├── .gitignore ├── LICENSE ├── README.md ├── __init__.py ├── assets ├── Demo.gif ├── Leaderboard.jpg └── VisualizeSingleFrame.jpg ├── common ├── __init__.py ├── dataset │ └── kitti │ │ ├── __init__.py │ │ ├── parser.py │ │ └── utils.py ├── laserscan.py ├── laserscanvis.py ├── logger.py ├── summary.py ├── sync_batchnorm │ ├── __init__.py │ ├── batchnorm.py │ ├── comm.py │ └── replicate.py ├── visualization.py └── warmupLR.py ├── config ├── data_preparing.yaml ├── kitti_road_mos.md ├── labels │ ├── semantic-kitti-all.yaml │ ├── semantic-kitti-mos.raw.yaml │ ├── semantic-kitti-mos.yaml │ └── semantic-kitti.yaml ├── post-processing.yaml └── train_split_dynamic_pointnumber.txt ├── environment.yml ├── infer.py ├── modules ├── BaseBlocks.py ├── KNN.py ├── MFMOS.py ├── PointRefine │ ├── PointMLP.py │ ├── spvcnn.py │ └── spvcnn_lite.py ├── SalsaNext.py ├── SalsaNextWithMotionAttention.py ├── __init__.py ├── loss │ ├── DiceLoss.py │ ├── Lovasz_Softmax.py │ └── __init__.py ├── tools.py ├── trainer.py ├── trainer_refine.py ├── user.py └── user_refine.py ├── script ├── dist_train.sh ├── evaluate.sh ├── train_siem.sh ├── valid.sh └── visualize.sh ├── train.py ├── train_2stage.py ├── train_yaml ├── ddp_mos_coarse_stage.yml ├── mos_coarse_stage.yml └── mos_pointrefine_stage.yml └── utils ├── auto_gen_residual_images.py ├── auto_gen_residual_images_mp.py ├── auxiliary ├── __init__.py ├── camera.py ├── glow.py ├── laserscan.py ├── laserscanvis.py ├── np_ioueval.py ├── shaders │ ├── check_uniforms.vert │ ├── draw_pose.geom │ ├── draw_voxels.frag │ ├── draw_voxels.vert │ ├── empty.frag │ ├── empty.vert │ └── passthrough.frag └── torch_ioueval.py ├── combine_semantics.py ├── concat_residual_image.py ├── download_kitti_road.sh ├── evaluate_mos.py ├── gen_residual_images.py ├── kitti_mos_statistical_analysis.py ├── kitti_utils.py ├── scan_cleaner.py ├── utils.py ├── viewfile.json ├── visualize_mos.py ├── viz_concate_residuals.py ├── viz_mos_result_2d.py ├── viz_mos_result_o3d.py ├── 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