├── .gitignore ├── assets ├── P2P-Bridge.pdf ├── overview.png └── room-denoise.gif ├── configs ├── PVDL_ARKIT.yaml ├── PVDL_SNPP.yaml └── PVDS_PUNet.yaml ├── data ├── extract_image_features_snpp.py ├── preprocess_batches.py ├── processing │ ├── image_features.py │ └── utils.py ├── readme.md ├── requirements_data.txt └── scannetpp │ ├── README.md │ ├── __init__.py │ ├── common │ ├── configs │ │ └── render.yml │ ├── file_io.py │ ├── render.py │ ├── scene_release.py │ └── utils │ │ ├── colmap.py │ │ ├── nerfstudio.py │ │ ├── rle.py │ │ └── utils.py │ ├── dslr │ ├── configs │ │ ├── downscale.yml │ │ ├── undistort.yml │ │ └── undistort_colmap.yml │ ├── downscale.py │ ├── undistort.py │ └── undistort_colmap.py │ ├── eval │ ├── lpips │ │ ├── lpips.py │ │ ├── networks.py │ │ └── utils.py │ ├── nvs.py │ └── ssim.py │ ├── img │ └── teaser.jpg │ ├── iphone │ ├── arkit_pcl.py │ ├── configs │ │ └── prepare_iphone_data.yml │ ├── prepare_iphone_data.py │ ├── process_dataset.py │ ├── read_write_model.py │ └── visualize_model.py │ ├── requirements.txt │ └── semantic │ ├── configs │ ├── eval_instance.yml.template │ ├── eval_semantic.yml.template │ ├── prepare_semantic_gt.yml.template │ └── prepare_training_data.yml.template │ ├── eval │ ├── eval_instance.py │ └── eval_semantic.py │ ├── prep │ ├── map_semantic.py │ ├── prepare_semantic_gt.py │ └── prepare_training_data.py │ ├── transforms │ ├── common.py │ ├── factory.py │ └── mesh.py │ └── utils │ ├── confmat.py │ └── instance_utils.py ├── dataloaders ├── __init__.py ├── arkitscenes.py ├── dataloader.py ├── punet.py ├── scannetpp.py └── utils.py ├── denoise_object.py ├── denoise_room.py ├── evaluate_objects.py ├── evaluate_rooms.py ├── install.sh ├── metrics ├── PyTorchEMD │ ├── README.md │ ├── __init__.py │ ├── cuda │ │ ├── emd.cpp │ │ └── emd_kernel.cu │ ├── emd.py │ ├── emd_nograd.py │ ├── setup.py │ └── test_emd_loss.py ├── __init__.py ├── chamfer3D │ ├── __init__.py │ ├── chamfer3D.cu │ ├── chamfer_cuda.cpp │ ├── dist_chamfer_3D.py │ └── setup.py ├── emd_assignment │ ├── __init__.py │ ├── emd_assignment │ │ ├── emd.cpp │ │ ├── emd_cuda.cu │ │ └── emd_module.py │ ├── emd_module.py │ └── setup.py ├── evaluation_metrics_fast.py ├── metrics.py └── p2m.py ├── models ├── __init__.py ├── evaluation.py ├── loss.py ├── model_loader.py ├── modules.py ├── p2pb.py ├── pvcnn.py ├── train_utils.py └── unet_pvc.py ├── readme.md ├── requirements.txt ├── requirements_full.txt ├── scripts ├── denoise_arkit.sh └── denoise_snpp.sh ├── splits ├── snpp_test.txt ├── snpp_train.txt └── snpp_val.txt ├── test.xyz ├── tester.ipynb ├── third_party ├── __init__.py ├── openpoints │ ├── 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.cuh │ │ │ │ ├── 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 │ │ │ │ ├── pvcnn_ball_query.cpp │ │ │ │ ├── pvcnn_ball_query.cuh │ │ │ │ ├── pvcnn_ball_query.hpp │ │ │ │ ├── pvcnn_ball_query_gpu.cu │ │ │ │ ├── pvcnn_grouping.cpp │ │ │ │ ├── pvcnn_grouping.cuh │ │ │ │ ├── pvcnn_grouping.hpp │ │ │ │ ├── pvcnn_grouping_gpu.cu │ │ │ │ ├── pvcnn_neighbor_interpolate.cpp │ │ │ │ ├── pvcnn_neighbor_interpolate.cuh │ │ │ │ ├── pvcnn_neighbor_interpolate.hpp │ │ │ │ ├── pvcnn_neighbor_interpolate_gpu.cu │ │ │ │ ├── pvcnn_sampling.cpp │ │ │ │ ├── pvcnn_sampling.cuh │ │ │ │ ├── pvcnn_sampling.hpp │ │ │ │ ├── pvcnn_sampling_gpu.cu │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ ├── sampling_gpu.h │ │ │ │ ├── trilinear_devox.cpp │ │ │ │ ├── trilinear_devox.cuh │ │ │ │ ├── trilinear_devox.hpp │ │ │ │ ├── trilinear_devox_gpu.cu │ │ │ │ ├── utils.hpp │ │ │ │ ├── vox.cpp │ │ │ │ ├── vox.cuh │ │ │ │ ├── vox.hpp │ │ │ │ └── vox_gpu.cu │ │ ├── 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 │ │ │ │ └── voxelization │ │ │ │ ├── vox.cpp │ │ │ │ ├── vox.cu │ │ │ │ ├── vox.cuh │ │ │ │ └── vox.hpp │ │ └── 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 │ │ │ ├── helper_tool.py │ │ │ ├── label_mapping.yaml │ │ │ ├── preprocess │ │ │ │ └── data_pre.py │ │ │ ├── semantickitti.py │ │ │ └── utils │ │ │ │ ├── 6_fold_cv.py │ │ │ │ ├── cpp_wrappers │ │ │ │ ├── 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 │ │ │ │ ├── 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 │ │ │ ├── debug_invvit.py │ │ │ ├── deepgcn.py │ │ │ ├── dgcnn.py │ │ │ ├── graphvit3d.py │ │ │ ├── grouppointnet.py │ │ │ ├── pct.py │ │ │ ├── pointmlp.py │ │ │ ├── pointnet.py │ │ │ ├── pointnetv2.py │ │ │ ├── pointnext.py │ │ │ ├── pointnextPyG.py │ │ │ ├── pointtransformer.py │ │ │ ├── pointvector.py │ │ │ ├── pointvit.py │ │ │ ├── pointvit_inv.py │ │ │ ├── pointvit_inv_old.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 │ │ │ ├── ball_query.py │ │ │ ├── conv.py │ │ │ ├── devoxelization.py │ │ │ ├── drop.py │ │ │ ├── graph_conv.py │ │ │ ├── group.py │ │ │ ├── group_embed.py │ │ │ ├── helpers.py │ │ │ ├── interpolatation.py │ │ │ ├── kmeans.py │ │ │ ├── knn.py │ │ │ ├── local_aggregation.py │ │ │ ├── mlp.py │ │ │ ├── norm.py │ │ │ ├── padding.py │ │ │ ├── patch_embed.py │ │ │ ├── registry.py │ │ │ ├── sampling.py │ │ │ ├── subsample.py │ │ │ ├── upsampling.py │ │ │ ├── voxelization.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 └── pvcnn │ ├── __init__.py │ ├── ball_query.py │ ├── frustum.py │ ├── functional │ ├── __init__.py │ ├── backend.py │ ├── ball_query.py │ ├── devoxelization.py │ ├── grouping.py │ ├── interpolatation.py │ ├── loss.py │ ├── sampling.py │ ├── src │ │ ├── ball_query │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query.cu │ │ │ ├── ball_query.cuh │ │ │ └── ball_query.hpp │ │ ├── bindings.cpp │ │ ├── cuda_utils.cuh │ │ ├── grouping │ │ │ ├── grouping.cpp │ │ │ ├── grouping.cu │ │ │ ├── grouping.cuh │ │ │ └── grouping.hpp │ │ ├── interpolate │ │ │ ├── neighbor_interpolate.cpp │ │ │ ├── neighbor_interpolate.cu │ │ │ ├── neighbor_interpolate.cuh │ │ │ ├── neighbor_interpolate.hpp │ │ │ ├── trilinear_devox.cpp │ │ │ ├── trilinear_devox.cu │ │ │ ├── trilinear_devox.cuh │ │ │ └── trilinear_devox.hpp │ │ ├── sampling │ │ │ ├── sampling.cpp │ │ │ ├── sampling.cu │ │ │ ├── sampling.cuh │ │ │ └── sampling.hpp │ │ ├── utils.hpp │ │ └── voxelization │ │ │ ├── vox.cpp │ │ │ ├── vox.cu │ │ │ ├── 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