├── .gitmodules ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── configs ├── point_vox_lidar_template.yaml ├── point_vox_template.yaml ├── point_within_format.yaml └── point_within_lidar_template.yaml ├── criterions ├── __init__.py └── nce_loss_moco.py ├── data ├── README.md ├── redwood │ ├── README.md │ └── extract_pointcloud.py ├── scannet │ ├── README.md │ ├── SensorData.py │ ├── extract_pointcloud.py │ └── reader.py └── waymo │ ├── README.md │ └── extract_pointcloud.py ├── datasets ├── __init__.py ├── collators │ ├── __init__.py │ ├── point_moco_collator.py │ ├── point_vox_moco_collator.py │ ├── point_vox_moco_lidar_collator.py │ └── vox_moco_collator.py ├── depth_dataset.py └── transforms │ ├── augment3d.py │ ├── transforms.py │ └── voxelizer.py ├── imgs └── method.jpg ├── main.py ├── models ├── __init__.py ├── base_ssl3d_model.py └── trunks │ ├── __init__.py │ ├── mlp.py │ ├── pointnet.py │ ├── pointnet2_backbone.py │ ├── smlp.py │ ├── spconv │ ├── lib │ │ └── math_functions.py │ └── models │ │ ├── __init__.py │ │ ├── conditional_random_fields.py │ │ ├── model.py │ │ ├── modules │ │ ├── __init__.py │ │ ├── common.py │ │ ├── resnet_block.py │ │ └── senet_block.py │ │ ├── res16unet.py │ │ ├── resnet.py │ │ ├── resunet.py │ │ └── wrapper.py │ ├── spconv_backbone.py │ └── spconv_unet.py ├── requirements.txt ├── scripts ├── multinode-wrapper.py ├── pretrain_node1.sh ├── pretrain_node4.sh └── singlenode-wrapper.py ├── third_party └── pointnet2 │ ├── _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 └── utils ├── 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