├── .gitignore ├── LICENSE.txt ├── README.md ├── assets └── overview.png ├── configs ├── _base_ │ └── default_runtime.py └── semantic_kitti │ └── semseg_mambamos.py ├── exp └── semantic_kitti │ └── mambamos │ └── config.py ├── libs ├── pointgroup_ops │ ├── functions │ │ ├── __init__.py │ │ └── functions.py │ ├── setup.py │ └── src │ │ ├── bfs_cluster.cpp │ │ └── bfs_cluster_kernel.cu ├── pointops │ ├── __init__.py │ ├── build │ │ ├── lib.linux-x86_64-cpython-38 │ │ │ └── pointops │ │ │ │ ├── _C.cpython-38-x86_64-linux-gnu.so │ │ │ │ ├── __init__.py │ │ │ │ ├── aggregation.py │ │ │ │ ├── attention.py │ │ │ │ ├── grouping.py │ │ │ │ ├── interpolation.py │ │ │ │ ├── query.py │ │ │ │ ├── sampling.py │ │ │ │ ├── subtraction.py │ │ │ │ └── utils.py │ │ └── temp.linux-x86_64-cpython-38 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ └── src │ │ │ ├── aggregation │ │ │ ├── aggregation_cuda.o │ │ │ └── aggregation_cuda_kernel.o │ │ │ ├── attention │ │ │ ├── attention_cuda.o │ │ │ └── attention_cuda_kernel.o │ │ │ ├── ball_query │ │ │ ├── ball_query_cuda.o │ │ │ └── ball_query_cuda_kernel.o │ │ │ ├── grouping │ │ │ ├── grouping_cuda.o │ │ │ └── grouping_cuda_kernel.o │ │ │ ├── interpolation │ │ │ ├── interpolation_cuda.o │ │ │ └── interpolation_cuda_kernel.o │ │ │ ├── knn_query │ │ │ ├── knn_query_cuda.o │ │ │ └── knn_query_cuda_kernel.o │ │ │ ├── pointops_api.o │ │ │ ├── random_ball_query │ │ │ ├── random_ball_query_cuda.o │ │ │ └── random_ball_query_cuda_kernel.o │ │ │ ├── sampling │ │ │ ├── sampling_cuda.o │ │ │ └── sampling_cuda_kernel.o │ │ │ └── subtraction │ │ │ ├── subtraction_cuda.o │ │ │ └── subtraction_cuda_kernel.o │ ├── dist │ │ └── pointops-1.0-py3.8-linux-x86_64.egg │ ├── functions │ │ ├── __init__.py │ │ ├── aggregation.py │ │ ├── attention.py │ │ ├── grouping.py │ │ ├── interpolation.py │ │ ├── query.py │ │ ├── sampling.py │ │ ├── subtraction.py │ │ └── utils.py │ ├── pointops.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── 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 ├── pointcept ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ └── __init__.cpython-39.pyc ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-38.pyc │ │ ├── dataloader.cpython-38.pyc │ │ ├── defaults.cpython-38.pyc │ │ ├── semantic_kitti_multi_scans.cpython-38.pyc │ │ ├── transform.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ ├── builder.py │ ├── dataloader.py │ ├── defaults.py │ ├── semantic_kitti_multi_scans.py │ ├── train_split_dynamic_pointnumber.txt │ ├── transform.py │ └── utils.py ├── engines │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── defaults.cpython-38.pyc │ │ ├── defaults.cpython-39.pyc │ │ ├── launch.cpython-38.pyc │ │ ├── test.cpython-38.pyc │ │ └── train.cpython-38.pyc │ ├── defaults.py │ ├── hooks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ ├── default.cpython-38.pyc │ │ │ ├── evaluator.cpython-38.pyc │ │ │ └── misc.cpython-38.pyc │ │ ├── builder.py │ │ ├── default.py │ │ ├── evaluator.py │ │ └── misc.py │ ├── launch.py │ ├── test.py │ └── train.py ├── models │ ├── MambaMOS │ │ ├── MambaMOS.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ └── mssm.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-38.pyc │ │ ├── default.cpython-38.pyc │ │ └── modules.cpython-38.pyc │ ├── builder.py │ ├── default.py │ ├── losses │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ ├── lovasz.cpython-38.pyc │ │ │ └── misc.cpython-38.pyc │ │ ├── builder.py │ │ ├── lovasz.py │ │ └── misc.py │ ├── modules.py │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── checkpoint.cpython-38.pyc │ │ ├── misc.cpython-38.pyc │ │ └── structure.cpython-38.pyc │ │ ├── checkpoint.py │ │ ├── misc.py │ │ ├── serialization │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── default.cpython-38.pyc │ │ │ ├── hilbert.cpython-38.pyc │ │ │ └── z_order.cpython-38.pyc │ │ ├── default.py │ │ ├── hilbert.py │ │ └── z_order.py │ │ └── structure.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── cache.cpython-38.pyc │ ├── comm.cpython-38.pyc │ ├── config.cpython-38.pyc │ ├── env.cpython-38.pyc │ ├── events.cpython-38.pyc │ ├── logger.cpython-38.pyc │ ├── misc.cpython-38.pyc │ ├── optimizer.cpython-38.pyc │ ├── path.cpython-38.pyc │ ├── registry.cpython-38.pyc │ ├── scheduler.cpython-38.pyc │ └── timer.cpython-38.pyc │ ├── cache.py │ ├── comm.py │ ├── config.py │ ├── env.py │ ├── events.py │ ├── logger.py │ ├── misc.py │ ├── optimizer.py │ ├── path.py │ ├── registry.py │ ├── scheduler.py │ ├── timer.py │ └── visualization.py ├── scripts ├── build_image.sh ├── test.sh └── train.sh └── tools ├── test.py ├── test_s3dis_6fold.py └── train.py /.gitignore: -------------------------------------------------------------------------------- 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