├── .gitignore ├── README.md ├── assets └── teaser.png ├── cfg ├── dataset │ └── scannet │ │ ├── split.npz │ │ └── split_cl.npz ├── env │ └── env.yml └── exp │ ├── multi_step │ ├── cl_base.yml │ └── cl_base_novel_viewpoints.yml │ ├── one_step_finetune_nerf │ ├── s00_lr1e-5.yml │ ├── s10_lr1e-5.yml │ ├── s20_lr1e-5.yml │ ├── s30_lr1e-5.yml │ ├── s40_lr1e-5.yml │ ├── s50_lr1e-5.yml │ ├── s60_lr1e-5.yml │ ├── s70_lr1e-5.yml │ ├── s80_lr1e-5.yml │ └── s90_lr1e-5.yml │ ├── one_step_joint │ ├── s00_lr1e-5.yml │ ├── s10_lr1e-5.yml │ ├── s20_lr1e-5.yml │ ├── s30_lr1e-5.yml │ ├── s40_lr1e-5.yml │ ├── s50_lr1e-5.yml │ ├── s60_lr1e-5.yml │ ├── s70_lr1e-5.yml │ ├── s80_lr1e-5.yml │ └── s90_lr1e-5.yml │ └── pretrain_scannet_25k_deeplabv3.yml ├── nr4seg ├── __init__.py ├── dataset │ ├── __init__.py │ ├── create_split.py │ ├── helper.py │ ├── label_loader.py │ ├── ngp_utils.py │ ├── scannet.py │ ├── scannet_cl.py │ ├── scannet_cl_joint.py │ ├── scannet_ngp.py │ └── scannet_ngp_joint.py ├── lightning │ ├── __init__.py │ ├── finetune_data_module.py │ ├── joint_train_data_module.py │ ├── joint_train_lightning_net.py │ ├── pretrain_data_module.py │ └── semantics_lightning_net.py ├── nerf │ ├── __init__.py │ ├── activation.py │ ├── network_tcnn_semantics.py │ ├── raymarching │ │ ├── __init__.py │ │ ├── backend.py │ │ ├── raymarching.py │ │ └── src │ │ │ ├── bindings.cpp │ │ │ ├── pcg32.h │ │ │ ├── raymarching.cu │ │ │ └── raymarching.h │ └── renderer_semantics.py ├── network │ ├── __init__.py │ └── deeplabv3.py ├── utils │ ├── __init__.py │ ├── flatten_dict.py │ ├── get_logger.py │ ├── loading.py │ └── metrics.py └── visualizer │ ├── __init__.py │ ├── colormaps.py │ └── visualizer.py ├── preprocessing_scripts ├── scannet2nerf.py ├── scannet2transform.py └── utils.py ├── requirements.txt ├── run_scripts ├── multi_step.sh ├── one_step_finetune_train.sh ├── one_step_joint_train.sh ├── one_step_nerf_only_train.sh ├── preprocess_scannet.sh └── pretrain.sh ├── scripts ├── cl_deeplab.py ├── 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