├── .gitignore ├── LICENSE ├── README.md ├── data ├── scannet │ ├── scannetv2_val.txt │ └── scans_axis_alignment_matrices.json └── scannet200_constants.py ├── eval ├── eval_nr3d.py ├── eval_scanrefer.py └── utils.py ├── figs ├── arch_1.png ├── logo-seeground.png ├── resized_1.png ├── resized_2.png ├── resized_3.png ├── resized_4.png ├── seeground-icon-3.png ├── teaser.png ├── video15.gif ├── video25.gif ├── video30.gif └── video50.gif ├── inference ├── inference_nr3d.py ├── inference_scanrefer.py ├── projection.py └── utils.py ├── models ├── pcd_classifier.py └── pointnext │ ├── PointNeXt │ ├── .github │ │ └── workflows │ │ │ └── main.yml │ ├── .gitignore │ ├── .gitmodules │ ├── LICENSE │ ├── README.md │ ├── cfgs │ │ ├── default.yaml │ │ ├── modelnet40ply2048 │ │ │ ├── assanet-l.yaml │ │ │ ├── deepgcn.yaml │ │ │ ├── default.yaml │ │ │ ├── pix4point.yaml │ │ │ ├── pointmlp.yaml │ │ │ ├── pointnet++.yaml │ │ │ ├── pointnet++_original.yaml │ │ │ └── pointnext-s.yaml │ │ ├── s3dis │ │ │ ├── assanet-l.yaml │ │ │ ├── assanet.yaml │ │ │ ├── deepgcn.yaml │ │ │ ├── default.yaml │ │ │ ├── dgcnn.yaml │ │ │ ├── pointnet++.yaml │ │ │ ├── pointnet++msg.yaml │ │ │ ├── pointnet.yaml │ │ │ ├── pointnext-b.yaml │ │ │ ├── pointnext-l.yaml │ │ │ ├── pointnext-s.yaml │ │ │ └── pointnext-xl.yaml │ │ ├── s3dis_pix4point │ │ │ ├── default.yaml │ │ │ ├── pix4point.yaml │ │ │ └── pix4point_bert.yaml │ │ ├── scannet │ │ │ ├── ASSANet.yaml │ │ │ ├── default.yaml │ │ │ ├── pointnet++.yaml │ │ │ ├── pointnet++_original.yaml │ │ │ ├── pointnext-b.yaml │ │ │ ├── pointnext-l.yaml │ │ │ ├── pointnext-s.yaml │ │ │ └── pointnext-xl.yaml │ │ ├── scanobjectnn │ │ │ ├── default.yaml │ │ │ ├── dgcnn.yaml │ │ │ ├── pointmlp.yaml │ │ │ ├── pointnet++.yaml │ │ │ ├── pointnet.yaml │ │ │ └── pointnext-s.yaml │ │ ├── scanobjectnn_pix4point │ │ │ ├── default.yaml │ │ │ └── pix4point.yaml │ │ ├── shapenetpart │ │ │ ├── default.yaml │ │ │ ├── pointnext-s.yaml │ │ │ ├── pointnext-s_c160.yaml │ │ │ └── pointnext-s_c64.yaml │ │ └── shapenetpart_pix4point │ │ │ ├── default.yaml │ │ │ └── pix4point.yaml │ ├── docs │ │ ├── changes.md │ │ ├── examples │ │ │ ├── modelnet.md │ │ │ ├── s3dis.md │ │ │ ├── scannet.md │ │ │ ├── scanobjectnn.md │ │ │ └── shapenetpart.md │ │ ├── index.md │ │ ├── misc │ │ │ └── wandb.png │ │ ├── modelzoo.md │ │ └── projects │ │ │ ├── misc │ │ │ ├── effects_training_scaling.png │ │ │ ├── pix4point.png │ │ │ ├── pointnext.jpeg │ │ │ ├── s3dis_vis.png │ │ │ └── shapenetpart_vis.png │ │ │ ├── pix4point.md │ │ │ └── pointnext.md │ ├── examples │ │ ├── __init__.py │ │ ├── classification │ │ │ ├── __init__.py │ │ │ ├── main.py │ │ │ ├── pretrain.py │ │ │ └── train.py │ │ ├── profile.py │ │ ├── segmentation │ │ │ ├── __init__.py │ │ │ ├── main.py │ │ │ ├── test_s3dis_6fold.py │ │ │ └── vis_results.py │ │ └── shapenetpart │ │ │ ├── __init__.py │ │ │ └── main.py │ ├── install.sh │ ├── mkdocs.yml │ ├── openpoints │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── cpp │ │ │ ├── __init__.py │ │ │ ├── chamfer_dist │ │ │ │ ├── __init__.py │ │ │ │ ├── chamfer.cu │ │ │ │ ├── chamfer_cuda.cpp │ │ │ │ ├── setup.py │ │ │ │ └── test.py │ │ │ ├── emd │ │ │ │ ├── .gitignore │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── cuda │ │ │ │ │ ├── emd.cpp │ │ │ │ │ └── emd_kernel.cu │ │ │ │ ├── emd.py │ │ │ │ ├── setup.py │ │ │ │ └── test_emd_loss.py │ │ │ ├── pointnet2_batch │ │ │ │ ├── __init__.py │ │ │ │ ├── setup.py │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── ball_query_gpu.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── group_points_gpu.h │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── interpolate_gpu.h │ │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ ├── sampling_gpu.cu │ │ │ │ │ └── sampling_gpu.h │ │ │ ├── pointops │ │ │ │ ├── __init__.py │ │ │ │ ├── functions │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── pointops.py │ │ │ │ ├── setup.py │ │ │ │ └── src │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── aggregation │ │ │ │ │ ├── aggregation_cuda.cpp │ │ │ │ │ ├── aggregation_cuda_kernel.cu │ │ │ │ │ └── aggregation_cuda_kernel.h │ │ │ │ │ ├── ballquery │ │ │ │ │ ├── ballquery_cuda.cpp │ │ │ │ │ ├── ballquery_cuda_kernel.cu │ │ │ │ │ └── ballquery_cuda_kernel.h │ │ │ │ │ ├── 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 │ │ │ │ │ ├── sampling │ │ │ │ │ ├── sampling_cuda.cpp │ │ │ │ │ ├── sampling_cuda_kernel.cu │ │ │ │ │ └── sampling_cuda_kernel.h │ │ │ │ │ └── subtraction │ │ │ │ │ ├── subtraction_cuda.cpp │ │ │ │ │ ├── subtraction_cuda_kernel.cu │ │ │ │ │ └── subtraction_cuda_kernel.h │ │ │ └── subsampling │ │ │ │ ├── cpp_utils │ │ │ │ ├── cloud │ │ │ │ │ ├── cloud.cpp │ │ │ │ │ └── cloud.h │ │ │ │ └── nanoflann │ │ │ │ │ └── nanoflann.hpp │ │ │ │ ├── grid_subsampling │ │ │ │ ├── grid_subsampling.cpp │ │ │ │ └── grid_subsampling.h │ │ │ │ ├── setup.py │ │ │ │ └── wrapper.cpp │ │ ├── dataset │ │ │ ├── __init__.py │ │ │ ├── atom3d │ │ │ │ ├── __init__.py │ │ │ │ └── psr.py │ │ │ ├── build.py │ │ │ ├── data_util.py │ │ │ ├── datalist.py │ │ │ ├── dataset_base.py │ │ │ ├── graph_dataset │ │ │ │ ├── __init__.py │ │ │ │ ├── graph_dataset.py │ │ │ │ ├── stack_with_pad.py │ │ │ │ ├── structural_dataset.py │ │ │ │ └── svd_encodings_dataset.py │ │ │ ├── grid_sample.py │ │ │ ├── matterport3d │ │ │ │ ├── __init__.py │ │ │ │ ├── category_mapping.tsv │ │ │ │ ├── matterport3d.py │ │ │ │ └── matterport3d_dataprocessing.py │ │ │ ├── modelnet │ │ │ │ ├── __init__.py │ │ │ │ ├── modelnet40_normal_resampled_loader.py │ │ │ │ └── modelnet40_ply_2048_loader.py │ │ │ ├── molhiv │ │ │ │ ├── __init__.py │ │ │ │ └── data.py │ │ │ ├── molpcba │ │ │ │ ├── __init__.py │ │ │ │ └── data.py │ │ │ ├── parsers │ │ │ │ ├── __init__.py │ │ │ │ ├── class_map.py │ │ │ │ ├── constants.py │ │ │ │ ├── parser.py │ │ │ │ ├── parser_factory.py │ │ │ │ ├── parser_image_folder.py │ │ │ │ ├── parser_image_in_tar.py │ │ │ │ ├── parser_image_tar.py │ │ │ │ └── parser_tfds.py │ │ │ ├── pcqm4m │ │ │ │ ├── __init__.py │ │ │ │ └── data.py │ │ │ ├── pcqm4mv2 │ │ │ │ ├── __init__.py │ │ │ │ └── data.py │ │ │ ├── s3dis │ │ │ │ ├── __init__.py │ │ │ │ ├── s3dis.py │ │ │ │ ├── s3dis_block.py │ │ │ │ └── s3dis_sphere.py │ │ │ ├── scannetv2 │ │ │ │ ├── __init__.py │ │ │ │ └── scannet.py │ │ │ ├── scanobjectnn │ │ │ │ ├── __init__.py │ │ │ │ └── scanobjectnn.py │ │ │ ├── semantic_kitti │ │ │ │ ├── __init__.py │ │ │ │ ├── compile_op.sh │ │ │ │ ├── helper_tool.py │ │ │ │ ├── label_mapping.yaml │ │ │ │ ├── preprocess │ │ │ │ │ └── data_pre.py │ │ │ │ ├── semantickitti.py │ │ │ │ └── utils │ │ │ │ │ ├── 6_fold_cv.py │ │ │ │ │ ├── cpp_wrappers │ │ │ │ │ ├── compile_wrappers.sh │ │ │ │ │ ├── cpp_subsampling │ │ │ │ │ │ ├── grid_subsampling │ │ │ │ │ │ │ ├── grid_subsampling.cpp │ │ │ │ │ │ │ └── grid_subsampling.h │ │ │ │ │ │ ├── setup.py │ │ │ │ │ │ └── wrapper.cpp │ │ │ │ │ └── cpp_utils │ │ │ │ │ │ ├── cloud │ │ │ │ │ │ ├── cloud.cpp │ │ │ │ │ │ └── cloud.h │ │ │ │ │ │ └── nanoflann │ │ │ │ │ │ └── nanoflann.hpp │ │ │ │ │ ├── data_prepare_s3dis.py │ │ │ │ │ ├── data_prepare_semantic3d.py │ │ │ │ │ ├── data_prepare_semantickitti.py │ │ │ │ │ ├── download_semantic3d.sh │ │ │ │ │ ├── meta │ │ │ │ │ ├── anno_paths.txt │ │ │ │ │ └── class_names.txt │ │ │ │ │ ├── nearest_neighbors │ │ │ │ │ ├── KDTreeTableAdaptor.h │ │ │ │ │ ├── knn.cpp │ │ │ │ │ ├── knn.pyx │ │ │ │ │ ├── knn_.cxx │ │ │ │ │ ├── knn_.h │ │ │ │ │ ├── nanoflann.hpp │ │ │ │ │ ├── setup.py │ │ │ │ │ └── test.py │ │ │ │ │ └── semantic-kitti.yaml │ │ │ ├── shapenet │ │ │ │ ├── __init__.py │ │ │ │ ├── shapenet55.py │ │ │ │ └── shapenetpart.py │ │ │ ├── shapenetpart │ │ │ │ ├── __init__.py │ │ │ │ ├── shapenet55.py │ │ │ │ └── shapenetpart.py │ │ │ ├── vis2d.py │ │ │ └── vis3d.py │ │ ├── loss │ │ │ ├── __init__.py │ │ │ ├── build.py │ │ │ ├── cross_entropy.py │ │ │ └── distill_loss.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── backbone │ │ │ │ ├── Stratified_transformer.py │ │ │ │ ├── __init__.py │ │ │ │ ├── baafnet.py │ │ │ │ ├── ball_dgcnn.py │ │ │ │ ├── curvenet.py │ │ │ │ ├── deepgcn.py │ │ │ │ ├── dgcnn.py │ │ │ │ ├── graphvit3d.py │ │ │ │ ├── grouppointnet.py │ │ │ │ ├── pct.py │ │ │ │ ├── pointmlp.py │ │ │ │ ├── pointnet.py │ │ │ │ ├── pointnetv2.py │ │ │ │ ├── pointnext.py │ │ │ │ ├── pointnextPyG.py │ │ │ │ ├── pointtransformer.py │ │ │ │ ├── pointvit.py │ │ │ │ ├── randlenet.py │ │ │ │ ├── resnet.py │ │ │ │ ├── simpleview.py │ │ │ │ └── simpleview_util.py │ │ │ ├── build.py │ │ │ ├── classification │ │ │ │ ├── __init__.py │ │ │ │ ├── cls_base.py │ │ │ │ └── point_bert.py │ │ │ ├── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── activation.py │ │ │ │ ├── attention.py │ │ │ │ ├── conv.py │ │ │ │ ├── drop.py │ │ │ │ ├── graph_conv.py │ │ │ │ ├── group.py │ │ │ │ ├── group_embed.py │ │ │ │ ├── helpers.py │ │ │ │ ├── kmeans.py │ │ │ │ ├── knn.py │ │ │ │ ├── local_aggregation.py │ │ │ │ ├── mlp.py │ │ │ │ ├── norm.py │ │ │ │ ├── padding.py │ │ │ │ ├── patch_embed.py │ │ │ │ ├── registry.py │ │ │ │ ├── subsample.py │ │ │ │ ├── upsampling.py │ │ │ │ └── weight_init.py │ │ │ ├── reconstruction │ │ │ │ ├── __init__.py │ │ │ │ ├── base_recontruct.py │ │ │ │ ├── maskedpoint.py │ │ │ │ ├── maskedpointgroup.py │ │ │ │ ├── maskedpointvit.py │ │ │ │ └── nodeshuffle.py │ │ │ ├── registry.py │ │ │ └── segmentation │ │ │ │ ├── __init__.py │ │ │ │ ├── base_seg.py │ │ │ │ └── vit_seg.py │ │ ├── optim │ │ │ ├── __init__.py │ │ │ ├── adabelief.py │ │ │ ├── adafactor.py │ │ │ ├── adahessian.py │ │ │ ├── adamp.py │ │ │ ├── adamw.py │ │ │ ├── lamb.py │ │ │ ├── lars.py │ │ │ ├── lookahead.py │ │ │ ├── madgrad.py │ │ │ ├── nadam.py │ │ │ ├── nvnovograd.py │ │ │ ├── optim_factory.py │ │ │ ├── radam.py │ │ │ ├── rmsprop_tf.py │ │ │ └── sgdp.py │ │ ├── scheduler │ │ │ ├── __init__.py │ │ │ ├── cosine_lr.py │ │ │ ├── multistep_lr.py │ │ │ ├── plateau_lr.py │ │ │ ├── poly_lr.py │ │ │ ├── scheduler.py │ │ │ ├── scheduler_factory.py │ │ │ ├── step_lr.py │ │ │ └── tanh_lr.py │ │ ├── transforms │ │ │ ├── __init__.py │ │ │ ├── point_transform_cpu.py │ │ │ ├── point_transformer_gpu.py │ │ │ └── transforms_factory.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── ckpt_util.py │ │ │ ├── config.py │ │ │ ├── dist_utils.py │ │ │ ├── logger.py │ │ │ ├── metrics.py │ │ │ ├── random.py │ │ │ ├── registry.py │ │ │ ├── str2bool.py │ │ │ └── wandb.py │ ├── requirements.txt │ ├── script │ │ ├── download_s3dis.sh │ │ ├── main_classification.sh │ │ ├── main_partseg.sh │ │ ├── main_segmentation.sh │ │ ├── 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