├── .gitignore ├── LICENSE.md ├── README.md ├── config ├── s3dis_COSeg_fs.yaml └── scannetv2_COSeg_fs.yaml ├── datasets ├── S3DIS │ └── meta │ │ └── s3dis_classnames.txt └── ScanNet │ └── meta │ └── scannet_classnames.txt ├── lib ├── cpp_wrappers │ ├── cpp_subsampling │ │ ├── grid_subsampling │ │ │ ├── grid_subsampling.cpp │ │ │ └── grid_subsampling.h │ │ ├── setup.py │ │ └── wrapper.cpp │ └── cpp_utils │ │ ├── cloud │ │ ├── cloud.cpp │ │ └── cloud.h │ │ └── nanoflann │ │ └── nanoflann.hpp ├── pointops │ ├── __init__.py │ ├── functions │ │ ├── __init__.py │ │ └── pointops.py │ ├── setup.py │ └── src │ │ ├── __init__.py │ │ ├── ballquery │ │ ├── ballquery_cuda.cpp │ │ ├── ballquery_cuda_kernel.cu │ │ └── ballquery_cuda_kernel.h │ │ ├── cuda_utils.h │ │ ├── featuredistribute │ │ ├── featuredistribute_cuda.cpp │ │ ├── featuredistribute_cuda_kernel.cu │ │ └── featuredistribute_cuda_kernel.h │ │ ├── grouping │ │ ├── grouping_cuda.cpp │ │ ├── grouping_cuda_kernel.cu │ │ └── grouping_cuda_kernel.h │ │ ├── grouping_int │ │ ├── grouping_int_cuda.cpp │ │ ├── grouping_int_cuda_kernel.cu │ │ └── grouping_int_cuda_kernel.h │ │ ├── interpolation │ │ ├── interpolation_cuda.cpp │ │ ├── interpolation_cuda_kernel.cu │ │ └── interpolation_cuda_kernel.h │ │ ├── knnquery │ │ ├── __init__.py │ │ ├── knnquery_cuda.cpp │ │ ├── knnquery_cuda_kernel.cu │ │ └── knnquery_cuda_kernel.h │ │ ├── knnquery_heap │ │ ├── __init__.py │ │ ├── knnquery_heap_cuda.cpp │ │ ├── knnquery_heap_cuda_kernel.cu │ │ └── knnquery_heap_cuda_kernel.h │ │ ├── labelstat │ │ ├── labelstat_cuda.cpp │ │ ├── labelstat_cuda_kernel.cu │ │ └── labelstat_cuda_kernel.h │ │ ├── pointops_api.cpp │ │ └── sampling │ │ ├── sampling_cuda.cpp │ │ ├── sampling_cuda_kernel.cu │ │ └── sampling_cuda_kernel.h └── pointops2 │ ├── __init__.py │ ├── functions │ ├── __init__.py │ ├── pointops.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 │ ├── 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 │ ├── 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 ├── main_fs.py ├── model ├── common.py ├── label_constants.py ├── mm_fss.py └── stratified_transformer.py ├── preprocess ├── collect_s3dis_data.py ├── collect_scannet_data.py └── room2blocks.py ├── pretraining ├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── before_env.txt ├── config │ └── scannet │ │ ├── ours_lseg_strat.yaml │ │ └── ours_openseg_strat.yaml ├── dataset │ ├── __init__.py │ ├── augmentation.py │ ├── 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