├── .gitignore ├── LICENSE ├── README.md ├── completion ├── .gitignore ├── LICENSE ├── README.md ├── __init__.py ├── cfgs │ ├── __init__.py │ ├── ecg.yaml │ ├── pcn.yaml │ └── vrcnet.yaml ├── data │ └── .gitignore ├── dataset.py ├── images │ ├── complete_pcds.gif │ ├── intro.png │ ├── modules.png │ ├── mvp.png │ ├── overview.png │ └── partial_pcds.gif ├── model_utils.py ├── models │ ├── __init__.py │ ├── ecg.py │ ├── pcn.py │ └── vrcnet.py ├── requirements.txt ├── run_test.sh ├── run_train.sh ├── test.py ├── train.py ├── train_utils.py └── vis_utils.py ├── images ├── complete_pcds.gif ├── logo.png └── partial_pcds.gif ├── registration ├── .gitignore ├── README.md ├── cfgs │ ├── dcp.yaml │ ├── deepgmr.yaml │ └── idam.yaml ├── data │ └── .gitignore ├── dataset.py ├── images │ ├── registration.png │ ├── registration_black.png │ └── registration_raw.png ├── model_utils.py ├── models │ ├── dcp.py │ ├── deepgmr.py │ └── idam.py ├── run_test.sh ├── run_train.sh ├── test.py ├── train.py ├── train_utils.py └── visu_utils.py ├── setup.sh └── utils ├── __init__.py ├── metrics ├── CD │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── __init__.py │ ├── chamfer3D │ │ ├── .gitignore │ │ ├── chamfer3D.cu │ │ ├── chamfer_cuda.cpp │ │ ├── dist_chamfer_3D.py │ │ ├── run_build.sh │ │ └── setup.py │ ├── chamfer_python.py │ ├── fscore.py │ └── unit_test.py ├── EMD │ ├── .gitignore │ ├── CDEMD.png │ ├── README.md │ ├── __init__.py │ ├── clean.sh │ ├── emd.cpp │ ├── emd_cuda.cu │ ├── emd_module.py │ ├── run_build.sh │ ├── run_compile.sh │ └── setup.py └── __init__.py └── mm3d_pn2 ├── .gitignore ├── __init__.py ├── ops ├── __init__.py ├── ball_query │ ├── __init__.py │ ├── ball_query.py │ └── src │ │ ├── ball_query.cpp │ │ └── ball_query_cuda.cu ├── furthest_point_sample │ ├── __init__.py │ ├── furthest_point_sample.py │ ├── points_sampler.py │ ├── src │ │ ├── furthest_point_sample.cpp │ │ └── furthest_point_sample_cuda.cu │ └── utils.py ├── gather_points │ ├── __init__.py │ ├── gather_points.py │ └── src │ │ ├── gather_points.cpp │ │ └── gather_points_cuda.cu ├── group_points │ ├── __init__.py │ ├── group_points.py │ └── src │ │ ├── group_points.cpp │ │ └── group_points_cuda.cu ├── interpolate │ ├── __init__.py │ ├── src │ │ ├── interpolate.cpp │ │ ├── three_interpolate_cuda.cu │ │ └── three_nn_cuda.cu │ ├── three_interpolate.py │ └── three_nn.py ├── iou3d │ ├── __init__.py │ ├── iou3d_utils.py │ └── src │ │ ├── iou3d.cpp │ │ └── iou3d_kernel.cu ├── knn │ ├── __init__.py │ ├── knn.py │ └── src │ │ ├── knn.cpp │ │ └── knn_cuda.cu ├── norm.py ├── paconv │ ├── __init__.py │ ├── assign_score.py │ ├── paconv.py │ ├── src │ │ ├── assign_score_withk.cpp │ │ └── assign_score_withk_cuda.cu │ └── utils.py ├── pointnet_modules │ ├── __init__.py │ ├── builder.py │ ├── point_fp_module.py │ └── point_sa_module.py ├── roiaware_pool3d │ ├── __init__.py │ ├── points_in_boxes.py │ ├── roiaware_pool3d.py │ └── src │ │ ├── points_in_boxes_cpu.cpp │ │ ├── points_in_boxes_cuda.cu │ │ ├── roiaware_pool3d.cpp │ │ └── roiaware_pool3d_kernel.cu ├── sparse_block.py ├── spconv │ ├── __init__.py │ ├── conv.py │ ├── functional.py │ ├── include │ │ ├── paramsgrid.h │ │ ├── prettyprint.h │ │ ├── pybind11_utils.h │ │ ├── spconv │ │ │ ├── fused_spconv_ops.h │ │ │ ├── geometry.h │ │ │ ├── indice.cu.h │ │ │ ├── indice.h │ │ │ ├── maxpool.h │ │ │ ├── mp_helper.h │ │ │ ├── point2voxel.h │ │ │ ├── pool_ops.h │ │ │ ├── reordering.cu.h │ │ │ ├── reordering.h │ │ │ └── spconv_ops.h │ │ ├── tensorview │ │ │ ├── helper_kernel.cu.h │ │ │ ├── helper_launch.h │ │ │ └── tensorview.h │ │ ├── torch_utils.h │ │ └── utility │ │ │ └── timer.h │ ├── modules.py │ ├── ops.py │ ├── pool.py │ ├── src │ │ ├── all.cc │ │ ├── indice.cc │ │ ├── indice_cuda.cu │ │ ├── maxpool.cc │ │ ├── maxpool_cuda.cu │ │ ├── reordering.cc │ │ └── reordering_cuda.cu │ ├── structure.py │ └── test_utils.py └── voxel │ ├── __init__.py │ ├── scatter_points.py │ ├── src │ ├── scatter_points_cpu.cpp │ ├── 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