├── README.md ├── demo.py ├── detect.py ├── eval.py ├── kitti ├── __pycache__ │ ├── calibration.cpython-37.pyc │ ├── kitti_dataset.cpython-37.pyc │ ├── kitti_utils.cpython-37.pyc │ ├── kitti_vote_dataset.cpython-37.pyc │ ├── model_util_kitti.cpython-37.pyc │ └── object3d.cpython-37.pyc ├── calibration.py ├── generate_gt_database.py ├── gt_database │ └── train_gt_database_3level_Car.pkl ├── kitti_dataset.py ├── kitti_utils.py ├── kitti_vote_dataset.py ├── model_util_kitti.py ├── object3d.py └── statistic.py ├── kitti_demo_files ├── results │ ├── obbs_gt_box.ply │ ├── obbs_pred_box.ply │ ├── pc_point_cloud.obj │ └── pred_and_gt.png └── train_batch │ ├── obbs_all_boxes_899.ply │ ├── obbs_demo_899.ply │ ├── pc_all_points_899.obj │ ├── pc_centers_899.obj │ ├── pc_demo_899.obj │ ├── pc_point_in_boxes_899.obj │ ├── pc_recovered_center_899.obj │ ├── point1.png │ └── point2.png ├── kitti_log ├── checkpoint.tar └── log_train.txt ├── models ├── __pycache__ │ ├── ap_helper.cpython-35.pyc │ ├── ap_helper.cpython-37.pyc │ ├── backbone_module.cpython-35.pyc │ ├── backbone_module.cpython-37.pyc │ ├── dump_helper.cpython-35.pyc │ ├── dump_helper.cpython-37.pyc │ ├── kitti_ap_helper.cpython-37.pyc │ ├── loss_helper.cpython-35.pyc │ ├── loss_helper.cpython-37.pyc │ ├── proposal_module.cpython-35.pyc │ ├── proposal_module.cpython-37.pyc │ ├── votenet.cpython-35.pyc │ ├── votenet.cpython-37.pyc │ ├── voting_module.cpython-35.pyc │ └── voting_module.cpython-37.pyc ├── ap_helper.py ├── backbone_module.py ├── boxnet.py ├── dump_helper.py ├── kitti_ap_helper.py ├── loss_helper.py ├── loss_helper_boxnet.py ├── proposal_module.py ├── tmp │ ├── 000000_aggregated_vote_pc.ply │ ├── 000000_confident_proposal_pc.ply │ ├── 000000_gt_centroid_pc.ply │ ├── 000000_gt_mask_proposal_pc.ply │ ├── 000000_pc.ply │ ├── 000000_proposal_pc.ply │ ├── 000000_proposal_pc_objectness_label.obj │ ├── 000000_seed_pc.ply │ └── 000000_vgen_pc.ply ├── votenet.py └── voting_module.py ├── pointnet2 ├── __pycache__ │ ├── pointnet2_modules.cpython-35.pyc │ ├── pointnet2_modules.cpython-37.pyc │ ├── pointnet2_utils.cpython-35.pyc │ ├── pointnet2_utils.cpython-37.pyc │ ├── pytorch_utils.cpython-35.pyc │ └── pytorch_utils.cpython-37.pyc ├── _ext_src │ ├── include │ │ ├── ball_query.h │ │ ├── cuda_utils.h │ │ ├── group_points.h │ │ ├── interpolate.h │ │ ├── sampling.h │ │ └── utils.h │ └── src │ │ ├── ball_query.cpp │ │ ├── ball_query_gpu.cu │ │ ├── bindings.cpp │ │ ├── group_points.cpp │ │ ├── group_points_gpu.cu │ │ ├── interpolate.cpp │ │ ├── interpolate_gpu.cu │ │ ├── sampling.cpp │ │ └── sampling_gpu.cu ├── build │ ├── lib.linux-x86_64-3.5 │ │ └── pointnet2 │ │ │ └── _ext.cpython-35m-x86_64-linux-gnu.so │ ├── lib.linux-x86_64-3.7 │ │ └── pointnet2 │ │ │ └── _ext.cpython-37m-x86_64-linux-gnu.so │ ├── temp.linux-x86_64-3.5 │ │ └── _ext_src │ │ │ └── src │ │ │ ├── ball_query.o │ │ │ ├── ball_query_gpu.o │ │ │ ├── bindings.o │ │ │ ├── group_points.o │ │ │ ├── group_points_gpu.o │ │ │ ├── interpolate.o │ │ │ ├── interpolate_gpu.o │ │ │ ├── sampling.o │ │ │ └── sampling_gpu.o │ └── temp.linux-x86_64-3.7 │ │ └── _ext_src │ │ └── src │ │ ├── ball_query.o │ │ ├── ball_query_gpu.o │ │ ├── bindings.o │ │ ├── group_points.o │ │ ├── group_points_gpu.o │ │ ├── interpolate.o │ │ ├── interpolate_gpu.o │ │ ├── sampling.o │ │ └── sampling_gpu.o ├── dist │ ├── pointnet2-0.0.0-py3.5-linux-x86_64.egg │ └── pointnet2-0.0.0-py3.7-linux-x86_64.egg ├── pointnet2.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt ├── pointnet2_modules.py ├── pointnet2_utils.py ├── pytorch_utils.py └── setup.py ├── sunrgbd ├── model_util_sunrgbd.py ├── sunrgbd_data.py ├── sunrgbd_detection_dataset.py └── sunrgbd_utils.py ├── train.py └── utils ├── __pycache__ ├── box_util.cpython-35.pyc ├── box_util.cpython-37.pyc ├── eval_det.cpython-35.pyc ├── eval_det.cpython-37.pyc ├── metric_util.cpython-35.pyc ├── metric_util.cpython-37.pyc ├── nms.cpython-35.pyc ├── nms.cpython-37.pyc ├── 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