├── LICENSE ├── README.md ├── kitti ├── stage_1 │ ├── config.py │ ├── dataset.py │ ├── eval.sh │ ├── eval_RTE_RRE.py │ ├── eval_overlap_detection.py │ ├── fusion_module.py │ ├── image_backbone.py │ ├── loss.py │ ├── model.py │ ├── point_backbone.py │ ├── test.py │ └── trainval.py └── stage_2 │ ├── config.py │ ├── dataset.py │ ├── eval.sh │ ├── eval_RRE_RTE_pnp.py │ ├── eval_RRE_RTE_reg.py │ ├── fusion_module.py │ ├── image_backbone.py │ ├── loss.py │ ├── model.py │ ├── point_backbone.py │ ├── test.py │ └── trainval.py ├── nuscenes ├── stage_1 │ ├── config.py │ ├── dataset.py │ ├── eval.sh │ ├── eval_RTE_RRE.py │ ├── eval_overlap_detection.py │ ├── fusion_module.py │ ├── image_backbone.py │ ├── loss.py │ ├── model.py │ ├── options.py │ ├── point_backbone.py │ ├── test.py │ └── trainval.py └── stage_2 │ ├── config.py │ ├── dataset.py │ ├── eval.sh │ ├── eval_RRE_RTE_pnp.py │ ├── eval_RRE_RTE_reg.py │ ├── fusion_module.py │ ├── image_backbone.py │ ├── loss.py │ ├── model.py │ ├── options.py │ ├── point_backbone.py │ ├── test.py │ └── trainval.py └── vision3d-main ├── .flake8 ├── .gitignore ├── LICENSE ├── README.md ├── pyproject.toml ├── requirements.txt ├── setup.py └── vision3d ├── __init__.py ├── array_ops ├── __init__.py ├── ball_query.py ├── deformation.py ├── depth_image.py ├── furthest_point_sample.py ├── graph_pyramid.py ├── grid_reduce.py ├── grid_subsample.py ├── keypoint_utils.py ├── knn.py ├── knn_interpolate.py ├── metrics.py ├── mutual_select.py ├── point_cloud_utils.py ├── procrustes.py ├── radius_nms.py ├── radius_search.py ├── ray_utils.py ├── registration_utils.py ├── se3.py └── so3.py ├── csrc ├── .clang-format ├── common │ ├── cuda_helper.h │ ├── numpy_helper.h │ └── torch_helper.h ├── cpu │ ├── cloud │ │ ├── cloud.cpp │ │ └── cloud.h │ ├── deformation_graph │ │ ├── deformation_graph.cpp │ │ └── deformation_graph.h │ ├── graph_proc │ │ ├── graph_proc.cpp │ │ └── graph_proc.h │ ├── grid_subsampling │ │ ├── grid_subsampling.cpp │ │ └── grid_subsampling.h │ ├── node_sampling │ │ ├── node_sampling.cpp │ │ └── node_sampling.h │ ├── radius_neighbors │ │ ├── radius_neighbors.cpp │ │ └── radius_neighbors.h │ └── voxel │ │ ├── voxel.cpp │ │ └── voxel.h ├── cuda │ ├── ball_query │ │ ├── ball_query.cpp │ │ ├── ball_query.h │ │ ├── ball_query_cuda.cu │ │ └── ball_query_cuda.cuh │ ├── furthest_point_sample │ │ ├── furthest_point_sample.cpp │ │ ├── furthest_point_sample.h │ │ ├── furthest_point_sample_cuda.cu │ │ └── furthest_point_sample_cuda.cuh │ ├── gather │ │ ├── gather.cpp │ │ ├── gather.h │ │ ├── gather_cuda.cu │ │ └── gather_cuda.cuh │ ├── group_gather │ │ ├── group_gather.cpp │ │ ├── group_gather.h │ │ ├── group_gather_cuda.cu │ │ └── group_gather_cuda.cuh │ ├── knn_points │ │ ├── knn_points.cpp │ │ ├── knn_points.h │ │ ├── knn_points_cuda.cu │ │ └── knn_points_cuda.cuh │ ├── three_interpolate │ │ ├── three_interpolate.cpp │ │ ├── three_interpolate.h │ │ ├── three_interpolate_cuda.cu │ │ └── three_interpolate_cuda.cuh │ └── three_nn │ │ ├── three_nn.cpp │ │ ├── three_nn.h │ │ ├── three_nn_cuda.cu │ │ └── three_nn_cuda.cuh ├── external │ ├── eigen3 │ │ └── Eigen │ │ │ ├── Cholesky │ │ │ ├── CholmodSupport │ │ │ ├── Core │ │ │ ├── Dense │ │ │ ├── Eigen │ │ │ ├── Eigenvalues │ │ │ ├── Geometry │ │ │ ├── Householder │ │ │ ├── IterativeLinearSolvers │ │ │ ├── Jacobi │ │ │ ├── LU │ │ │ ├── MetisSupport │ │ │ ├── OrderingMethods │ │ │ ├── PaStiXSupport │ │ │ ├── PardisoSupport │ │ │ ├── QR │ │ │ ├── QtAlignedMalloc │ │ │ ├── SPQRSupport │ │ │ ├── SVD │ │ │ ├── Sparse │ │ │ ├── SparseCholesky │ │ │ ├── SparseCore │ │ │ ├── SparseLU │ │ │ ├── SparseQR │ │ │ ├── StdDeque │ │ │ ├── StdList │ │ │ ├── StdVector │ │ │ ├── SuperLUSupport │ │ │ ├── UmfPackSupport │ │ │ └── src │ │ │ ├── Cholesky │ │ │ ├── LDLT.h │ │ │ ├── LLT.h │ │ │ └── LLT_LAPACKE.h │ │ │ ├── CholmodSupport │ │ │ └── CholmodSupport.h │ │ │ ├── Core │ │ │ ├── Array.h │ │ │ ├── ArrayBase.h │ │ │ ├── ArrayWrapper.h │ │ │ ├── Assign.h │ │ │ ├── AssignEvaluator.h │ │ │ ├── Assign_MKL.h │ │ │ ├── BandMatrix.h │ │ │ ├── Block.h │ │ │ ├── BooleanRedux.h │ │ │ ├── CommaInitializer.h │ │ │ ├── ConditionEstimator.h │ │ │ ├── CoreEvaluators.h │ │ │ ├── CoreIterators.h │ │ │ ├── CwiseBinaryOp.h │ │ │ ├── CwiseNullaryOp.h │ │ │ ├── CwiseTernaryOp.h │ │ │ ├── CwiseUnaryOp.h │ │ │ ├── CwiseUnaryView.h │ │ │ ├── DenseBase.h │ │ │ ├── DenseCoeffsBase.h │ │ │ ├── DenseStorage.h │ │ │ ├── Diagonal.h │ │ │ ├── DiagonalMatrix.h │ │ │ ├── DiagonalProduct.h │ │ │ ├── Dot.h │ │ │ ├── EigenBase.h │ │ │ ├── ForceAlignedAccess.h │ │ │ ├── Fuzzy.h │ │ │ ├── GeneralProduct.h │ │ │ ├── GenericPacketMath.h │ │ │ ├── GlobalFunctions.h │ │ │ ├── IO.h │ │ │ ├── Inverse.h │ │ │ ├── Map.h │ │ │ ├── MapBase.h │ │ │ ├── MathFunctions.h │ │ │ ├── MathFunctionsImpl.h │ │ │ ├── Matrix.h │ │ │ ├── MatrixBase.h │ │ │ ├── NestByValue.h │ │ │ ├── NoAlias.h │ │ │ ├── NumTraits.h │ │ │ ├── PermutationMatrix.h │ │ │ ├── PlainObjectBase.h │ │ │ ├── Product.h │ │ │ ├── ProductEvaluators.h │ │ │ ├── Random.h │ │ │ ├── Redux.h │ │ │ ├── Ref.h │ │ │ ├── Replicate.h │ │ │ ├── ReturnByValue.h │ │ │ ├── Reverse.h │ │ │ ├── Select.h │ │ │ ├── SelfAdjointView.h │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ ├── Solve.h │ │ │ ├── SolveTriangular.h │ │ │ ├── SolverBase.h │ │ │ ├── StableNorm.h │ │ │ ├── Stride.h │ │ │ ├── Swap.h │ │ │ ├── Transpose.h │ │ │ ├── Transpositions.h │ │ │ ├── TriangularMatrix.h │ │ │ ├── VectorBlock.h │ │ │ ├── VectorwiseOp.h │ │ │ ├── Visitor.h │ │ │ ├── arch │ │ │ │ ├── AVX │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── AVX512 │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── AltiVec │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── CUDA │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── Half.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── Default │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ └── Settings.h │ │ │ │ ├── NEON │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── SSE │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ └── ZVector │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ ├── functors │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ ├── BinaryFunctors.h │ │ │ │ ├── NullaryFunctors.h │ │ │ │ ├── StlFunctors.h │ │ │ │ ├── TernaryFunctors.h │ │ │ │ └── UnaryFunctors.h │ │ │ ├── products │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ ├── Parallelizer.h │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ └── TriangularSolverVector.h │ │ │ └── util │ │ │ │ ├── BlasUtil.h │ │ │ │ ├── Constants.h │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ ├── MKL_support.h │ │ │ │ ├── Macros.h │ │ │ │ ├── Memory.h │ │ │ │ ├── Meta.h │ │ │ │ ├── NonMPL2.h │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ ├── StaticAssert.h │ │ │ │ └── XprHelper.h │ │ │ ├── Eigenvalues │ │ │ ├── ComplexEigenSolver.h │ │ │ ├── ComplexSchur.h │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ ├── EigenSolver.h │ │ │ ├── GeneralizedEigenSolver.h │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ ├── HessenbergDecomposition.h │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ ├── RealQZ.h │ │ │ ├── RealSchur.h │ │ │ ├── RealSchur_LAPACKE.h │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ └── Tridiagonalization.h │ │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── AngleAxis.h │ │ │ ├── EulerAngles.h │ │ │ ├── Homogeneous.h │ │ │ ├── Hyperplane.h │ │ │ ├── OrthoMethods.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ ├── Translation.h │ │ │ ├── Umeyama.h │ │ │ └── arch │ │ │ │ └── Geometry_SSE.h │ │ │ ├── Householder │ │ │ ├── BlockHouseholder.h │ │ │ ├── Householder.h │ │ │ └── HouseholderSequence.h │ │ │ ├── IterativeLinearSolvers │ │ │ ├── BasicPreconditioners.h │ │ │ ├── BiCGSTAB.h │ │ │ ├── ConjugateGradient.h │ │ │ ├── IncompleteCholesky.h │ │ │ ├── IncompleteLUT.h │ │ │ ├── IterativeSolverBase.h │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ └── SolveWithGuess.h │ │ │ ├── Jacobi │ │ │ └── Jacobi.h │ │ │ ├── LU │ │ │ ├── Determinant.h │ │ │ ├── FullPivLU.h │ │ │ ├── InverseImpl.h │ │ │ ├── PartialPivLU.h │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ └── arch │ │ │ │ └── Inverse_SSE.h │ │ │ ├── MetisSupport │ │ │ └── MetisSupport.h │ │ │ ├── OrderingMethods │ │ │ ├── Amd.h │ │ │ ├── Eigen_Colamd.h │ │ │ └── Ordering.h │ │ │ ├── PaStiXSupport │ │ │ └── PaStiXSupport.h │ │ │ ├── PardisoSupport │ │ │ └── PardisoSupport.h │ │ │ ├── QR │ │ │ ├── ColPivHouseholderQR.h │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ ├── FullPivHouseholderQR.h │ │ │ ├── HouseholderQR.h │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ ├── SPQRSupport │ │ │ └── SuiteSparseQRSupport.h │ │ │ ├── SVD │ │ │ ├── BDCSVD.h │ │ │ ├── JacobiSVD.h │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ ├── SVDBase.h │ │ │ └── UpperBidiagonalization.h │ │ │ ├── SparseCholesky │ │ │ ├── SimplicialCholesky.h │ │ │ └── SimplicialCholesky_impl.h │ │ │ ├── SparseCore │ │ │ ├── AmbiVector.h │ │ │ ├── CompressedStorage.h │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ ├── MappedSparseMatrix.h │ │ │ ├── SparseAssign.h │ │ │ ├── SparseBlock.h │ │ │ ├── SparseColEtree.h │ │ │ ├── SparseCompressedBase.h │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ ├── SparseDenseProduct.h │ │ │ ├── SparseDiagonalProduct.h │ │ │ ├── SparseDot.h │ │ │ ├── SparseFuzzy.h │ │ │ ├── SparseMap.h │ │ │ ├── SparseMatrix.h │ │ │ ├── SparseMatrixBase.h │ │ │ ├── SparsePermutation.h │ │ │ ├── SparseProduct.h │ │ │ ├── SparseRedux.h │ │ │ ├── SparseRef.h │ │ │ ├── SparseSelfAdjointView.h │ │ │ ├── SparseSolverBase.h │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ ├── SparseTranspose.h │ │ │ ├── SparseTriangularView.h │ │ │ ├── SparseUtil.h │ │ │ ├── SparseVector.h │ │ │ ├── SparseView.h │ │ │ └── TriangularSolver.h │ │ │ ├── SparseLU │ │ │ ├── SparseLU.h │ │ │ ├── SparseLUImpl.h │ │ │ ├── SparseLU_Memory.h │ │ │ ├── SparseLU_Structs.h │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ ├── SparseLU_Utils.h │ │ │ ├── SparseLU_column_bmod.h │ │ │ ├── SparseLU_column_dfs.h │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ ├── SparseLU_panel_bmod.h │ │ │ ├── SparseLU_panel_dfs.h │ │ │ ├── SparseLU_pivotL.h │ │ │ ├── SparseLU_pruneL.h │ │ │ └── SparseLU_relax_snode.h │ │ │ ├── SparseQR │ │ │ └── SparseQR.h │ │ │ ├── StlSupport │ │ │ ├── StdDeque.h │ │ │ ├── StdList.h │ │ │ ├── StdVector.h │ │ │ └── details.h │ │ │ ├── SuperLUSupport │ │ │ └── SuperLUSupport.h │ │ │ ├── UmfPackSupport │ │ │ └── UmfPackSupport.h │ │ │ ├── misc │ │ │ ├── Image.h │ │ │ ├── Kernel.h │ │ │ ├── RealSvd2x2.h │ │ │ ├── blas.h │ │ │ ├── lapack.h │ │ │ ├── lapacke.h │ │ │ └── lapacke_mangling.h │ │ │ └── plugins │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ ├── BlockMethods.h │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ └── MatrixCwiseUnaryOps.h │ └── nanoflann │ │ └── nanoflann.hpp └── pybind.cpp ├── datasets ├── README.md ├── __init__.py ├── classification │ ├── __init__.py │ └── modelnet40.py ├── completion │ ├── __init__.py │ └── modelnet.py ├── registration │ ├── __init__.py │ ├── cape │ │ ├── __init__.py │ │ └── cape.py │ ├── deepdeform │ │ ├── __init__.py │ │ └── deepdeform.py │ ├── fourdmatch │ │ ├── __init__.py │ │ ├── fourdmatch.py │ │ └── utils.py │ ├── kitti │ │ ├── __init__.py │ │ └── odometry_kitti.py │ ├── kitti_nuscenes │ │ ├── __init__.py │ │ └── kitti_nuscenes.py │ ├── kitti_odometry │ │ ├── __init__.py │ │ ├── kitti_odometry.py │ │ └── test_data │ │ │ └── pc.npy │ ├── mix_dataset │ │ ├── __init__.py │ │ └── mix_dataset.py │ ├── modelnet │ │ ├── __init__.py │ │ └── modelnet.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── nuscenes.py │ │ ├── nuscenes_t │ │ │ ├── __init__.py │ │ │ ├── can_bus │ │ │ │ ├── README.md │ │ │ │ └── can_bus_api.py │ │ │ ├── eval │ │ │ │ ├── __init__.py │ │ │ │ ├── common │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── config.py │ │ │ │ │ ├── data_classes.py │ │ │ │ │ ├── loaders.py │ │ │ │ │ ├── render.py │ │ │ │ │ └── utils.py │ │ │ │ ├── detection │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── algo.py │ │ │ │ │ ├── config.py │ │ │ │ │ ├── configs │ │ │ │ │ │ └── detection_cvpr_2019.json │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── data_classes.py │ │ │ │ │ ├── evaluate.py │ │ │ │ │ ├── render.py │ │ │ │ │ ├── tests │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── test_algo.py │ │ │ │ │ │ ├── test_data_classes.py │ │ │ │ │ │ ├── test_evaluate.py │ │ │ │ │ │ ├── test_loader.py │ │ │ │ │ │ └── test_utils.py │ │ │ │ │ └── utils.py │ │ │ │ ├── lidarseg │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── evaluate.py │ │ │ │ │ ├── render.py │ │ │ │ │ ├── tests │ │ │ │ │ │ └── __init__.py │ │ │ │ │ ├── utils.py │ │ │ │ │ └── validate_submission.py │ │ │ │ ├── panoptic │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── baselines.py │ │ │ │ │ ├── evaluate.py │ │ │ │ │ ├── get_panoptic_from_seg_det_or_track.py │ │ │ │ │ ├── panoptic_seg_evaluator.py │ │ │ │ │ ├── panoptic_track_evaluator.py │ │ │ │ │ └── utils.py │ │ │ │ ├── prediction │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── baseline_model_inference.py │ │ │ │ │ ├── compute_metrics.py │ │ │ │ │ ├── config.py │ │ │ │ │ ├── configs │ │ │ │ │ │ └── predict_2020_icra.json │ │ │ │ │ ├── data_classes.py │ │ │ │ │ ├── docker_container │ │ │ │ │ │ ├── README.md │ │ │ │ │ │ └── docker │ │ │ │ │ │ │ ├── Dockerfile │ │ │ │ │ │ │ └── docker-compose.yml │ │ │ │ │ ├── metrics.py │ │ │ │ │ ├── splits.py │ │ │ │ │ ├── submission │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── do_inference.py │ │ │ │ │ │ └── extra_packages.txt │ │ │ │ │ └── tests │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── test_dataclasses.py │ │ │ │ │ │ └── test_metrics.py │ │ │ │ └── tracking │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── algo.py │ │ │ │ │ ├── configs │ │ │ │ │ └── tracking_nips_2019.json │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── data_classes.py │ │ │ │ │ ├── evaluate.py │ │ │ │ │ ├── loaders.py │ │ │ │ │ ├── metrics.py │ │ │ │ │ ├── mot.py │ │ │ │ │ ├── render.py │ │ │ │ │ ├── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── scenarios.py │ │ │ │ │ ├── test_algo.py │ │ │ │ │ └── test_evaluate.py │ │ │ │ │ └── utils.py │ │ │ ├── lidarseg │ │ │ │ ├── __init__.py │ │ │ │ ├── class_histogram.py │ │ │ │ └── lidarseg_utils.py │ │ │ ├── map_expansion │ │ │ │ ├── __init__.py │ │ │ │ ├── arcline_path_utils.py │ │ │ │ ├── bitmap.py │ │ │ │ ├── map_api.py │ │ │ │ ├── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_all_maps.py │ │ │ │ │ └── test_arcline_path_utils.py │ │ │ │ └── utils.py │ │ │ ├── nuscenes.py │ │ │ ├── panoptic │ │ │ │ ├── __init__.py │ │ │ │ ├── generate_panoptic_labels.py │ │ │ │ └── panoptic_utils.py │ │ │ ├── prediction │ │ │ │ ├── __init__.py │ │ │ │ ├── helper.py │ │ │ │ ├── input_representation │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents.py │ │ │ │ │ ├── combinators.py │ │ │ │ │ ├── interface.py │ │ │ │ │ ├── static_layers.py │ │ │ │ │ ├── tests │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── test_agents.py │ │ │ │ │ │ ├── test_combinators.py │ │ │ │ │ │ ├── test_static_layers.py │ │ │ │ │ │ └── test_utils.py │ │ │ │ │ └── utils.py │ │ │ │ ├── models │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── backbone.py │ │ │ │ │ ├── covernet.py │ │ │ │ │ ├── mtp.py │ │ │ │ │ └── physics.py │ │ │ │ └── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── run_covernet.py │ │ │ │ │ ├── run_image_generation.py │ │ │ │ │ ├── run_mtp.py │ │ │ │ │ ├── test_backbone.py │ │ │ │ │ ├── test_covernet.py │ │ │ │ │ ├── test_mtp.py │ │ │ │ │ ├── test_mtp_loss.py │ │ │ │ │ ├── test_physics_models.py │ │ │ │ │ └── test_predict_helper.py │ │ │ ├── scripts │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── export_2d_annotations_as_json.py │ │ │ │ ├── export_egoposes_on_map.py │ │ │ │ ├── export_instance_videos.py │ │ │ │ ├── export_kitti.py │ │ │ │ ├── export_pointclouds_as_obj.py │ │ │ │ ├── export_poses.py │ │ │ │ └── export_scene_videos.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── assert_download.py │ │ │ │ ├── test_lidarseg.py │ │ │ │ ├── test_nuscenes.py │ │ │ │ └── test_predict_helper.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── color_map.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── data_io.py │ │ │ │ ├── geometry_utils.py │ │ │ │ ├── kitti.py │ │ │ │ ├── map_mask.py │ │ │ │ ├── splits.py │ │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_data_classes.py │ │ │ │ ├── test_geometry_utils.py │ │ │ │ └── test_map_mask.py │ │ └── options.py │ ├── redwood │ │ ├── __init__.py │ │ └── redwood.py │ ├── rgbdscenes │ │ ├── __init__.py │ │ └── rgbdscenes.py │ ├── scannet_urr │ │ ├── __init__.py │ │ └── scannet_urr.py │ ├── sevenscenes │ │ ├── __init__.py │ │ └── sevenscenes_hard.py │ ├── shapenet │ │ ├── __init__.py │ │ └── shapenet.py │ ├── threedmatch │ │ ├── __init__.py │ │ ├── threedmatch.py │ │ ├── threedmatch_rgb.py │ │ └── threedmatch_utils.py │ └── threedmatch_urr │ │ ├── __init__.py │ │ └── threedmatch_urr.py └── segmentation │ ├── __init__.py │ ├── s3dis.py │ ├── s3dis_voxelized.py │ ├── shapenetpart.py │ └── utils.py ├── engine ├── __init__.py ├── base_tester.py ├── base_trainer.py ├── batch_tester.py ├── checkpoint.py ├── context_manager.py ├── epoch_based_trainer.py ├── iter_based_trainer.py ├── single_tester.py └── utils.py ├── layers ├── __init__.py ├── basic_layers │ ├── __init__.py │ ├── builder.py │ ├── depthwise_conv.py │ ├── monte_carlo_dropout.py │ ├── norm.py │ ├── separable_conv.py │ └── utils.py ├── conv_block.py ├── edge_conv.py ├── embedding.py ├── feature_propagate.py ├── kpconv.py ├── kpconv_utils │ ├── __init__.py │ ├── dispositions │ │ ├── k_015_center_3D.ply │ │ ├── k_020_center_3D.ply │ │ └── k_030_center_3D.ply │ └── kernel_points.py ├── nonrigid_icp.py ├── pointnet.py ├── pointnet2.py ├── residual_block.py ├── sinkhorn.py ├── transformer.py ├── unary_block.py ├── vector_neurons.py ├── weighted_procrustes.py └── xconv.py ├── loss ├── __init__.py ├── as_rigid_as_possible_loss.py ├── chamfer_distance.py ├── circle_loss.py ├── focal_loss.py ├── hardest_contrastive_loss.py ├── orthogonal_loss.py ├── smooth_ce_loss.py ├── transformation_loss.py └── weighted_bce_loss.py ├── metrics ├── __init__.py ├── accuracy.py ├── iou.py └── part_iou.py ├── models ├── __init__.py ├── backbone │ ├── __init__.py │ └── kpconv_fpn.py ├── cofinet │ ├── __init__.py │ ├── node_matching.py │ └── node_proposal.py ├── contrib │ └── __init__.py ├── d3feat │ ├── __init__.py │ ├── detection_score.py │ └── loss.py ├── fcgf │ ├── __init__.py │ └── modules.py ├── foldingnet │ ├── __init__.py │ └── foldingnet.py ├── geotransformer │ ├── __init__.py │ ├── adaptive_superpoint_matching.py │ ├── geometric_structure_embedding.py │ ├── geometric_transformer.py │ ├── geometric_transformer_lite.py │ ├── local_global_registration.py │ ├── local_global_registration_duplicate_removal.py │ ├── local_global_registration_threshold.py │ ├── point_matching.py │ ├── spatial_consistency_filtering.py │ ├── superpoint_matching_global_topk.py │ ├── superpoint_matching_mutual_topk.py │ └── superpoint_proposal.py ├── graph_pyramid │ ├── __init__.py │ ├── calibrate_neighbors.py │ └── graph_pyramid.py ├── pat │ ├── __init__.py │ ├── functional.py │ └── modules.py ├── point_transformer │ ├── __init__.py │ └── modules.py ├── pointnet │ ├── __init__.py │ └── modules.py ├── pointnet2 │ ├── __init__.py │ └── modules.py ├── predator │ ├── __init__.py │ ├── loss.py │ └── modules.py ├── pri3d │ ├── __init__.py │ ├── resnet.py │ └── resunet.py ├── siamese_transformer │ ├── __init__.py │ └── vanilla_siamese_transformer.py └── urr │ ├── __init__.py │ ├── matching.py │ ├── registration.py │ └── render.py ├── ops ├── __init__.py ├── back_project.py ├── ball_query.py ├── contrib │ └── __init__.py ├── conversion.py ├── correspondences.py ├── cosine_similarity.py ├── deformation_graph.py ├── dual_softmax.py ├── eigenvector.py ├── embedded_deformation.py ├── furthest_point_sample.py ├── gather.py ├── grid_subsample.py ├── group_gather.py ├── index_select.py ├── knn.py ├── knn_interpolate.py ├── knn_points.py ├── local_reference_frame.py ├── masked_ops.py ├── matching.py ├── meshgrid.py ├── metrics.py ├── mutual_topk_select.py ├── nearest_interpolate.py ├── nonrigid_icp_adam.py ├── normal_estimation.py ├── numeric.py ├── pairwise_distance.py ├── point_cloud_partition.py ├── point_pair_feature.py ├── pooling.py ├── radius_search.py ├── random_point_sample.py ├── random_sample.py ├── render.py ├── sample_pdf.py ├── se3.py ├── so3.py ├── spatial_consistency.py ├── three_interpolate.py ├── three_nn.py ├── vector_angle.py ├── volume_render.py ├── voxelize.py └── weighted_procrustes.py └── utils ├── __init__.py ├── average_meter.py ├── collate.py ├── dataloader.py ├── distributed.py ├── io.py ├── logger.py ├── misc.py ├── open3d.py 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