├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── asset └── checkpoints │ └── .gitkeep ├── config ├── params.yml └── visualization.rviz ├── docker ├── Dockerfile ├── build.sh ├── entrypoint.sh ├── exec_container.sh ├── run_container.sh ├── run_once.sh └── vtk.patch ├── launch └── pointcloud_segmentation.launch ├── package.xml ├── requirements.txt ├── script ├── build_deps.sh └── build_deps_py3.sh └── src ├── configs ├── __init__.py ├── qdh.py └── semantic_kitti.py ├── datasets ├── __init__.py ├── base.py ├── qdh.py └── qdh_inference.py ├── models ├── RandLANet.py └── __init__.py ├── ros_helper.py ├── ros_main.py ├── ros_node.py ├── test.py ├── train.py └── utils ├── __init__.py ├── cpp_wrappers ├── compile_wrappers.sh ├── cpp_subsampling │ ├── setup.py │ ├── src │ │ ├── grid_subsampling.cpp │ │ └── grid_subsampling.h │ └── wrapper.cpp └── cpp_utils │ ├── cloud │ ├── cloud.cpp │ └── cloud.h │ └── nanoflann │ └── nanoflann.hpp ├── data_utils.py ├── loss_utils.py ├── meta ├── anno_paths.txt └── class_names.txt ├── nearest_neighbors ├── KDTreeTableAdaptor.h ├── knn.cpp ├── knn.pyx ├── knn_.cxx ├── knn_.h ├── nanoflann.hpp ├── setup.py └── test.py ├── network_utils.py ├── optim.py ├── pytorch_utils.py ├── semantic-kitti.yaml └── timer.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/README.md -------------------------------------------------------------------------------- /asset/checkpoints/.gitkeep: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /config/params.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/config/params.yml -------------------------------------------------------------------------------- /config/visualization.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/config/visualization.rviz -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/Dockerfile -------------------------------------------------------------------------------- /docker/build.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/build.sh -------------------------------------------------------------------------------- /docker/entrypoint.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/entrypoint.sh -------------------------------------------------------------------------------- /docker/exec_container.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/exec_container.sh -------------------------------------------------------------------------------- /docker/run_container.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/run_container.sh -------------------------------------------------------------------------------- /docker/run_once.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/run_once.sh -------------------------------------------------------------------------------- /docker/vtk.patch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/docker/vtk.patch -------------------------------------------------------------------------------- /launch/pointcloud_segmentation.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/launch/pointcloud_segmentation.launch -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/package.xml -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/requirements.txt -------------------------------------------------------------------------------- /script/build_deps.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/script/build_deps.sh -------------------------------------------------------------------------------- /script/build_deps_py3.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/script/build_deps_py3.sh -------------------------------------------------------------------------------- /src/configs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/configs/__init__.py -------------------------------------------------------------------------------- /src/configs/qdh.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/configs/qdh.py -------------------------------------------------------------------------------- /src/configs/semantic_kitti.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/configs/semantic_kitti.py -------------------------------------------------------------------------------- /src/datasets/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/datasets/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/datasets/base.py -------------------------------------------------------------------------------- /src/datasets/qdh.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/datasets/qdh.py -------------------------------------------------------------------------------- /src/datasets/qdh_inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/datasets/qdh_inference.py -------------------------------------------------------------------------------- /src/models/RandLANet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/models/RandLANet.py -------------------------------------------------------------------------------- /src/models/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/ros_helper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/ros_helper.py -------------------------------------------------------------------------------- /src/ros_main.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/ros_main.py -------------------------------------------------------------------------------- /src/ros_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/ros_node.py -------------------------------------------------------------------------------- /src/test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/test.py -------------------------------------------------------------------------------- /src/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/train.py -------------------------------------------------------------------------------- /src/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/compile_wrappers.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/compile_wrappers.sh -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_subsampling/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_subsampling/setup.py -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_subsampling/src/grid_subsampling.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_subsampling/src/grid_subsampling.cpp -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_subsampling/src/grid_subsampling.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_subsampling/src/grid_subsampling.h -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_subsampling/wrapper.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_subsampling/wrapper.cpp -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_utils/cloud/cloud.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_utils/cloud/cloud.cpp -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_utils/cloud/cloud.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_utils/cloud/cloud.h -------------------------------------------------------------------------------- /src/utils/cpp_wrappers/cpp_utils/nanoflann/nanoflann.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/cpp_wrappers/cpp_utils/nanoflann/nanoflann.hpp -------------------------------------------------------------------------------- /src/utils/data_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/data_utils.py -------------------------------------------------------------------------------- /src/utils/loss_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/loss_utils.py -------------------------------------------------------------------------------- /src/utils/meta/anno_paths.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/meta/anno_paths.txt -------------------------------------------------------------------------------- /src/utils/meta/class_names.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/meta/class_names.txt -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/KDTreeTableAdaptor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/KDTreeTableAdaptor.h -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/knn.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/knn.cpp -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/knn.pyx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/knn.pyx -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/knn_.cxx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/knn_.cxx -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/knn_.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/knn_.h -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/nanoflann.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/nanoflann.hpp -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/setup.py -------------------------------------------------------------------------------- /src/utils/nearest_neighbors/test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/nearest_neighbors/test.py -------------------------------------------------------------------------------- /src/utils/network_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/network_utils.py -------------------------------------------------------------------------------- /src/utils/optim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/optim.py -------------------------------------------------------------------------------- /src/utils/pytorch_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/pytorch_utils.py -------------------------------------------------------------------------------- /src/utils/semantic-kitti.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/semantic-kitti.yaml -------------------------------------------------------------------------------- /src/utils/timer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/corenel/ros-randla-net/HEAD/src/utils/timer.py --------------------------------------------------------------------------------