├── .gitignore ├── LICENSE.md ├── README.md ├── config ├── flow │ ├── kittisf │ │ └── kittisf_unsup.yaml │ ├── ogcdr │ │ └── ogcdr_unsup.yaml │ ├── ogcdrsv │ │ └── ogcdrsv_unsup.yaml │ ├── sapien │ │ └── sapien_unsup.yaml │ └── waymo │ │ └── kittisf_unsup.yaml └── seg │ ├── kittidet │ ├── kittidet_sup.yaml │ ├── kittisf_sup.yaml │ └── kittisf_unsup.yaml │ ├── kittisf │ ├── kittisf_sup.yaml │ ├── kittisf_unsup.yaml │ └── kittisf_unsup_woinv.yaml │ ├── ogcdr │ ├── ogcdr_sup.yaml │ ├── ogcdr_unsup.yaml │ └── ogcdr_unsup_woinv.yaml │ ├── ogcdrsv │ ├── ogcdrsv_sup.yaml │ ├── ogcdrsv_unsup.yaml │ └── ogcdrsv_unsup_woinv.yaml │ ├── sapien │ ├── sapien_sup.yaml │ ├── sapien_unsup.yaml │ └── sapien_unsup_woinv.yaml │ ├── semantickitti │ ├── kittisf_sup.yaml │ └── kittisf_unsup.yaml │ └── waymo │ ├── waymo_sup.yaml │ └── waymo_unsup.yaml ├── data_prepare ├── kittidet │ ├── kittidet_util.py │ ├── process_kittidet.py │ └── splits │ │ ├── train.txt │ │ └── val.txt ├── kittisf │ ├── downsample_kittisf.py │ ├── kittisf_util.py │ ├── process_kittisf.py │ └── splits │ │ ├── all.txt │ │ ├── kitti142.txt │ │ ├── train.txt │ │ └── val.txt ├── ogcdr │ ├── build_ogcdr.py │ ├── meta.yaml │ ├── raw_splits │ │ ├── 02828884 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ │ ├── 02933112 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ │ ├── 03001627 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ │ ├── 03211117 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ │ ├── 03636649 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ │ ├── 04256520 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ │ └── 04379243 │ │ │ ├── test.lst │ │ │ ├── train.lst │ │ │ └── val.lst │ └── sample_pointcloud.py ├── ogcdrsv │ ├── build_ogcdrsv.py │ └── collect_segm.py ├── semantickitti │ ├── process_semantickitti.py │ ├── semantickitti_classes.yaml │ └── semantickitti_util.py └── waymo │ ├── downsample_waymo.py │ ├── filter_empty.py │ ├── process_waymo.py │ ├── select_mov.py │ ├── splits │ ├── train.txt │ ├── train_sup.json │ ├── train_unsup.json │ ├── val.txt │ ├── val_sup.json │ └── val_unsup.json │ └── waymo_dataset.yaml ├── datasets ├── dataset_kittidet.py ├── dataset_kittisf.py ├── dataset_ogcdr.py ├── dataset_sapien.py ├── dataset_semantickitti.py ├── dataset_waymo.py └── dataset_waymo_singleframe.py ├── figures ├── OGC_thumbnail.png ├── indoor.gif ├── outdoor.gif ├── overview.png └── sapien.gif ├── losses ├── flow_loss_unsup.py ├── seg_loss_sup.py └── seg_loss_unsup.py ├── metrics ├── flow_metric.py └── seg_metric.py ├── models ├── flownet_kitti.py ├── flownet_ogcdr.py ├── flownet_sapien.py ├── segnet_kitti.py ├── segnet_ogcdr.py └── segnet_sapien.py ├── oa_icp.py ├── pointnet2 ├── pointnet2.py ├── setup.py └── src │ ├── ball_query.cpp │ ├── ball_query_gpu.cu │ ├── ball_query_gpu.h │ ├── cuda_utils.h │ ├── group_points.cpp │ ├── group_points_gpu.cu │ ├── group_points_gpu.h │ ├── interpolate.cpp │ ├── interpolate_gpu.cu │ ├── interpolate_gpu.h │ ├── pointnet2_api.cpp │ ├── sampling.cpp │ ├── sampling_gpu.cu │ └── sampling_gpu.h ├── requirements.txt ├── test_flow.py ├── test_flow_kittisf.py ├── test_flow_kittisf_benchmark.py ├── test_flow_waymo.py ├── test_seg.py ├── test_seg_waymo.py ├── train_flow.py ├── train_seg.py ├── train_seg_sup.py ├── train_seg_waymo.py ├── train_seg_waymo_sup.py ├── utils ├── data_util.py ├── flowstep3d_util.py ├── gpf_util.py ├── icp_util.py ├── nn_util.py ├── pointnet2_util.py ├── pytorch_util.py ├── sapien_util.py ├── transformer_util.py └── visual_util.py └── vote.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vLAR-group/OGC/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 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