├── .coveragerc ├── .devcontainer ├── Dockerfile.cpu ├── Dockerfile.gpu ├── devcontainer.json └── setup.sh ├── .dockerignore ├── .github └── workflows │ ├── codeql-analysis.yml │ ├── docker_push.yaml │ ├── pypi_publish.yaml │ └── pythonapp.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CHANGELOG.md ├── LICENSE.md ├── Makefile ├── README.md ├── benchmark ├── SpatioTemporalSegmentation │ ├── RSCNN_MSN.md │ ├── Res16UNet34C │ ├── scannet2cmRes16UNet34C.txt │ └── scannet5cmRes16UNet34C.txt ├── s3dis_fold5 │ ├── Pointnet2_original.md │ └── RSConv_2LD.md └── shapenet │ ├── pointnet2_charlesmsg.md │ ├── pointnet2_original.md │ └── rscnn_original.md ├── conf ├── config.yaml ├── data │ ├── classification │ │ ├── detault.yaml │ │ └── modelnet.yaml │ ├── default.yaml │ ├── object_detection │ │ ├── default.yaml │ │ ├── scannet-fixed.yaml │ │ ├── scannet-sparse.yaml │ │ └── scannet.yaml │ ├── panoptic │ │ ├── default.yaml │ │ ├── s3disfused.yaml │ │ └── scannet-sparse.yaml │ ├── registration │ │ ├── default.yaml │ │ ├── eth2_base.yaml │ │ ├── eth_base.yaml │ │ ├── fragment3dmatch.yaml │ │ ├── fragment3dmatch_dense.yaml │ │ ├── fragment3dmatch_partial.yaml │ │ ├── fragment3dmatch_sparse.yaml │ │ ├── fragment3dmatch_sparse_ss.yaml │ │ ├── fragment3dmatch_sparse_ss_base_test.yaml │ │ ├── fragmentkitti_sparse.yaml │ │ ├── modelnet_sparse_ss.yaml │ │ ├── patch3dmatch.yaml │ │ ├── test3dmatch.yaml │ │ ├── test3dmatch_sparse.yaml │ │ ├── testeth.yaml │ │ ├── testkaist.yaml │ │ ├── testplanetary.yaml │ │ ├── testtum.yaml │ │ └── testtum_ss.yaml │ └── segmentation │ │ ├── default.yaml │ │ ├── s3dis1x1.yaml │ │ ├── s3disfused-addones.yaml │ │ ├── s3disfused-fixed.yaml │ │ ├── s3disfused-sparse.yaml │ │ ├── s3disfused.yaml │ │ ├── scannet-fixed.yaml │ │ ├── scannet-pvcnn.yaml │ │ ├── scannet-sparse.yaml │ │ ├── scannet-sparse_rot_one.yaml │ │ ├── scannet.yaml │ │ ├── semanticKitti-sparse.yaml │ │ ├── semanticKitti.yaml │ │ ├── shapenet-fixed.yaml │ │ ├── shapenet.yaml │ │ └── shapenet_sparse.yaml ├── debugging │ ├── default.yaml │ ├── early_break.yaml │ └── find_neighbour_dist.yaml ├── eval.yaml ├── hydra │ ├── job_logging │ │ └── custom.yaml │ └── output │ │ └── custom.yaml ├── lr_scheduler │ ├── cosine.yaml │ ├── cyclic.yaml │ ├── exponential.yaml │ ├── multi_step.yaml │ ├── multi_step_reg.yaml │ ├── plateau.yaml │ ├── poly_lr.yaml │ └── step.yaml ├── models │ ├── default.yaml │ ├── object_detection │ │ ├── votenet.yaml │ │ └── votenet2.yaml │ ├── panoptic │ │ └── pointgroup.yaml │ ├── registration │ │ ├── kpconv.yaml │ │ ├── minkowski.yaml │ │ ├── ms_svconv_base.yaml │ │ ├── pointnet2.yaml │ │ ├── pointnet2_patch.yaml │ │ └── spconv3d.yaml │ └── segmentation │ │ ├── default.yaml │ │ ├── kpconv.yaml │ │ ├── minkowski_baseline.yaml │ │ ├── ms_svconv_base.yaml │ │ ├── pointcnn.yaml │ │ ├── pointnet.yaml │ │ ├── pointnet2.yaml │ │ ├── ppnet.yaml │ │ ├── pvcnn.yaml │ │ ├── randlanet.yaml │ │ ├── rsconv.yaml │ │ └── sparseconv3d.yaml ├── sota.yaml ├── task │ ├── classification.yaml │ ├── default.yaml │ ├── object_detection.yaml │ ├── panoptic.yaml │ ├── registration.yaml │ └── segmentation.yaml ├── training │ ├── default.yaml │ ├── default_reg.yaml │ ├── kpconv.yaml │ ├── kpconv_reg.yaml │ ├── minkowski_scannet.yaml │ ├── pointgroup.yaml │ ├── ppnet.yaml │ ├── pvcnn.yaml │ ├── s3dis_benchmark │ │ ├── kpconv.yaml │ │ ├── minkowski.yaml │ │ ├── pointnet2.yaml │ │ └── rsconv.yaml │ ├── scannet_benchmark │ │ ├── kpconv.yaml │ │ ├── minkowski.yaml │ │ ├── pointnet2.yaml │ │ └── rsconv.yaml │ ├── sparse_fragment_reg.yaml │ ├── sparse_fragment_reg_finetune.yaml │ └── votenet.yaml └── visualization │ ├── default.yaml │ └── eval.yaml ├── docker ├── Dockerfile ├── Dockerfile.cpu ├── Dockerfile.gpu ├── build.sh ├── install_python.sh └── install_system.sh ├── docs ├── .python-version ├── Makefile ├── conf.py ├── imgs │ ├── Dashboard_demo.gif │ ├── classification.png │ ├── find_runs.PNG │ ├── inference_demo.gif │ ├── logging.png │ ├── objects.png │ ├── panoptic.png │ ├── part_segmentation.png │ ├── pentagram.png │ ├── pyg_batch.PNG │ ├── registration.png │ ├── rs_conv_archi.png │ ├── rs_conv_conv.png │ ├── segmentation.png │ ├── semantic.png │ └── shapenet.png ├── index.rst ├── logo.png ├── logo.svg ├── logo_gen │ ├── Pytorch-points.svg │ ├── Pytorch.3dm │ ├── pytorch-points-gh.png │ └── pytorch_logo.gh ├── requirements.txt └── src │ ├── advanced.rst │ ├── api │ ├── datasets.rst │ ├── filters.rst │ ├── models.rst │ └── transforms.rst │ ├── gettingstarted.rst │ └── tutorials.rst ├── eval.py ├── examples ├── kpconv_classification_forward.py ├── kpconv_segmentation_forward.py ├── pointnet2_classification_forward.py ├── pointnet2_segmentation_forward.py ├── pointnet_segmentation_forward.py └── utils.py ├── find_neighbour_dist.py ├── forward_scripts ├── __init__.py ├── conf │ ├── config.yaml │ └── dataset │ │ └── shapenet.yaml ├── forward.py └── notebooks │ └── viz_shapenet.ipynb ├── mypy.ini ├── notebooks ├── ObjectClassificationRSConv.ipynb ├── PartSegmentationKPConv.ipynb ├── dashboard.ipynb ├── data │ ├── 3DMatch │ │ ├── redkitchen_000.ply │ │ └── redkitchen_010.ply │ └── KITTI │ │ ├── 000000.bin │ │ ├── 000049.bin │ │ ├── 000186.bin │ │ └── 000200.bin ├── demo_registration_3dm.ipynb ├── demo_registration_kitti.ipynb ├── measurement_exploration.ipynb ├── pointgroup_debug.ipynb ├── s3dis_explorer.ipynb ├── scannet_explorer.ipynb ├── scannet_object_explorer.ipynb ├── scannet_panoptic.ipynb ├── semanticKitti.ipynb └── votenet_debug.ipynb ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── scripts ├── cv_s3dis.py ├── datasets │ └── download-scannet.py ├── find_env.py ├── find_runs.py ├── omegaconf2dict.py ├── sanity_check │ └── scannet_check.py ├── switch_cuda.sh ├── test_registration_scripts │ ├── conf │ │ ├── config.yaml │ │ └── fpfh.yaml │ ├── demo_kitti.py │ ├── descriptor_matcher.py │ ├── evaluate.py │ ├── fpfh.py │ ├── misc.py │ ├── save_feature.py │ └── see_matches.py └── visualizations │ ├── __init__.py │ ├── modelnet.py │ ├── o3d_utils.py │ ├── s3dis_panoptic.py │ └── scannet_panoptic.py ├── test ├── __init__.py ├── config_unwrapped_unet_base │ └── test_models.yaml ├── data │ ├── scannet-fixed │ │ ├── config_object_detection.yaml │ │ ├── processed │ │ │ ├── pre_filter.pt │ │ │ ├── pre_transform.pt │ │ │ ├── raw_test │ │ │ │ ├── scene0707_00.pt │ │ │ │ └── scene0708_00.pt │ │ │ ├── raw_train │ │ │ │ ├── scene0191_00.pt │ │ │ │ └── scene0191_01.pt │ │ │ ├── raw_val │ │ │ │ ├── scene0568_00.pt │ │ │ │ └── scene0568_01.pt │ │ │ ├── test.pt │ │ │ ├── train.pt │ │ │ └── val.pt │ │ └── raw │ │ │ ├── metadata │ │ │ ├── scannetv2-labels.combined.tsv │ │ │ ├── scannetv2_test.txt │ │ │ ├── scannetv2_train.txt │ │ │ └── scannetv2_val.txt │ │ │ └── scannetv2-labels.combined.tsv │ ├── scannet │ │ ├── config_segmentation.yaml │ │ ├── processed │ │ │ ├── pre_filter.pt │ │ │ ├── pre_transform.pt │ │ │ ├── raw_test │ │ │ ├── raw_train │ │ │ ├── raw_val │ │ │ ├── test.pt │ │ │ ├── train.pt │ │ │ └── val.pt │ │ └── raw │ └── shapenet │ │ ├── processed │ │ ├── cap_test.pt │ │ ├── cap_train.pt │ │ ├── cap_val.pt │ │ ├── pre_filter.pt │ │ └── pre_transform.pt │ │ ├── raw │ │ └── train_test_split │ │ │ ├── shuffled_test_file_list.json │ │ │ ├── shuffled_train_file_list.json │ │ │ └── shuffled_val_file_list.json │ │ └── shapenet_config.yaml ├── mock_models.py ├── mockdatasets.py ├── test_api.py ├── test_basedataset.py ├── test_basemodel.py ├── test_batch.py ├── test_bn_scheduler.py ├── test_boxstuff.py ├── test_config │ ├── bn_scheduler_config.yaml │ ├── data_config.yaml │ ├── lr_scheduler.yaml │ ├── scannet-panoptic.yaml │ ├── scheduler_config.yaml │ ├── test_resolver_in.yaml │ ├── test_resolver_out.yaml │ ├── training_config.yaml │ └── viz │ │ ├── viz_config_deterministic.yaml │ │ ├── viz_config_indices.yaml │ │ ├── viz_config_non_deterministic.yaml │ │ └── viz_config_save_all.yaml ├── test_confusionMatrix.py ├── test_data │ └── fragment_000003.pt ├── test_dataset │ ├── example1.txt │ └── example2.txt ├── test_dataset_factory.py ├── test_datasets.py ├── test_filter.py ├── test_fps.py ├── test_grid_sampling.py ├── test_ind_tracker.py ├── test_interpolateop.py ├── test_kpconv.py ├── test_losses.py ├── test_lr_scheduler.py ├── test_make_pair.py ├── test_model_checkpoint.py ├── test_models.py ├── test_modules.py ├── test_msdata.py ├── test_msdatapair.py ├── test_normal.py ├── test_panoptictracker.py ├── test_pointgroup.py ├── test_random_cylinder.py ├── test_random_sphere.py ├── test_registration_metrics.py ├── test_registration_tracker.py ├── test_resolver.py ├── test_sampler.py ├── test_samplers.py ├── test_sampling_strategy.py ├── test_segmentationtracker.py ├── test_shapenetforward.py ├── test_shapenetparttracker.py ├── test_sparseconv.py ├── test_sphere_sampling.py ├── test_trainer.py ├── test_transform.py ├── test_unwrapped_unet_base.py ├── test_visualization.py └── utils.py ├── torch_points3d ├── __init__.py ├── applications │ ├── __init__.py │ ├── conf │ │ ├── kpconv │ │ │ ├── encoder_4.yaml │ │ │ └── unet_4.yaml │ │ ├── pointnet2 │ │ │ ├── encoder_3_ms.yaml │ │ │ ├── unet_3_ms.yaml │ │ │ ├── unet_3_ss.yaml │ │ │ └── unet_4_ss.yaml │ │ ├── rsconv │ │ │ ├── encoder_4.yaml │ │ │ └── unet_4.yaml │ │ └── sparseconv3d │ │ │ ├── encoder_2.yaml │ │ │ ├── encoder_4.yaml │ │ │ ├── unet_2.yaml │ │ │ └── unet_4.yaml │ ├── kpconv.py │ ├── minkowski.py │ ├── modelfactory.py │ ├── models.py │ ├── pointnet2.py │ ├── pretrained_api.py │ ├── rsconv.py │ ├── sparseconv3d.py │ └── utils.py ├── core │ ├── __init__.py │ ├── base_conv │ │ ├── __init__.py │ │ ├── base_conv.py │ │ ├── dense.py │ │ ├── message_passing.py │ │ └── partial_dense.py │ ├── common_modules │ │ ├── __init__.py │ │ ├── base_modules.py │ │ ├── dense_modules.py │ │ ├── gathering.py │ │ └── spatial_transform.py │ ├── data_transform │ │ ├── __init__.py │ │ ├── feature_augment.py │ │ ├── features.py │ │ ├── filters.py │ │ ├── grid_transform.py │ │ ├── inference_transforms.py │ │ ├── prebatchcollate.py │ │ ├── precollate.py │ │ ├── sparse_transforms.py │ │ └── transforms.py │ ├── initializer │ │ ├── __init__.py │ │ └── initializer.py │ ├── losses │ │ ├── __init__.py │ │ ├── dirichlet_loss.py │ │ ├── huber_loss.py │ │ ├── losses.py │ │ ├── metric_losses.py │ │ └── panoptic_losses.py │ ├── regularizer │ │ ├── __init__.py │ │ └── regularizers.py │ ├── schedulers │ │ ├── __init__.py │ │ ├── bn_schedulers.py │ │ └── lr_schedulers.py │ └── spatial_ops │ │ ├── __init__.py │ │ ├── interpolate.py │ │ ├── neighbour_finder.py │ │ └── sampling.py ├── datasets │ ├── __init__.py │ ├── base_dataset.py │ ├── batch.py │ ├── classification │ │ ├── __init__.py │ │ └── modelnet.py │ ├── dataset_factory.py │ ├── multiscale_data.py │ ├── object_detection │ │ ├── __init__.py │ │ ├── box_data.py │ │ ├── scannet.py │ │ └── scannet_metadata │ │ │ └── scannet_means.npz │ ├── panoptic │ │ ├── __init__.py │ │ ├── s3dis.py │ │ ├── scannet.py │ │ └── utils.py │ ├── registration │ │ ├── __init__.py │ │ ├── base3dmatch.py │ │ ├── base_kitti.py │ │ ├── base_siamese_dataset.py │ │ ├── basetest.py │ │ ├── detector.py │ │ ├── fusion.py │ │ ├── general3dmatch.py │ │ ├── kitti.py │ │ ├── modelnet.py │ │ ├── pair.py │ │ ├── test3dmatch.py │ │ ├── testeth.py │ │ ├── testkaist.py │ │ ├── testplanetary.py │ │ ├── testtum.py │ │ ├── urls │ │ │ ├── split_test.txt │ │ │ ├── split_train.txt │ │ │ ├── url_7-scenes.txt │ │ │ ├── url_analysis-by-synthesis.txt │ │ │ ├── url_bundlefusion.txt │ │ │ ├── url_rgbd-scenes-v2.txt │ │ │ ├── url_sun3d.txt │ │ │ ├── url_test.txt │ │ │ ├── url_train.txt │ │ │ ├── url_train_small.txt │ │ │ ├── url_train_tiny.txt │ │ │ └── url_val.txt │ │ └── utils.py │ ├── samplers.py │ └── segmentation │ │ ├── __init__.py │ │ ├── forward │ │ ├── __init__.py │ │ └── shapenet.py │ │ ├── kitti_config.py │ │ ├── s3dis.md │ │ ├── s3dis.patch │ │ ├── s3dis.py │ │ ├── scannet.py │ │ ├── semantickitti.py │ │ └── shapenet.py ├── metrics │ ├── __init__.py │ ├── base_tracker.py │ ├── box_detection │ │ ├── __init__.py │ │ └── ap.py │ ├── classification_tracker.py │ ├── colored_tqdm.py │ ├── confusion_matrix.py │ ├── meters.py │ ├── model_checkpoint.py │ ├── object_detection_tracker.py │ ├── panoptic_tracker.py │ ├── registration_metrics.py │ ├── registration_tracker.py │ ├── s3dis_tracker.py │ ├── scannet_segmentation_tracker.py │ ├── segmentation_helpers.py │ ├── segmentation_tracker.py │ └── shapenet_part_tracker.py ├── models │ ├── __init__.py │ ├── base_architectures │ │ ├── __init__.py │ │ ├── backbone.py │ │ └── unet.py │ ├── base_model.py │ ├── model_factory.py │ ├── model_interface.py │ ├── object_detection │ │ ├── __init__.py │ │ ├── votenet.py │ │ └── votenet2.py │ ├── panoptic │ │ ├── __init__.py │ │ ├── pointgroup.py │ │ └── structures.py │ ├── registration │ │ ├── base.py │ │ ├── kpconv.py │ │ ├── minkowski.py │ │ ├── ms_svconv3d.py │ │ ├── pointnet.py │ │ ├── pointnet2.py │ │ └── spconv3d.py │ └── segmentation │ │ ├── __init__.py │ │ ├── base.py │ │ ├── kpconv.py │ │ ├── minkowski.py │ │ ├── ms_svconv3d.py │ │ ├── pointcnn.py │ │ ├── pointnet.py │ │ ├── pointnet2.py │ │ ├── ppnet.py │ │ ├── pvcnn.py │ │ ├── randlanet.py │ │ ├── rsconv.py │ │ └── sparseconv3d.py ├── modules │ ├── KPConv │ │ ├── __init__.py │ │ ├── blocks.py │ │ ├── convolution_ops.py │ │ ├── kernel_utils.py │ │ ├── kernels.py │ │ ├── kernels │ │ │ └── dispositions │ │ │ │ └── k_015_center.ply │ │ ├── losses.py │ │ └── plyutils.py │ ├── MinkowskiEngine │ │ ├── __init__.py │ │ ├── api_modules.py │ │ ├── common.py │ │ ├── modules.py │ │ ├── networks.py │ │ ├── res16unet.py │ │ └── resunet.py │ ├── PPNet │ │ ├── __init__.py │ │ ├── blocks.py │ │ └── ops.py │ ├── PVCNN │ │ ├── blocks.py │ │ ├── pvcnn.py │ │ └── utils.py │ ├── PointCNN │ │ ├── __init__.py │ │ └── modules.py │ ├── PointNet │ │ ├── __init__.py │ │ └── modules.py │ ├── RSConv │ │ ├── __init__.py │ │ ├── dense.py │ │ ├── message_passing.py │ │ └── original_model.txt │ ├── RandLANet │ │ ├── __init__.py │ │ └── modules.py │ ├── SparseConv3d │ │ ├── __init__.py │ │ ├── modules.py │ │ └── nn │ │ │ ├── __init__.py │ │ │ ├── minkowski.py │ │ │ └── torchsparse.py │ ├── VoteNet │ │ ├── __init__.py │ │ ├── dense_samplers.py │ │ ├── loss_helper.py │ │ ├── proposal_module.py │ │ ├── votenet_results.py │ │ └── voting_module.py │ ├── __init__.py │ └── pointnet2 │ │ ├── __init__.py │ │ ├── dense.py │ │ └── message_passing.py ├── trainer.py ├── utils │ ├── __init__.py │ ├── box_utils.py │ ├── colors.py │ ├── config.py │ ├── debugging_vars.py │ ├── download.py │ ├── enums.py │ ├── geometry.py │ ├── mock.py │ ├── model_building_utils │ │ ├── activation_resolver.py │ │ ├── model_definition_resolver.py │ │ └── resolver_utils.py │ ├── o3d_utils.py │ ├── registration.py │ ├── running_stats.py │ ├── timer.py │ ├── transform_utils.py │ └── wandb_utils.py └── visualization │ ├── __init__.py │ ├── experiment_manager.py │ └── visualizer.py └── train.py /.coveragerc: 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