├── .gitignore ├── README.md ├── benchmark ├── __init__.py ├── evaluate_human_instances.py ├── evaluate_mhp.py ├── util.py ├── util_3d_human_instance.py └── util_3d_mhp.py ├── conf ├── __init__.py ├── augmentation │ ├── albumentations_aug.yaml │ └── volumentations_aug.yaml ├── callbacks │ ├── callbacks_instance_segmentation.yaml │ └── callbacks_instance_segmentation_human.yaml ├── config_base_instance_segmentation.yaml ├── data │ ├── collation_functions │ │ └── voxelize_collate.yaml │ ├── data_loaders │ │ └── simple_loader.yaml │ ├── datasets │ │ ├── egobody.yaml │ │ └── synthetic_humans.yaml │ └── indoor.yaml ├── logging │ └── full.yaml ├── loss │ ├── set_criterion.yaml │ └── set_criterion_hp.yaml ├── matcher │ └── hungarian_matcher.yaml ├── metrics │ └── miou.yaml ├── model │ ├── mask3d.yaml │ └── mask3d_hp.yaml ├── optimizer │ └── adamw.yaml ├── scheduler │ └── onecyclelr.yaml └── trainer │ └── trainer600.yaml ├── datasets ├── preprocessing │ ├── base_preprocessing.py │ └── humanseg_preprocessing.py ├── random_cuboid.py ├── semseg.py └── utils.py ├── docs └── assets │ └── teaser.jpg ├── download_checkpoints.sh ├── environment.yaml ├── main.py ├── models ├── __init__.py ├── criterion.py ├── criterion_hp.py ├── mask3d.py ├── mask3d_hp.py ├── matcher.py ├── metrics │ ├── __init__.py │ ├── confusionmatrix.py │ └── metrics.py ├── misc.py ├── model.py ├── modules │ ├── 3detr_helpers.py │ ├── __init__.py │ ├── common.py │ ├── helpers_3detr.py │ ├── resnet_block.py │ └── senet_block.py ├── position_embedding.py ├── res16unet.py ├── resnet.py ├── resunet.py └── wrapper.py ├── occlusion_subsets ├── split_test_occlusion_high.txt ├── split_test_occlusion_low.txt └── split_test_occlusion_mid.txt ├── scripts ├── eval │ ├── eval_human3d.sh │ └── eval_mask3d.sh └── train │ ├── train_human3d.sh │ └── train_mask3d.sh ├── 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 ├── trainer ├── __init__.py └── trainer.py └── utils ├── __init__.py ├── gradflow_check.py ├── kfold.py ├── pc_visualizations.py ├── point_cloud_utils.py ├── pointops2 ├── __init__.py ├── functions │ ├── __init__.py │ ├── pointops.py │ ├── pointops2.py │ ├── pointops_ablation.py │ ├── test_attention_op_step1.py │ ├── test_attention_op_step1_v2.py │ ├── test_attention_op_step2.py │ ├── test_relative_pos_encoding_op_step1.py │ ├── test_relative_pos_encoding_op_step1_v2.py │ ├── test_relative_pos_encoding_op_step1_v3.py │ ├── test_relative_pos_encoding_op_step2.py │ └── test_relative_pos_encoding_op_step2_v2.py ├── setup.py └── src │ ├── __init__.py │ ├── aggregation │ ├── aggregation_cuda.cpp │ ├── aggregation_cuda_kernel.cu │ └── aggregation_cuda_kernel.h │ ├── attention │ ├── attention_cuda.cpp │ ├── attention_cuda_kernel.cu │ └── attention_cuda_kernel.h │ ├── attention_v2 │ ├── attention_cuda_kernel_v2.cu │ ├── attention_cuda_kernel_v2.h │ └── attention_cuda_v2.cpp │ ├── cuda_utils.h │ ├── grouping │ ├── grouping_cuda.cpp │ ├── grouping_cuda_kernel.cu │ └── grouping_cuda_kernel.h │ ├── interpolation │ ├── interpolation_cuda.cpp │ ├── interpolation_cuda_kernel.cu │ └── interpolation_cuda_kernel.h │ ├── knnquery │ ├── knnquery_cuda.cpp │ ├── knnquery_cuda_kernel.cu │ └── knnquery_cuda_kernel.h │ ├── pointops_api.cpp │ ├── rpe │ ├── relative_pos_encoding_cuda.cpp │ ├── relative_pos_encoding_cuda_kernel.cu │ └── relative_pos_encoding_cuda_kernel.h │ ├── rpe_v2 │ ├── relative_pos_encoding_cuda_kernel_v2.cu │ ├── relative_pos_encoding_cuda_kernel_v2.h │ └── relative_pos_encoding_cuda_v2.cpp │ ├── sampling │ 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