├── .github └── workflows │ └── main.yml ├── .gitignore ├── LICENSE ├── README.md ├── cfgs ├── default.yaml ├── modelnet40ply2048 │ ├── README.md │ ├── assanet-l.yaml │ ├── deepgcn.yaml │ ├── default.yaml │ ├── pix4point.yaml │ ├── pointmetabase-s.yaml │ ├── pointmetabase-s_c64.yaml │ ├── pointmlp.yaml │ ├── pointnet++.yaml │ ├── pointnet++_original.yaml │ ├── pointnext-s.yaml │ └── pointnext-s_c64.yaml ├── s3dis │ ├── README.md │ ├── assanet-l.yaml │ ├── assanet.yaml │ ├── deepgcn.yaml │ ├── default.yaml │ ├── dgcnn.yaml │ ├── pointmetabase-l.yaml │ ├── pointmetabase-xl.yaml │ ├── pointmetabase-xxl.yaml │ ├── pointmetabase-xxxl.yaml │ ├── pointmetabaselineepe-l.yaml │ ├── pointmetabaselineepedp-l.yaml │ ├── pointmetabaselinenope-l.yaml │ ├── pointnet++.yaml │ ├── pointnet++msg.yaml │ ├── pointnet.yaml │ ├── pointnext-b.yaml │ ├── pointnext-l.yaml │ ├── pointnext-s.yaml │ └── pointnext-xl.yaml ├── s3dis_sphere_pix4point │ ├── README.md │ ├── default.yaml │ └── pix4point.yaml ├── scannet │ ├── ASSANet.yaml │ ├── README.md │ ├── default.yaml │ ├── pointmetabase-b.yaml │ ├── pointmetabase-l.yaml │ ├── pointmetabase-xl.yaml │ ├── pointmetabase-xxl.yaml │ ├── pointnet++.yaml │ ├── pointnet++_original.yaml │ ├── pointnext-b.yaml │ ├── pointnext-l.yaml │ ├── pointnext-s.yaml │ └── pointnext-xl.yaml ├── scanobjectnn │ ├── README.md │ ├── default.yaml │ ├── dgcnn.yaml │ ├── pointmetabase-s.yaml │ ├── pointmlp.yaml │ ├── pointnet++.yaml │ ├── pointnet.yaml │ ├── pointnext-s.yaml │ ├── pvit.yaml │ └── pvit_finetune.yaml ├── scanobjectnn_pix4point │ ├── README.md │ ├── default.yaml │ └── pvit.yaml ├── shapenetpart │ ├── README.md │ ├── default.yaml │ ├── pointmetabase-s.yaml │ ├── pointmetabase-s_c160.yaml │ ├── pointmetabase-s_c64.yaml │ ├── pointnext-s.yaml │ ├── pointnext-s_c160.yaml │ └── pointnext-s_c64.yaml └── shapenetpart_pix4point │ ├── default.yaml │ └── pix4point.yaml ├── 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 │ └── vis_s3dis_results.py └── shapenetpart │ ├── __init__.py │ └── main.py ├── install.sh ├── misc ├── fig_pareto.jpg └── fig_pointmeta.jpg ├── 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 │ │ ├── pointmetabase.py │ │ ├── pointmetabaselineepe.py │ │ ├── pointmetabaselineepedp.py │ │ ├── pointmetabaselinenope.py │ │ ├── pointmlp.py │ │ ├── pointnet.py │ │ ├── pointnetv2.py │ │ ├── pointnext.py │ │ ├── pointnextPyG.py │ │ ├── pointtransformer.py │ │ ├── pointvit.py │ │ ├── randlenet.py │ │ ├── resnet.py │ │ ├── sfc_vit.py │ │ ├── simpleview.py │ │ ├── simpleview_util.py │ │ └── variable_pointnext.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 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