├── .github └── workflows │ └── python-package-conda.yml ├── .gitignore ├── LICENSE ├── MinkowskiEngine ├── .gitignore ├── CHANGELOG.md ├── LICENSE ├── MANIFEST.in ├── Makefile ├── MinkowskiEngine │ ├── MinkowskiBroadcast.py │ ├── MinkowskiChannelwiseConvolution.py │ ├── MinkowskiCommon.py │ ├── MinkowskiConvolution.py │ ├── MinkowskiCoordinateManager.py │ ├── MinkowskiFunctional.py │ ├── MinkowskiInterpolation.py │ ├── MinkowskiKernelGenerator.py │ ├── MinkowskiNetwork.py │ ├── MinkowskiNonlinearity.py │ ├── MinkowskiNormalization.py │ ├── MinkowskiOps.py │ ├── MinkowskiPooling.py │ ├── MinkowskiPruning.py │ ├── MinkowskiSparseTensor.py │ ├── MinkowskiTensor.py │ ├── MinkowskiTensorField.py │ ├── MinkowskiUnion.py │ ├── __init__.py │ ├── diagnostics.py │ ├── modules │ │ ├── __init__.py │ │ ├── resnet_block.py │ │ └── senet_block.py │ ├── sparse_matrix_functions.py │ └── utils │ │ ├── __init__.py │ │ ├── collation.py │ │ ├── coords.py │ │ ├── gradcheck.py │ │ ├── init.py │ │ ├── quantization.py │ │ └── summary.py ├── README.md ├── docker │ └── Dockerfile ├── docs │ ├── .gitignore │ ├── Makefile │ ├── README.md │ ├── _templates │ │ └── layout.html │ ├── benchmark.md │ ├── broadcast.rst │ ├── common.rst │ ├── conf.py │ ├── convolution.rst │ ├── coords.rst │ ├── demo │ │ ├── interop.rst │ │ ├── modelnet40_classification.rst │ │ ├── multigpu.md │ │ ├── pointnet.md │ │ ├── segmentation.rst │ │ ├── sparse_tensor_reconstruction.rst │ │ └── training.rst │ ├── guides.md │ ├── images │ │ ├── classification_3d_net.png │ │ ├── conv_dense.gif │ │ ├── conv_generalized.gif │ │ ├── conv_sparse.gif │ │ ├── conv_sparse_conv.gif │ │ ├── demo_reconstruction.png │ │ ├── detection_3d_net.png │ │ ├── generative_3d_net.png │ │ ├── generative_3d_results.gif │ │ ├── kernel_map.gif │ │ ├── segmentation.png │ │ └── segmentation_3d_net.png │ ├── index.rst │ ├── interp.rst │ ├── issues.md │ ├── migration_05.md │ ├── misc.rst │ ├── nonlinearity.rst │ ├── normalization.rst │ ├── pooling.rst │ ├── pruning.rst │ ├── quick_start.md │ ├── sparse_tensor.rst │ ├── sparse_tensor_network.rst │ ├── terminology.rst │ ├── tutorial │ │ ├── convolution_basic.rst │ │ └── sparse_tensor_basic.rst │ ├── union.rst │ └── utils.rst ├── examples │ ├── README.md │ ├── __init__.py │ ├── classification_modelnet40.py │ ├── common.py │ ├── completion.py │ ├── convolution.py │ ├── download_modelnet40.sh │ ├── example.py │ ├── indoor.py │ ├── minkunet.py │ ├── multigpu.py │ ├── multigpu_ddp.py │ ├── multigpu_lightning.py │ ├── pointnet.py │ ├── reconstruction.py │ ├── resnet.py │ ├── sparse_tensor_basic.py │ ├── stack_unet.py │ ├── training.py │ ├── unet.py │ └── vae.py ├── pybind │ ├── extern.hpp │ ├── minkowski.cpp │ └── minkowski.cu ├── requirements.txt ├── setup.py ├── src │ ├── 3rdparty │ │ ├── concurrent_unordered_map.cuh │ │ ├── cudf │ │ │ ├── detail │ │ │ │ ├── nvtx │ │ │ │ │ ├── nvtx3.hpp │ │ │ │ │ └── ranges.hpp │ │ │ │ └── utilities │ │ │ │ │ ├── device_atomics.cuh │ │ │ │ │ ├── device_operators.cuh │ │ │ │ │ └── hash_functions.cuh │ │ │ ├── types.h │ │ │ ├── types.hpp │ │ │ └── utilities │ │ │ │ ├── error.hpp │ │ │ │ └── legacy │ │ │ │ └── wrapper_types.hpp │ │ ├── hash │ │ │ ├── hash_allocator.cuh │ │ │ ├── helper_functions.cuh │ │ │ └── managed.cuh │ │ └── robin_hood.h │ ├── allocators.cuh │ ├── broadcast_cpu.cpp │ ├── broadcast_gpu.cu │ ├── broadcast_kernel.cu │ ├── broadcast_kernel.cuh │ ├── broadcast_kernel.hpp │ ├── common.hpp │ ├── convolution_cpu.cpp │ ├── convolution_gpu.cu │ ├── convolution_kernel.cu │ ├── convolution_kernel.cuh │ ├── convolution_kernel.hpp │ ├── convolution_transpose_cpu.cpp │ ├── convolution_transpose_gpu.cu │ ├── coordinate.hpp │ ├── coordinate_map.hpp │ ├── coordinate_map_cpu.hpp │ ├── coordinate_map_functors.cuh │ ├── coordinate_map_gpu.cu │ ├── coordinate_map_gpu.cuh │ ├── coordinate_map_key.hpp │ ├── coordinate_map_manager.cpp │ ├── coordinate_map_manager.cu │ ├── coordinate_map_manager.hpp │ ├── direct_max_pool.cpp │ ├── dispatcher.hpp │ ├── errors.hpp │ ├── global_pooling_cpu.cpp │ ├── global_pooling_gpu.cu │ ├── gpu.cu │ ├── gpu.cuh │ ├── interpolation_cpu.cpp │ ├── interpolation_gpu.cu │ ├── interpolation_kernel.hpp │ ├── kernel_map.cuh │ ├── kernel_map.hpp │ ├── kernel_region.hpp │ ├── local_pooling_cpu.cpp │ ├── local_pooling_gpu.cu │ ├── local_pooling_transpose_cpu.cpp │ ├── local_pooling_transpose_gpu.cu │ ├── math_functions.cuh │ ├── math_functions.hpp │ ├── math_functions_cpu.cpp │ ├── math_functions_gpu.cu │ ├── mkl_alternate.hpp │ ├── pooling_avg_kernel.cu │ ├── pooling_avg_kernel.cuh │ ├── pooling_avg_kernel.hpp │ ├── pooling_max_kernel.cu │ ├── pooling_max_kernel.cuh │ ├── pooling_max_kernel.hpp │ ├── primitives │ │ └── small_vector.hpp │ ├── pruning.hpp │ ├── pruning_cpu.cpp │ ├── pruning_gpu.cu │ ├── quantization.cpp │ ├── sharedmem.cuh │ ├── spmm.cu │ ├── spmm.cuh │ ├── storage.cuh │ ├── types.hpp │ └── utils.hpp └── tests │ ├── cpp │ ├── README.md │ ├── __init__.py │ ├── convolution_cpu.py │ ├── convolution_cpu_test.py │ ├── convolution_gpu_test.py │ ├── convolution_test.cpp │ ├── convolution_test.cu │ ├── coordinate_map_cpu_test.cpp │ ├── coordinate_map_cpu_test.py │ ├── coordinate_map_gpu_test.cu │ ├── coordinate_map_gpu_test.py │ ├── coordinate_map_key_test.cpp │ ├── coordinate_map_key_test.py │ ├── coordinate_map_manager_cpu_test.cpp │ ├── coordinate_map_manager_cpu_test.py │ ├── coordinate_map_manager_gpu_test.cu │ ├── coordinate_map_manager_gpu_test.py │ ├── coordinate_test.cpp │ ├── coordinate_test.py │ ├── kernel_region_cpu_test.cpp │ ├── kernel_region_cpu_test.py │ ├── kernel_region_gpu_test.cu │ ├── kernel_region_gpu_test.py │ ├── setup.py │ ├── test_all.sh │ ├── type_test.cpp │ ├── type_test.py │ └── utils.py │ ├── python │ ├── __init__.py │ ├── broadcast.py │ ├── chwise_conv.py │ ├── common.py │ ├── conv_on_coords.py │ ├── convolution.py │ ├── coordinate_manager.py │ ├── dense.py │ ├── direct_pool.py │ ├── global.py │ ├── interpolation.py │ ├── kernel_map.py │ ├── network_speed.py │ ├── norm.py │ ├── pool.py │ ├── pruning.py │ ├── quantization.py │ ├── sparse_tensor.py │ ├── spmm.py │ ├── stack.py │ ├── strided_conv.py │ ├── summary.py │ ├── tensor_field.py │ ├── union.py │ └── utility_functions.py │ └── run_test.py ├── README.md ├── configs ├── base_cfg.py ├── campus_ours.py ├── dataset_cfgs │ ├── campus_cfg.py │ └── oxford_cfg.py ├── loss_cfgs │ ├── contrastive_loss_cfg.py │ └── triplet_loss_cfg.py ├── optimizer_cfgs │ └── adam_cfg.py ├── oxford_ours.py └── scheduler_cfgs │ └── multi_step_lr_cfg.py ├── core ├── __init__.py ├── eval.py ├── eval_time.py ├── train.py └── val.py ├── datasets ├── __init__.py ├── business.py ├── oxford.py ├── preprocess │ ├── generate_test_sets.py │ └── generate_training_tuples_baseline.py ├── residential.py ├── umd.py ├── university.py └── utils │ ├── batch_samplers.py │ ├── collate_fns.py │ ├── dataset.py │ └── transformers.py ├── losses ├── __init__.py ├── contrastive_loss.py └── 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