├── .gitignore ├── README.md ├── configs └── scannet │ └── maft_scannet.yaml ├── data └── scannetv2 │ ├── prepare_data.sh │ ├── prepare_data_inst.py │ ├── prepare_data_inst_gttxt.py │ ├── prepare_data_inst_with_normal.py │ ├── scannet_util.py │ ├── scannetv2-labels.combined.tsv │ ├── scannetv2_test.txt │ ├── scannetv2_train.txt │ ├── scannetv2_val.txt │ └── split_data.py ├── figs └── maft.png ├── lib └── attention_rpe_ops │ ├── __init__.py │ ├── dist │ └── attention_rpe_ops-0.0.0-py3.8-linux-x86_64.egg │ ├── functions │ ├── __init__.py │ ├── attention_rpe_ops.py │ └── test_attention.py │ ├── setup.py │ └── src │ ├── __init__.py │ ├── attention │ ├── attention_cuda.cpp │ ├── attention_cuda_kernel.cu │ └── attention_cuda_kernel.h │ ├── attention_rpe_api.cpp │ └── cuda_utils.h ├── maft ├── dataset │ ├── __init__.py │ └── scannetv2.py ├── evaluation │ ├── __init__.py │ ├── instance_eval.py │ └── instance_eval_util.py ├── lib │ ├── pointgroup_ops │ │ ├── __init__.py │ │ ├── pointgroup_ops.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 │ └── setup.py ├── model │ ├── __init__.py │ ├── attention.py │ ├── attention_rpe.py │ ├── backbone.py │ ├── loss.py │ ├── maft.py │ ├── pc_util.py │ ├── position_embedding.py │ ├── query_decoder.py │ └── transformer.py └── utils │ ├── __init__.py │ ├── checkpoint.py │ ├── logger.py │ ├── mask_encoder.py │ ├── structure.py │ ├── utils.py │ └── 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