├── 3rd_party_licenses.txt ├── LICENSE ├── README.md ├── common.py ├── datasets ├── dataset_base_class.py ├── mv_ycb_dataset.py └── ycb │ ├── dataset_config │ ├── classes.txt │ ├── keyframe.txt │ ├── radius.txt │ ├── symmetries.txt │ ├── test_data_list.txt │ ├── train_data_list.txt │ └── train_data_list_real_only.txt │ ├── ycb_dataset.py │ └── ycb_kps │ ├── 002_master_chef_can_8_kps.txt │ ├── 002_master_chef_can_center.txt │ ├── 002_master_chef_can_corners.txt │ ├── 003_cracker_box_8_kps.txt │ ├── 003_cracker_box_corners.txt │ ├── 004_sugar_box_8_kps.txt │ ├── 004_sugar_box_corners.txt │ ├── 005_tomato_soup_can_8_kps.txt │ ├── 005_tomato_soup_can_corners.txt │ ├── 006_mustard_bottle_8_kps.txt │ ├── 006_mustard_bottle_corners.txt │ ├── 007_tuna_fish_can_8_kps.txt │ ├── 007_tuna_fish_can_corners.txt │ ├── 008_pudding_box_8_kps.txt │ ├── 008_pudding_box_corners.txt │ ├── 009_gelatin_box_8_kps.txt │ ├── 009_gelatin_box_corners.txt │ ├── 010_potted_meat_can_8_kps.txt │ ├── 010_potted_meat_can_center.txt │ ├── 010_potted_meat_can_corners.txt │ ├── 011_banana_8_kps.txt │ ├── 011_banana_corners.txt │ ├── 019_pitcher_base_8_kps.txt │ ├── 019_pitcher_base_corners.txt │ ├── 021_bleach_cleanser_8_kps.txt │ ├── 021_bleach_cleanser_corners.txt │ ├── 024_bowl_8_kps.txt │ ├── 024_bowl_center.txt │ ├── 024_bowl_corners.txt │ ├── 025_mug_8_kps.txt │ ├── 025_mug_corners.txt │ ├── 035_power_drill_8_kps.txt │ ├── 035_power_drill_corners.txt │ ├── 036_wood_block_8_kps.txt │ ├── 036_wood_block_center.txt │ ├── 036_wood_block_corners.txt │ ├── 037_scissors_8_kps.txt │ ├── 037_scissors_corners.txt │ ├── 040_large_marker_8_kps.txt │ ├── 040_large_marker_corners.txt │ ├── 051_large_clamp_8_kps.txt │ ├── 051_large_clamp_center.txt │ ├── 051_large_clamp_corners.txt │ ├── 052_extra_large_clamp_8_kps.txt │ ├── 052_extra_large_clamp_center.txt │ ├── 052_extra_large_clamp_corners.txt │ ├── 061_foam_brick_8_kps.txt │ ├── 061_foam_brick_center.txt │ └── 061_foam_brick_corners.txt ├── lightning_train.py ├── models ├── RandLA │ ├── README.md │ ├── RandLANet.py │ ├── __init__.py │ ├── compile_op.sh │ ├── helper_tool.py │ ├── pytorch_utils.py │ ├── test_model.py │ └── utils │ │ ├── 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 │ │ └── nearest_neighbors │ │ ├── KDTreeTableAdaptor.h │ │ ├── knn.cpp │ │ ├── knn.pyx │ │ ├── knn_.cxx │ │ ├── knn_.h │ │ ├── nanoflann.hpp │ │ ├── setup.py │ │ └── test.py ├── SyMFM6D.py ├── __init__.py ├── cnn │ ├── __init__.py │ ├── extractors.py │ └── pspnet.py ├── loss.py └── pytorch_utils.py └── utils ├── __init__.py ├── basic_utils.py ├── batchnorm_scheduler_callback.py ├── find_symmetries.py ├── ip_basic ├── depth_map_utils.py ├── depth_map_utils_ycb.py └── ycb_fill_depth.py 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