├── LICENSE ├── README.md ├── dataset └── README.md ├── doc └── teaser.jpg ├── kitti ├── image_sets │ ├── test.txt │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── kitti_object.py ├── kitti_util.py ├── prepare_data.py └── rgb_detections │ ├── rgb_detection_train.txt │ └── rgb_detection_val.txt ├── mayavi ├── kitti_sample_scan.txt ├── mayavi_install.sh ├── test_drawline.py └── viz_util.py ├── models ├── frustum_pointnets_v1.py ├── frustum_pointnets_v2.py ├── model_util.py ├── pointnet_util.py ├── tf_ops │ ├── 3d_interpolation │ │ ├── interpolate.cpp │ │ ├── tf_interpolate.cpp │ │ ├── tf_interpolate.py │ │ ├── tf_interpolate_compile.sh │ │ ├── tf_interpolate_op_test.py │ │ └── visu_interpolation.py │ ├── grouping │ │ ├── compile.sh │ │ ├── query_ball_point.cpp │ │ ├── query_ball_point.cu │ │ ├── query_ball_point_block.cu │ │ ├── query_ball_point_grid.cu │ │ ├── selection_sort.cpp │ │ ├── selection_sort.cu │ │ ├── selection_sort_const.cu │ │ ├── test_knn.py │ │ ├── tf_grouping.cpp │ │ ├── tf_grouping.py │ │ ├── tf_grouping_compile.sh │ │ ├── tf_grouping_g.cu │ │ └── tf_grouping_op_test.py │ └── sampling │ │ ├── tf_sampling.cpp │ │ ├── tf_sampling.py │ │ ├── tf_sampling_compile.sh │ │ └── tf_sampling_g.cu └── tf_util.py ├── scripts ├── command_prep_data.sh ├── command_test_v1.sh ├── command_test_v2.sh ├── command_train_v1.sh └── command_train_v2.sh ├── sunrgbd ├── README.md ├── sunrgbd_data │ ├── box3d_dimensions.pickle │ ├── cluster_box3d.py │ ├── matlab │ │ ├── README.txt │ │ ├── SUNRGBDtoolbox │ │ │ ├── README.txt │ │ │ ├── demo.m │ │ │ ├── draw │ │ │ │ ├── drawRoom.m │ │ │ │ ├── drawSeg.m │ │ │ │ ├── draw_square_3d.m │ │ │ │ ├── myObjectColor.m │ │ │ │ ├── plotcube.m │ │ │ │ ├── vis_cube.m │ │ │ │ ├── vis_line.m │ │ │ │ ├── vis_point_cloud.m │ │ │ │ └── visulize_wholeroom.m │ │ │ ├── extract_rgbd_data.m │ │ │ ├── getSequenceName.m │ │ │ ├── jsonlab │ │ │ │ ├── AUTHORS.txt │ │ │ │ ├── ChangeLog.txt │ │ │ │ ├── LICENSE_BSD.txt │ │ │ │ ├── README.txt │ │ │ │ ├── jsonopt.m │ │ │ │ ├── loadjson.m │ │ │ │ ├── loadubjson.m │ │ │ │ ├── mergestruct.m │ │ │ │ ├── savejson.m │ │ │ │ ├── saveubjson.m │ │ │ │ └── varargin2struct.m │ │ │ ├── mBB │ │ │ │ ├── PolygonClip.dll │ │ │ │ ├── PolygonClip.mexa64 │ │ │ │ ├── PolygonClip.mexmaci64 │ │ │ │ ├── bb3dOverlapCloseForm.m │ │ │ │ ├── create_bounding_box_3d.m │ │ │ │ ├── cuboidIntersectionVolume.c │ │ │ │ ├── cuboidIntersectionVolume.mexa64 │ │ │ │ ├── cuboidIntersectionVolume.mexmaci64 │ │ │ │ ├── cuboidVolume.m │ │ │ │ ├── get_corners_of_bb3d.m │ │ │ │ ├── project3dPtsTo2d.m │ │ │ │ └── projectStructBbsTo2d.m │ │ │ ├── order_basis.m │ │ │ ├── readData │ │ │ │ ├── read3dPoints.m │ │ │ │ └── read_3d_pts_general.m │ │ │ ├── readframeSUNRGBD.m │ │ │ └── utils │ │ │ │ ├── file2string.m │ │ │ │ └── findsubstring.m │ │ └── detection │ │ │ ├── benchmark_groundtruth.m │ │ │ ├── computePRCurve3D.m │ │ │ ├── extract_gt_boxes.m │ │ │ ├── get_average_precision.m │ │ │ └── script_3Deval.m │ ├── sunrgbd_data.py │ └── utils.py └── sunrgbd_detection │ ├── ap_curves │ ├── figure_1.png │ ├── figure_10.png │ ├── figure_2.png │ ├── figure_3.png │ ├── figure_4.png │ ├── figure_5.png │ ├── figure_6.png │ ├── figure_7.png │ ├── figure_8.png │ └── figure_9.png │ ├── compare_matlab_and_python_eval.py │ ├── eval_det.py │ ├── evaluate.py │ ├── frustum_pointnets_v1_sunrgbd.py │ ├── gt_boxes │ ├── bathtub_gt_boxes.dat │ ├── bathtub_gt_imgids.txt │ ├── bed_gt_boxes.dat │ ├── bed_gt_imgids.txt │ ├── bookshelf_gt_boxes.dat │ ├── bookshelf_gt_imgids.txt │ ├── chair_gt_boxes.dat │ ├── chair_gt_imgids.txt │ ├── desk_gt_boxes.dat │ ├── desk_gt_imgids.txt │ ├── dresser_gt_boxes.dat │ ├── dresser_gt_imgids.txt │ ├── night_stand_gt_boxes.dat │ ├── night_stand_gt_imgids.txt │ ├── sofa_gt_boxes.dat │ ├── sofa_gt_imgids.txt │ ├── table_gt_boxes.dat │ ├── table_gt_imgids.txt │ ├── toilet_gt_boxes.dat │ └── toilet_gt_imgids.txt │ ├── model_util_sunrgbd.py │ ├── roi_seg_box3d_dataset.py │ ├── test_one_hot.py │ ├── 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