├── README.md ├── assets └── pri3d.jpg ├── downstream ├── conversion │ ├── mocov2_to_detectron.py │ ├── mocov2_to_pri3d.py │ ├── pri3d_to_torchvision.py │ └── torchvision_to_detectron.py ├── insseg │ ├── common │ │ └── io2d.py │ ├── config │ │ ├── Base-RCNN-FPN.yaml │ │ ├── mask_rcnn_R_50_FPN_COCO.yaml │ │ ├── mask_rcnn_R_50_FPN_NYU.yaml │ │ └── mask_rcnn_R_50_FPN_ScanNet.yaml │ ├── dataset │ │ ├── __init__.py │ │ ├── nyu2coco.py │ │ ├── scannet2coco.py │ │ └── scannet_splits │ │ │ ├── data_efficient_by_images │ │ │ ├── scannetv2_train_1.txt │ │ │ ├── scannetv2_train_10.txt │ │ │ ├── scannetv2_train_20.txt │ │ │ ├── scannetv2_train_40.txt │ │ │ ├── scannetv2_train_5.txt │ │ │ ├── scannetv2_train_60.txt │ │ │ └── scannetv2_train_80.txt │ │ │ ├── scannetv2_test.txt │ │ │ ├── scannetv2_train.txt │ │ │ ├── scannetv2_trainval.txt │ │ │ └── scannetv2_val.txt │ ├── main.py │ ├── model │ │ ├── __pycache__ │ │ │ └── model.cpython-38.pyc │ │ └── model.py │ └── script │ │ ├── train_coco.sh │ │ ├── train_nyu.sh │ │ └── train_scannet.sh └── semseg │ ├── deeplabv3 │ ├── .gitignore │ ├── config │ │ └── default.yaml │ ├── dataset │ │ ├── __init__.py │ │ └── scannet.py │ ├── main.py │ ├── model │ │ ├── __init__.py │ │ ├── deeplab.py │ │ ├── resnet.py │ │ └── utils.py │ ├── scripts │ │ ├── train_scannet_deeplabv3.sh │ │ └── train_scannet_deeplabv3plus.sh │ └── util │ │ ├── __init__.py │ │ ├── loss.py │ │ ├── metrics.py │ │ ├── scheduler.py │ │ ├── transform.py │ │ └── utils.py │ ├── pspnet │ ├── .gitignore │ ├── config │ │ ├── default.yaml │ │ └── scannet │ │ │ └── scannet_pspnet50.yaml │ ├── dataset │ │ ├── __init__.py │ │ └── scannet.py │ ├── main.py │ ├── model │ │ ├── __pycache__ │ │ │ └── pspnet.cpython-36.pyc.139961902765144 │ │ ├── pspnet.py │ │ └── resnet.py │ ├── scripts │ │ └── train_scannet.sh │ └── util │ │ ├── transform.py │ │ └── util.py │ └── unet │ ├── common │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── avgmeter.cpython-38.pyc │ │ ├── camera_intrinsics.cpython-38.pyc │ │ ├── distributed.cpython-38.pyc │ │ ├── finetune.cpython-38.pyc │ │ ├── io2d.cpython-38.pyc │ │ ├── io3d.cpython-38.pyc │ │ ├── iou.cpython-38.pyc │ │ ├── mae.cpython-38.pyc │ │ ├── nn_search.cpython-38.pyc │ │ └── solver.cpython-38.pyc │ ├── avgmeter.py │ ├── camera_intrinsics.py │ ├── count_images.py │ ├── distributed.py │ ├── finetune.py │ ├── io2d.py │ ├── io3d.py │ ├── iou.py │ ├── mae.py │ ├── matching2d.ipynb │ ├── nn_search.py │ ├── plot.py │ ├── plot_matching.py │ └── solver.py │ ├── config │ ├── __init__.py │ └── default.yaml │ ├── dataset │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── cityscapes.cpython-38.pyc │ │ ├── collate_fn.cpython-38.pyc │ │ ├── kitti.cpython-38.pyc │ │ ├── nyuv2.cpython-38.pyc │ │ ├── scannet.cpython-38.pyc │ │ └── transform2d.cpython-38.pyc │ ├── cityscapes.py │ ├── collate_fn.py │ ├── kitti.py │ ├── nyuv2.py │ ├── scannet.py │ ├── scannet_splits │ │ ├── data_efficient_by_images │ │ │ ├── scannetv2_train_1.txt │ │ │ ├── scannetv2_train_10.txt │ │ │ ├── scannetv2_train_20.txt │ │ │ ├── scannetv2_train_40.txt │ │ │ ├── scannetv2_train_5.txt │ │ │ ├── scannetv2_train_60.txt │ │ │ └── scannetv2_train_80.txt │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ ├── scannetv2_trainval.txt │ │ └── scannetv2_val.txt │ └── transform2d.py │ ├── main.py │ ├── model │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── loss.cpython-38.pyc │ │ └── model.cpython-38.pyc │ ├── backbone │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── resnet.cpython-38.pyc │ │ │ └── resunet.cpython-38.pyc │ │ ├── resnet.py │ │ └── resunet.py │ ├── loss.py │ └── model.py │ └── scripts │ ├── cityscapes.sh │ ├── kitti.sh │ ├── nyuv2.sh │ └── scannet.sh ├── pretrain ├── data_preprocess │ ├── kitti │ │ └── kitti_process.py │ ├── megadepth │ │ ├── .ipynb_checkpoints │ │ │ └── megadepth_visualization-checkpoint.ipynb │ │ ├── megadepth_visualization.ipynb │ │ ├── preprocess_scene.py │ │ ├── preprocess_undistorted_megadepth.sh │ │ └── undistort_reconstructions.py │ └── scannet │ │ ├── SensorData.py │ │ ├── __pycache__ │ │ └── chunk_utils.cpython-38.pyc │ │ ├── chunk.py │ │ ├── chunk_utils.py │ │ ├── collect_indoor3d_data.py │ │ ├── compute_full_overlapping.py │ │ ├── generage_list.py │ │ ├── plyfile.py │ │ ├── point_cloud_extractor.py │ │ ├── preprocess.sh │ │ ├── reader.py │ │ ├── scannetv2-labels.combined.tsv │ │ └── split │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ └── scannetv2_val.txt ├── moco │ ├── .github │ │ ├── CODE_OF_CONDUCT.md │ │ └── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── balanced_sampler.py │ ├── detection │ │ ├── README.md │ │ ├── configs │ │ │ ├── Base-RCNN-C4-BN.yaml │ │ │ ├── coco_R_50_C4_2x.yaml │ │ │ ├── coco_R_50_C4_2x_moco.yaml │ │ │ ├── pascal_voc_R_50_C4_24k.yaml │ │ │ └── pascal_voc_R_50_C4_24k_moco.yaml │ │ ├── convert-pretrain-to-detectron2.py │ │ └── train_net.py │ ├── generate_imagenet_filelist_without_grayscale.txt │ ├── grayscale.txt │ ├── main_lincls.py │ ├── main_moco.py │ ├── moco │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ └── loader.cpython-38.pyc │ │ ├── builder.py │ │ └── loader.py │ ├── resnet.py │ ├── scannet.py │ ├── scannet_imagenet.py │ └── scripts │ │ └── train.sh └── pri3d │ ├── .vscode │ └── settings.json │ ├── common │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── avgmeter.cpython-38.pyc │ │ ├── camera_intrinsics.cpython-38.pyc │ │ ├── distributed.cpython-37.pyc │ │ ├── distributed.cpython-38.pyc │ │ ├── io2d.cpython-38.pyc │ │ ├── io3d.cpython-38.pyc │ │ ├── nn_search.cpython-38.pyc │ │ ├── pretrain.cpython-37.pyc │ │ ├── pretrain.cpython-38.pyc │ │ └── solver.cpython-38.pyc │ ├── avgmeter.py │ ├── camera_intrinsics.py │ ├── distributed.py │ ├── io2d.py │ ├── io3d.py │ ├── nn_search.py │ ├── pretrain.py │ └── solver.py │ ├── config │ ├── __init__.py │ └── default.yaml │ ├── dataset │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── collate_fn.cpython-38.pyc │ │ ├── kitti.cpython-38.pyc │ │ ├── megadepth.cpython-38.pyc │ │ ├── mixture.cpython-38.pyc │ │ ├── scannet.cpython-38.pyc │ │ ├── scannet_jitter.cpython-38.pyc │ │ ├── scannet_pair.cpython-38.pyc │ │ └── voxelizer.cpython-38.pyc │ ├── collate_fn.py │ ├── kitti.py │ ├── megadepth.py │ ├── mixture.py │ ├── scannet.py │ ├── scannet_jitter.py │ ├── transform3d.py │ └── voxelizer.py │ ├── main.py │ ├── model │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── attention.cpython-38.pyc │ │ ├── loss.cpython-38.pyc │ │ ├── model.cpython-38.pyc │ │ └── unproject.cpython-38.pyc │ ├── attention.py │ ├── backbone │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── enet.cpython-38.pyc │ │ │ ├── fpn.cpython-38.pyc │ │ │ ├── pointnet2.cpython-38.pyc │ │ │ ├── resnet.cpython-38.pyc │ │ │ ├── resnet3d.cpython-38.pyc │ │ │ ├── resunet.cpython-38.pyc │ │ │ └── resunet3d.cpython-38.pyc │ │ ├── enet.py │ │ ├── fpn.py │ │ ├── pointnet2.py │ │ ├── pointnet2_ops │ │ │ ├── __pycache__ │ │ │ │ ├── pointnet2_modules.cpython-38.pyc │ │ │ │ ├── pointnet2_utils.cpython-38.pyc │ │ │ │ └── pytorch_utils.cpython-38.pyc │ │ │ ├── _ext_src │ │ │ │ ├── include │ │ │ │ │ ├── ball_query.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.h │ │ │ │ │ ├── interpolate.h │ │ │ │ │ ├── sampling.h │ │ │ │ │ └── utils.h │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── bindings.cpp │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ └── sampling_gpu.cu │ │ │ ├── pointnet2.egg-info │ │ │ │ ├── PKG-INFO │ │ │ │ ├── SOURCES.txt │ │ │ │ ├── dependency_links.txt │ │ │ │ └── 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