├── .gitignore ├── LICENSE ├── README.md ├── asset ├── illustrate.drawio.png ├── illustrate_only_intutive.drawio.png ├── pt.png └── visualization.drawio.png ├── configs ├── default_runtime.py └── grounding │ └── proxy-tiblock33-gs12-wbias-ddr0.6-clip.py ├── embodiedscan ├── converter │ ├── extract_occupancy_ann.py │ ├── generate_image_3rscan.py │ └── generate_image_scannet.py ├── datasets │ ├── __init__.py │ ├── embodiedscan_dataset.py │ ├── mv_3dvg_dataset.py │ ├── mv_3dvg_dataset_optimized.py │ └── transforms │ │ ├── __init__.py │ │ ├── augmentation.py │ │ ├── formatting.py │ │ ├── loading.py │ │ ├── multiview.py │ │ ├── points.py │ │ ├── saving.py │ │ └── test_time_aug.py ├── eval │ ├── __init__.py │ ├── indoor_eval.py │ └── metrics │ │ ├── __init__.py │ │ ├── det_metric.py │ │ ├── grounding_metric.py │ │ └── occupancy_metric.py ├── explorer.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ └── mink_resnet.py │ ├── data_preprocessors │ │ ├── __init__.py │ │ ├── data_preprocessor.py │ │ ├── utils.py │ │ └── voxelize.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── fcaf3d_head.py │ │ ├── grounding_head.py │ │ └── imvoxel_occ_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── dense_fusion_occ.cpython-310.pyc │ │ │ ├── embodied_det3d.cpython-310.pyc │ │ │ ├── embodied_occ.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder_old.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder_preshape.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder_preshape_cat.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder_preshape_debug.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder_preshape_global.cpython-310.pyc │ │ │ ├── sparse_featfusion_grounder_visualize.cpython-310.pyc │ │ │ └── sparse_featfusion_single_stage.cpython-310.pyc │ │ ├── dense_fusion_occ.py │ │ ├── embodied_det3d.py │ │ ├── embodied_occ.py │ │ ├── sparse_featfusion_grounder.py │ │ └── sparse_featfusion_grounder_preshape.py │ ├── layers │ │ ├── __init__.py │ │ ├── ema.py │ │ ├── fusion_layers │ │ │ ├── __init__.py │ │ │ └── point_fusion.py │ │ └── ground_transformer │ │ │ ├── __init__.py │ │ │ └── decoder.py │ ├── losses │ │ ├── __init__.py │ │ ├── chamfer_distance.py │ │ ├── gaussian_offset_loss.py │ │ ├── match_cost.py │ │ ├── occ_loss.py │ │ ├── reduce_loss.py │ │ └── rotated_iou_loss.py │ ├── necks │ │ ├── __init__.py │ │ ├── channel_mapper.py │ │ ├── imvoxel_neck.py │ │ ├── mink_neck.py │ │ ├── preshape_norm_reverse_drop.py │ │ └── transformer.py │ ├── task_modules │ │ ├── __init__.py │ │ ├── anchor │ │ │ ├── __init__.py │ │ │ └── anchor_3d_generator.py │ │ └── assigners │ │ │ ├── __init__.py │ │ │ ├── hungarian_assigner.py │ │ │ └── hungarian_assigner_gpu.py │ └── test_time_augs │ │ ├── __init__.py │ │ └── merge_augs.py ├── registry.py ├── runner │ ├── __init__.py │ └── loops.py ├── structures │ ├── __init__.py │ ├── bbox_3d │ │ ├── __init__.py │ │ ├── base_box3d.py │ │ ├── box_3d_mode.py │ │ ├── coord_3d_mode.py │ │ ├── custom_box3d_overlap.py │ │ ├── euler_box3d.py │ │ ├── euler_depth_box3d.py │ │ └── utils.py │ ├── ops │ │ ├── __init__.py │ │ ├── box_np_ops.py │ │ ├── iou3d_calculator.py │ │ └── transforms.py │ └── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py ├── tutorial.ipynb ├── utils │ ├── __init__.py │ ├── array_converter.py │ ├── default_color_map.py │ ├── dist_utils.py │ ├── line_mesh.py │ └── shared_mem_utils.py ├── visualization │ ├── __init__.py │ ├── color_selector.py │ ├── continuous_drawer.py │ ├── default_color_map.py │ ├── full_color_map.txt │ ├── img_drawer.py │ ├── line_mesh.py │ └── utils.py └── visualizer │ ├── README.md │ ├── __init__.py │ └── base_visualizer.py ├── install.py ├── requirements ├── base.txt ├── embodiedscan │ ├── converter │ │ ├── extract_occupancy_ann.py │ │ ├── generate_image_3rscan.py │ │ └── generate_image_scannet.py │ ├── datasets │ │ ├── __init__.py │ │ ├── embodiedscan_dataset.py │ │ ├── embodiedscan_dataset_shm.py │ │ ├── mv_3dvg_dataset.py │ │ └── transforms │ │ │ ├── __init__.py │ │ │ ├── augmentation.py │ │ │ ├── formatting.py │ │ │ ├── loading.py │ │ │ ├── multiview.py │ │ │ └── points.py │ ├── eval │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ └── metrics │ │ │ ├── __init__.py │ │ │ ├── det_metric.py │ │ │ ├── grounding_metric.py │ │ │ └── occupancy_metric.py │ ├── explorer.py │ ├── models │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ └── mink_resnet.py │ │ └── data_preprocessors │ │ │ └── data_preprocessor.py │ └── registry.py ├── run.txt └── visual.txt ├── setup.py └── tools ├── eval.py ├── eval_script.py ├── eval_script_portable.py ├── test.py └── train.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pqh22/ProxyTransformation/HEAD/.gitignore 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