cls.py │ │ ├── point_transformer_partseg.py │ │ ├── point_transformer_seg.py │ │ └── utils.py │ ├── point_transformer2 │ │ ├── __init__.py │ │ ├── point_transformer_v2m1_origin.py │ │ └── point_transformer_v2m2_base.py │ ├── sparse_unet │ │ ├── __init__.py │ │ ├── mink_unet.py │ │ └── spconv_unet.py │ ├── spvcnn │ │ ├── __init__.py │ │ └── ts_spvcnn.py │ ├── stratified_transformer │ │ ├── __init__.py │ │ ├── stratified_transformer_v1m1_origin.py │ │ └── stratified_transformer_v1m2_refine.py │ └── utils.py └── utils │ ├── __init__.py │ ├── comm.py │ ├── config.py │ ├── env.py │ ├── events.py │ ├── logger.py │ ├── losses.py │ ├── misc.py │ ├── optimizer.py │ ├── path.py │ ├── registry.py │ ├── scheduler.py │ └── visualization.py ├── scripts ├── pretrain.sh ├── test.sh └── train.sh └── tools ├── pretrain.py ├── test.py └── train.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Pointcept/PointTransformerV2/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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