├── .gitignore ├── .gitmodules ├── FAQ.md ├── LICENSE ├── README.md ├── README_zh.md ├── image ├── SegGroup.png └── pseudo_label.png ├── kpconv ├── README.md ├── README_zh.md ├── cpp_wrappers │ ├── compile_wrappers.sh │ ├── cpp_subsampling │ │ ├── grid_subsampling │ │ │ ├── grid_subsampling.cpp │ │ │ └── grid_subsampling.h │ │ ├── setup.py │ │ └── wrapper.cpp │ └── cpp_utils │ │ ├── cloud │ │ ├── cloud.cpp │ │ └── cloud.h │ │ └── nanoflann │ │ └── nanoflann.hpp ├── datasets │ ├── Scannet.py │ ├── Scannet2.py │ └── common.py ├── kernels │ ├── convolution_ops.py │ └── kernel_points.py ├── models │ ├── KPCNN_model.py │ ├── KPFCNN_model.py │ └── network_blocks.py ├── plot_convergence.py ├── test_any_model.py ├── tf_custom_ops │ ├── compile_op.sh │ ├── cpp_utils │ │ ├── cloud │ │ │ ├── cloud.cpp │ │ │ └── cloud.h │ │ └── nanoflann │ │ │ └── nanoflann.hpp │ ├── tf_neighbors │ │ ├── neighbors │ │ │ ├── neighbors.cpp │ │ │ └── neighbors.h │ │ ├── tf_batch_neighbors.cpp │ │ └── tf_neighbors.cpp │ └── tf_subsampling │ │ ├── grid_subsampling │ │ ├── grid_subsampling.cpp │ │ └── grid_subsampling.h │ │ ├── tf_batch_subsampling.cpp │ │ └── tf_subsampling.cpp ├── training_Scannet.py ├── training_Scannet2.py ├── utils │ ├── config.py │ ├── mesh.py │ ├── metrics.py │ ├── ply.py │ ├── tester.py │ ├── trainer.py │ └── visualizer.py ├── visualize_ERFs.py ├── visualize_deformations.py └── visualize_features.py ├── minkowski ├── README.md ├── README_zh.md ├── config.py ├── demo │ └── scannet.py ├── lib │ ├── __init__.py │ ├── dataloader.py │ ├── dataset.py │ ├── datasets │ │ ├── __init__.py │ │ ├── preprocessing │ │ │ ├── scannet.py │ │ │ └── scannet2.py │ │ └── scannet.py │ ├── layers.py │ ├── math_functions.py │ ├── pc_utils.py │ ├── solvers.py │ ├── test.py │ ├── train.py │ ├── transforms.py │ ├── utils.py │ └── voxelizer.py ├── main.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── conditional_random_fields.cpython-37.pyc │ │ ├── model.cpython-37.pyc │ │ ├── res16unet.cpython-37.pyc │ │ ├── resnet.cpython-37.pyc │ │ ├── resunet.cpython-37.pyc │ │ └── wrapper.cpython-37.pyc │ ├── conditional_random_fields.py │ ├── model.py │ ├── modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── common.cpython-37.pyc │ │ │ └── resnet_block.cpython-37.pyc │ │ ├── common.py │ │ ├── resnet_block.py │ │ └── senet_block.py │ ├── res16unet.py │ ├── resnet.py │ ├── resunet.py │ └── wrapper.py ├── scripts │ └── train_scannet.sh ├── splits │ └── scannet │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ ├── scannetv2_trainval.txt │ │ └── scannetv2_val.txt ├── test_scannet.py └── utils.py ├── pointgroup ├── README.md ├── README_zh.md ├── config │ ├── pointgroup_default_scannet.yaml │ ├── pointgroup_run1_scannet.yaml │ └── pointgroup_run2_scannet.yaml ├── data │ └── scannetv2_inst.py ├── dataset │ └── scannetv2 │ │ ├── prepare_data_inst.py │ │ ├── prepare_data_inst2.py │ │ ├── prepare_data_inst_gttxt.py │ │ ├── scannet_util.py │ │ ├── scannetv2-labels.combined.tsv │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ └── scannetv2_val.txt ├── lib │ └── pointgroup_ops │ │ ├── functions │ │ └── pointgroup_ops.py │ │ ├── setup.py │ │ └── src │ │ ├── bfs_cluster │ │ ├── bfs_cluster.cpp │ │ ├── bfs_cluster.cu │ │ └── bfs_cluster.h │ │ ├── cuda.cu │ │ ├── cuda_utils.h │ │ ├── datatype │ │ ├── datatype.cpp │ │ └── datatype.h │ │ ├── get_iou │ │ ├── get_iou.cpp │ │ ├── get_iou.cu │ │ └── get_iou.h │ │ ├── pointgroup_ops.cpp │ │ ├── pointgroup_ops.h │ │ ├── pointgroup_ops_api.cpp │ │ ├── roipool │ │ ├── roipool.cpp │ │ ├── roipool.cu │ │ └── roipool.h │ │ ├── sec_mean │ │ ├── sec_mean.cpp │ │ ├── sec_mean.cu │ │ └── sec_mean.h │ │ └── voxelize │ │ ├── voxelize.cpp │ │ ├── voxelize.cu │ │ └── voxelize.h ├── model │ └── pointgroup │ │ └── pointgroup.py ├── test.py ├── train.py └── util │ ├── config.py │ ├── eval.py │ ├── log.py │ ├── utils.py │ ├── utils_3d.py │ 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