├── .gitignore ├── README.md ├── __init__.py ├── analysis ├── __init__.py ├── deepnet_predictions.py ├── utterances.py └── word_meanings.py ├── config └── base.yaml ├── data ├── label_map.json ├── language │ ├── __init__.py │ ├── color_words.json.txt │ ├── nr3d │ │ ├── manually_inspected_bad_contexts.csv │ │ ├── test_scans.txt │ │ └── train_scans.txt │ ├── nr3d_target_class_to_idx.json.txt │ ├── sr3d │ │ ├── manually_inspected_bad_contexts.csv │ │ ├── references_to_human_language.json │ │ ├── semantics │ │ │ ├── instances_that_can_support.json │ │ │ └── instances_that_cannot_be_supported.json │ │ ├── test_scans.txt │ │ └── train_scans.txt │ └── symspell_frequency_dictionary_en_82_765.txt ├── mappings │ ├── nyu_40_classes_enumerated.txt │ ├── referIt3D_merged_instance_classes.json │ ├── scannet_20_benchmark_classes.txt │ ├── scannet_idx_to_semantic_class.json │ └── scannet_instance_class_to_semantic_class.json ├── nr3d.json ├── scan2cad │ ├── bad_mappings.json │ ├── object_oriented_bboxes │ │ ├── object_oriented_bboxes.json │ │ ├── object_oriented_bboxes_aligned_scans.json │ │ └── readme.txt │ └── shapenet_has_front.csv └── scannet │ ├── README.md │ ├── scans_axis_alignment_matrices.json │ └── splits │ └── official │ └── v2 │ ├── scannetv2_train.txt │ └── scannetv2_val.txt ├── external_tools ├── Scan2CAD │ ├── .gitignore │ ├── Assets │ │ ├── download_dataset.py │ │ ├── github-pics │ │ │ ├── alignment.png │ │ │ ├── pair0a.png │ │ │ ├── pair0b.png │ │ │ ├── pair1a.png │ │ │ ├── pair1b.png │ │ │ ├── scannet-color.png │ │ │ ├── scannet-label.png │ │ │ ├── scannet-voxelized.png │ │ │ ├── shapenet-chair-vox.png │ │ │ ├── shapenet-chair.png │ │ │ ├── shapenet-table-vox.png │ │ │ ├── shapenet-table.png │ │ │ ├── shapenet-trashbin-vox.png │ │ │ ├── shapenet-trashbin.png │ │ │ └── teaser.png │ │ ├── output-network │ │ │ └── example │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_0 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_1 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_2 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_3 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_4 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_5 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_6 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ └── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_7 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ ├── scannet-sample │ │ │ └── README.md │ │ ├── scannet-voxelized-sdf-sample │ │ │ └── README.md │ │ ├── shapenet-sample │ │ │ ├── 02747177 │ │ │ │ └── 85d8a1ad55fa646878725384d6baf445 │ │ │ │ │ └── models │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ ├── 03001627 │ │ │ │ ├── 235c8ef29ef5fc5bafd49046c1129780 │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ ├── 2c03bcb2a133ce28bb6caad47eee6580 │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ ├── b4371c352f96c4d5a6fee8e2140acec9 │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ └── bdc892547cceb2ef34dedfee80b7006 │ │ │ │ │ ├── images │ │ │ │ │ └── texture0.jpg │ │ │ │ │ └── models │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ ├── 04379243 │ │ │ │ └── 142060f848466cad97ef9a13efb5e3f7 │ │ │ │ │ ├── images │ │ │ │ │ └── texture0.jpg │ │ │ │ │ └── models │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ └── README.md │ │ ├── shapenet-voxelized-df-sample │ │ │ ├── 02747177 │ │ │ │ └── 85d8a1ad55fa646878725384d6baf445__0__.df │ │ │ ├── 03001627 │ │ │ │ ├── 235c8ef29ef5fc5bafd49046c1129780__0__.df │ │ │ │ ├── 2c03bcb2a133ce28bb6caad47eee6580__0__.df │ │ │ │ ├── b4371c352f96c4d5a6fee8e2140acec9__0__.df │ │ │ │ └── bdc892547cceb2ef34dedfee80b7006__0__.df │ │ │ ├── 04379243 │ │ │ │ └── 142060f848466cad97ef9a13efb5e3f7__0__.df │ │ │ └── README.md │ │ └── training-data │ │ │ ├── CAD-heatmaps-sample │ │ │ └── README.md │ │ │ ├── scan-centers-sample │ │ │ └── README.md │ │ │ └── trainset.json │ ├── LICENSE.txt │ ├── Network │ │ ├── base │ │ │ ├── CSVHelper.py │ │ │ ├── ExtendBox │ │ │ │ ├── ExtendBox.cpp │ │ │ │ └── makefile │ │ │ ├── JSONHelper.py │ │ │ ├── Vox.py │ │ │ ├── error_metrics.py │ │ │ ├── kernels.py │ │ │ ├── loss_container.py │ │ │ ├── nms.py │ │ │ ├── pytorch_dataloader.py │ │ │ ├── sample_loader.py │ │ │ ├── user_query.py │ │ │ └── util.py │ │ └── pytorch │ │ │ ├── HeatmapStatistics.py │ │ │ ├── IsMatchStatistics.py │ │ │ ├── README.md │ │ │ ├── SaveOutput.py │ │ │ ├── custom_dataloader.py │ │ │ ├── dataloader.py │ │ │ ├── losses.py │ │ │ ├── main.py │ │ │ ├── model.py │ │ │ └── run.sh │ ├── README.md │ └── Routines │ │ ├── AlignmentHeatmap │ │ ├── CMakeLists.txt │ │ ├── Grid.h │ │ ├── MatrixLib │ │ │ ├── Base.props │ │ │ ├── MatrixLib.vcxproj │ │ │ ├── MatrixLib.vcxproj.filters │ │ │ ├── MatrixLibInclude.h │ │ │ ├── MatrixLibSerialization.h │ │ │ ├── main.cpp │ │ │ ├── matrix_structures │ │ │ │ ├── Mat2.h │ │ │ │ ├── Mat3.h │ │ │ │ ├── Mat4.h │ │ │ │ ├── MatrixOperations.h │ │ │ │ ├── MatrixStructuresInclude.h │ │ │ │ ├── Vec2.h │ │ │ │ ├── Vec3.h │ │ │ │ ├── Vec4.h │ │ │ │ ├── VecArrays.h │ │ │ │ └── VecX.h │ │ │ ├── pose_structures │ │ │ │ ├── AffineIncrement.h │ │ │ │ ├── AffinePose.h │ │ │ │ ├── Pose.h │ │ │ │ ├── PoseAliases.h │ │ │ │ ├── PoseArrays.h │ │ │ │ ├── PoseCommon.h │ │ │ │ ├── PoseIncrement.h │ │ │ │ ├── PoseOperations.h │ │ │ │ ├── PoseProcessing.h │ │ │ │ ├── PoseStructuresInclude.h │ │ │ │ ├── RigidPose.h │ │ │ │ ├── SE3.h │ │ │ │ ├── SO3.h │ │ │ │ └── UnitQuaternion.h │ │ │ ├── stdafx.cpp │ │ │ ├── stdafx.h │ │ │ ├── targetver.h │ │ │ └── utils │ │ │ │ ├── Constants.h │ │ │ │ ├── LibIncludeCPU.h │ │ │ │ ├── Math.h │ │ │ │ ├── Promotion.h │ │ │ │ ├── Serialization.h │ │ │ │ ├── SoAConversions.h │ │ │ │ ├── SoloIncludeCPU.cpp │ │ │ │ ├── SoloIncludeCPU.h │ │ │ │ ├── SoloSupport.h │ │ │ │ └── VectorMath.h │ │ ├── main-new.cpp │ │ ├── main-refractor.cpp │ │ ├── main.cpp │ │ └── run.sh │ │ ├── Base │ │ ├── Colormap.h │ │ ├── LoaderMesh.h │ │ ├── LoaderVOX.h │ │ ├── SE3.h │ │ ├── args.hxx │ │ ├── tiny_obj_loader.h │ │ ├── tinyply.cpp │ │ └── tinyply.h │ │ ├── CropCentered │ │ ├── Box.h │ │ ├── CropCentered.cpp │ │ ├── main.cpp │ │ └── makefile │ │ ├── DFGen │ │ ├── array1.h │ │ ├── array2.h │ │ ├── array3.h │ │ ├── config.h │ │ ├── hashgrid.h │ │ ├── hashtable.h │ │ ├── main.cpp │ │ ├── makefile │ │ ├── makelevelset3.cpp │ │ ├── makelevelset3.h │ │ ├── util.h │ │ └── vec.h │ │ ├── Keypoints2Grid │ │ ├── Keypoints2Grid.cpp │ │ └── makefile │ │ ├── Script │ │ ├── Alignment2Mesh.py │ │ ├── Alignment9DoF.py │ │ ├── Annotation2Mesh.py │ │ ├── CADVoxelization.py │ │ ├── CSVHelper.py │ │ ├── EvaluateBenchmark.py │ │ ├── GenerateCorrespondences.py │ │ ├── JSONHelper.py │ │ ├── Parameters.json │ │ ├── SE3.py │ │ ├── dummy_alignment.csv │ │ ├── example_annotation.json │ │ └── requirements.txt │ │ └── Vox2Mesh │ │ ├── Box3D.h │ │ ├── main.cpp │ │ └── makefile ├── __init__.py ├── pointnet2 │ ├── README.txt │ ├── _ext_src │ │ ├── include │ │ │ ├── ball_query.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.h │ │ │ ├── interpolate.h │ │ │ ├── sampling.h │ │ │ └── utils.h │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── bindings.cpp │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── sampling.cpp │ │ │ └── sampling_gpu.cu │ ├── pointnet2_modules.py │ ├── pointnet2_test.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ └── setup.py └── tempt │ ├── Scan2CAD │ ├── .gitignore │ ├── Assets │ │ ├── download_dataset.py │ │ ├── output-network │ │ │ └── example │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_0 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_1 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_2 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_3 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_4 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_5 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_6 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ │ │ └── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_7 │ │ │ │ ├── gt-match.txt │ │ │ │ ├── gt-scale.txt │ │ │ │ ├── predict-match.txt │ │ │ │ └── predict-scale.txt │ │ ├── scannet-sample │ │ │ └── README.md │ │ ├── scannet-voxelized-sdf-sample │ │ │ └── README.md │ │ ├── shapenet-sample │ │ │ ├── 02747177 │ │ │ │ └── 85d8a1ad55fa646878725384d6baf445 │ │ │ │ │ └── models │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ ├── 03001627 │ │ │ │ ├── 235c8ef29ef5fc5bafd49046c1129780 │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ ├── 2c03bcb2a133ce28bb6caad47eee6580 │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ ├── b4371c352f96c4d5a6fee8e2140acec9 │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ └── bdc892547cceb2ef34dedfee80b7006 │ │ │ │ │ ├── images │ │ │ │ │ └── texture0.jpg │ │ │ │ │ └── models │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ ├── 04379243 │ │ │ │ └── 142060f848466cad97ef9a13efb5e3f7 │ │ │ │ │ ├── images │ │ │ │ │ └── texture0.jpg │ │ │ │ │ └── models │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ └── README.md │ │ ├── shapenet-voxelized-df-sample │ │ │ ├── 02747177 │ │ │ │ └── 85d8a1ad55fa646878725384d6baf445__0__.df │ │ │ ├── 03001627 │ │ │ │ ├── 235c8ef29ef5fc5bafd49046c1129780__0__.df │ │ │ │ ├── 2c03bcb2a133ce28bb6caad47eee6580__0__.df │ │ │ │ ├── b4371c352f96c4d5a6fee8e2140acec9__0__.df │ │ │ │ └── bdc892547cceb2ef34dedfee80b7006__0__.df │ │ │ ├── 04379243 │ │ │ │ └── 142060f848466cad97ef9a13efb5e3f7__0__.df │ │ │ └── README.md │ │ └── training-data │ │ │ ├── CAD-heatmaps-sample │ │ │ └── README.md │ │ │ ├── scan-centers-sample │ │ │ └── README.md │ │ │ └── trainset.json │ ├── LICENSE.txt │ ├── Network │ │ ├── base │ │ │ ├── CSVHelper.py │ │ │ ├── ExtendBox │ │ │ │ ├── ExtendBox.cpp │ │ │ │ └── makefile │ │ │ ├── JSONHelper.py │ │ │ ├── Vox.py │ │ │ ├── error_metrics.py │ │ │ ├── kernels.py │ │ │ ├── loss_container.py │ │ │ ├── nms.py │ │ │ ├── pytorch_dataloader.py │ │ │ ├── sample_loader.py │ │ │ ├── user_query.py │ │ │ └── util.py │ │ └── pytorch │ │ │ ├── HeatmapStatistics.py │ │ │ ├── IsMatchStatistics.py │ │ │ ├── README.md │ │ │ ├── SaveOutput.py │ │ │ ├── custom_dataloader.py │ │ │ ├── dataloader.py │ │ │ ├── losses.py │ │ │ ├── main.py │ │ │ ├── model.py │ │ │ └── run.sh │ ├── README.md │ └── Routines │ │ ├── AlignmentHeatmap │ │ ├── CMakeLists.txt │ │ ├── Grid.h │ │ ├── MatrixLib │ │ │ ├── Base.props │ │ │ ├── MatrixLib.vcxproj │ │ │ ├── MatrixLib.vcxproj.filters │ │ │ ├── MatrixLibInclude.h │ │ │ ├── MatrixLibSerialization.h │ │ │ ├── main.cpp │ │ │ ├── matrix_structures │ │ │ │ ├── Mat2.h │ │ │ │ ├── Mat3.h │ │ │ │ ├── Mat4.h │ │ │ │ ├── MatrixOperations.h │ │ │ │ ├── MatrixStructuresInclude.h │ │ │ │ ├── Vec2.h │ │ │ │ ├── Vec3.h │ │ │ │ ├── Vec4.h │ │ │ │ ├── VecArrays.h │ │ │ │ └── VecX.h │ │ │ ├── pose_structures │ │ │ │ ├── AffineIncrement.h │ │ │ │ ├── AffinePose.h │ │ │ │ ├── Pose.h │ │ │ │ ├── PoseAliases.h │ │ │ │ ├── PoseArrays.h │ │ │ │ ├── PoseCommon.h │ │ │ │ ├── PoseIncrement.h │ │ │ │ ├── PoseOperations.h │ │ │ │ ├── PoseProcessing.h │ │ │ │ ├── PoseStructuresInclude.h │ │ │ │ ├── RigidPose.h │ │ │ │ ├── SE3.h │ │ │ │ ├── SO3.h │ │ │ │ └── UnitQuaternion.h │ │ │ ├── stdafx.cpp │ │ │ ├── stdafx.h │ │ │ ├── targetver.h │ │ │ └── utils │ │ │ │ ├── Constants.h │ │ │ │ ├── LibIncludeCPU.h │ │ │ │ ├── Math.h │ │ │ │ ├── Promotion.h │ │ │ │ ├── Serialization.h │ │ │ │ ├── SoAConversions.h │ │ │ │ ├── SoloIncludeCPU.cpp │ │ │ │ ├── SoloIncludeCPU.h │ │ │ │ ├── SoloSupport.h │ │ │ │ └── VectorMath.h │ │ ├── main-new.cpp │ │ ├── main-refractor.cpp │ │ ├── main.cpp │ │ └── run.sh │ │ ├── Base │ │ ├── Colormap.h │ │ ├── LoaderMesh.h │ │ ├── LoaderVOX.h │ │ ├── SE3.h │ │ ├── args.hxx │ │ ├── tiny_obj_loader.h │ │ ├── tinyply.cpp │ │ └── tinyply.h │ │ ├── CropCentered │ │ ├── Box.h │ │ ├── CropCentered.cpp │ │ ├── main.cpp │ │ └── makefile │ │ ├── DFGen │ │ ├── array1.h │ │ ├── array2.h │ │ ├── array3.h │ │ ├── config.h │ │ ├── hashgrid.h │ │ ├── hashtable.h │ │ ├── main.cpp │ │ ├── makefile │ │ ├── makelevelset3.cpp │ │ ├── makelevelset3.h │ │ ├── util.h │ │ └── vec.h │ │ ├── Keypoints2Grid │ │ ├── Keypoints2Grid.cpp │ │ └── makefile │ │ ├── Script │ │ ├── Alignment2Mesh.py │ │ ├── Alignment9DoF.py │ │ ├── Annotation2Mesh.py │ │ ├── CADVoxelization.py │ │ ├── CSVHelper.py │ │ ├── EvaluateBenchmark.py │ │ ├── GenerateCorrespondences.py │ │ ├── JSONHelper.py │ │ ├── Parameters.json │ │ ├── SE3.py │ │ ├── dummy_alignment.csv │ │ ├── example_annotation.json │ │ └── requirements.txt │ │ └── Vox2Mesh │ │ ├── Box3D.h │ │ ├── main.cpp │ │ └── makefile │ ├── __init__.py │ ├── pointnet2 │ ├── __init__.py │ ├── _ext_src │ │ ├── include │ │ │ ├── ball_query.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.h │ │ │ ├── interpolate.h │ │ │ ├── sampling.h │ │ │ └── utils.h │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── bindings.cpp │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── sampling.cpp │ │ │ └── sampling_gpu.cu │ ├── _version.py │ ├── pointnet2.py │ ├── pointnet2_modules.py │ ├── pointnet2_test.py │ ├── pointnet2_utils.py │ ├── pointnet3.egg-info │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── pytorch_utils.py │ └── setup.py │ └── pointnet2_ │ ├── README.txt │ ├── pointnet2_modules.py │ ├── pointnet2_test.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ └── setup.py ├── fig └── architecture.jpg ├── in_out ├── __init__.py ├── arguments.py ├── cuboid.py ├── data_generation │ ├── __init__.py │ ├── nr3d │ │ ├── __init__.py │ │ ├── stimuli_generation.py │ │ └── tokenization.py │ └── sr3d │ │ ├── __init__.py │ │ ├── allocentric │ │ ├── allocentric_generator.py │ │ └── hp.yml │ │ ├── between │ │ ├── between_generator.py │ │ └── hp.yml │ │ ├── create_sr3d.py │ │ ├── horizontal_proximity │ │ ├── horizontal_generator.py │ │ └── hp.yml │ │ ├── reference.py │ │ ├── reference_generator.py │ │ └── vertical_proximity │ │ ├── hp.yml │ │ └── vertical_generator.py ├── neural_net_oriented.py ├── nr3d.py ├── pt_datasets │ ├── __init__.py │ ├── listening_dataset.py │ └── utils.py ├── scan_2cad.py ├── scannet_scan.py ├── sr3d.py ├── three_d_object.py └── vocabulary.py ├── models ├── MiKASA_transformer.py ├── MiKASA_transformer_utils.py ├── __init__.py ├── fusion_net.py ├── layers.py └── point_net_pp.py ├── scripts ├── prepare_referential_data.py ├── prepare_scannet_data.py └── train_referit3d.py └── utils ├── __init__.py ├── aws.py ├── evaluation.py ├── models_utils.py ├── plotting.py ├── point_clouds.py ├── 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