repo stringlengths 7 90 | file_url stringlengths 81 315 | file_path stringlengths 4 228 | content stringlengths 0 32.8k | language stringclasses 1
value | license stringclasses 7
values | commit_sha stringlengths 40 40 | retrieved_at stringdate 2026-01-04 14:38:15 2026-01-05 02:33:18 | truncated bool 2
classes |
|---|---|---|---|---|---|---|---|---|
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/policy/linear.py | sarl_star_ros/CrowdNav/crowd_sim/envs/policy/linear.py | import numpy as np
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionXY
class Linear(Policy):
def __init__(self):
super().__init__()
self.trainable = False
self.kinematics = 'holonomic'
self.multiagent_training = True
def configure(s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/policy/policy_factory.py | sarl_star_ros/CrowdNav/crowd_sim/envs/policy/policy_factory.py | from crowd_sim.envs.policy.linear import Linear
from crowd_sim.envs.policy.orca import ORCA
def none_policy():
return None
policy_factory = dict()
policy_factory['linear'] = Linear
policy_factory['orca'] = ORCA
policy_factory['none'] = none_policy
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/train.py | sarl_star_ros/CrowdNav/crowd_nav/train.py | # Author: Changan Chen <changanvr@gmail.com>
# Modified by: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import sys
import logging
import argparse
import configparser
import os
import shutil
import torch
import gym
import git
from crowd_sim.envs.utils.robot import Robot
from crowd_nav.utils.trainer ... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/__init__.py | sarl_star_ros/CrowdNav/crowd_nav/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/test.py | sarl_star_ros/CrowdNav/crowd_nav/test.py | # Author: Changan Chen <changanvr@gmail.com>
# Modified by: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import os
import sys
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + '/../../')
import logging
import argparse
import configparser
import os
import torch
import numpy as np
import gy... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/utils/memory.py | sarl_star_ros/CrowdNav/crowd_nav/utils/memory.py | from torch.utils.data import Dataset
# memory: list(state,value)
class ReplayMemory(Dataset):
def __init__(self, capacity):
self.capacity = capacity
self.memory = list()
self.position = 0
def push(self, item):
# replace old experience with new experience
if len(self.me... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/utils/plot.py | sarl_star_ros/CrowdNav/crowd_nav/utils/plot.py | import re
import argparse
import matplotlib.pyplot as plt
import numpy as np
def running_mean(x, n):
cumsum = np.cumsum(np.insert(x, 0, 0))
return (cumsum[n:] - cumsum[:-n]) / float(n)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('log_files', type=str, nargs='+')
parser.add... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/utils/trainer.py | sarl_star_ros/CrowdNav/crowd_nav/utils/trainer.py | from __future__ import division
import logging
import torch.nn as nn
import torch.optim as optim
from torch.autograd import Variable
from torch.utils.data import DataLoader
class Trainer(object):
def __init__(self, model, memory, device, batch_size):
"""
Train the trainable model of a policy
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/utils/__init__.py | sarl_star_ros/CrowdNav/crowd_nav/utils/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/utils/explorer.py | sarl_star_ros/CrowdNav/crowd_nav/utils/explorer.py | from __future__ import division
import logging
import copy
import torch
import numpy as np
from crowd_sim.envs.utils.info import *
class Explorer(object):
def __init__(self, env, robot, device, memory=None, gamma=None, target_policy=None):
self.env = env
self.robot = robot
self.robot_path_... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/configs/__init__.py | sarl_star_ros/CrowdNav/crowd_nav/configs/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/policy/lstm_rl.py | sarl_star_ros/CrowdNav/crowd_nav/policy/lstm_rl.py | import torch
import torch.nn as nn
import numpy as np
import logging
from crowd_nav.policy.cadrl import mlp
from crowd_nav.policy.multi_human_rl import MultiHumanRL
class ValueNetwork1(nn.Module):
def __init__(self, input_dim, self_state_dim, mlp_dims, lstm_hidden_dim):
super().__init__()
self.sel... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/policy/sarl.py | sarl_star_ros/CrowdNav/crowd_nav/policy/sarl.py | # Author: Changan Chen <changanvr@gmail.com>
# Modified by: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import numpy as np
import torch
import torch.nn as nn
from torch.nn.functional import softmax
import logging
from crowd_sim.envs.utils.action import ActionRot, ActionXY
from crowd_nav.policy.cadr... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/policy/cadrl.py | sarl_star_ros/CrowdNav/crowd_nav/policy/cadrl.py | # Author: Changan Chen <changanvr@gmail.com>
# Modified by: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import torch
import torch.nn as nn
import numpy as np
import itertools
import logging
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionRot, ActionXY
f... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/policy/__init__.py | sarl_star_ros/CrowdNav/crowd_nav/policy/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/policy/multi_human_rl.py | sarl_star_ros/CrowdNav/crowd_nav/policy/multi_human_rl.py | # Author: Changan Chen <changanvr@gmail.com>
# Modified by: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import torch
import numpy as np
from crowd_sim.envs.utils.action import ActionRot, ActionXY
from crowd_nav.policy.cadrl import CADRL
class MultiHumanRL(CADRL):
def __init__(self):
s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_nav/policy/policy_factory.py | sarl_star_ros/CrowdNav/crowd_nav/policy/policy_factory.py | from crowd_sim.envs.policy.policy_factory import policy_factory
from crowd_nav.policy.cadrl import CADRL
from crowd_nav.policy.lstm_rl import LstmRL
from crowd_nav.policy.sarl import SARL
policy_factory['cadrl'] = CADRL
policy_factory['lstm_rl'] = LstmRL
policy_factory['sarl'] = SARL
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/train.py | code/train.py | import time
import matplotlib
import matplotlib.pyplot as plt
import torch
from torch import nn
from torch import optim
from config import *
from data import DGLREDataset, DGLREDataloader, BERTDGLREDataset
from models.GAIN import GAIN_GloVe, GAIN_BERT
from test import test
from utils import Accuracy, get_cuda, loggin... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/utils.py | code/utils.py | from datetime import datetime
import numpy as np
import torch
def get_cuda(tensor):
if torch.cuda.is_available():
return tensor.cuda()
return tensor
def logging(s):
print(datetime.now(), s)
class Accuracy(object):
def __init__(self):
self.correct = 0
self.total = 0
de... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/config.py | code/config.py | import argparse
import json
import os
import numpy as np
data_dir = '../data/'
prepro_dir = os.path.join(data_dir, 'prepro_data/')
if not os.path.exists(prepro_dir):
os.mkdir(prepro_dir)
rel2id = json.load(open(os.path.join(data_dir, 'rel2id.json'), "r"))
id2rel = {v: k for k, v in rel2id.items()}
word2id = json... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/test.py | code/test.py | import sklearn.metrics
import torch
from config import *
from data import DGLREDataset, DGLREDataloader, BERTDGLREDataset
from models.GAIN import GAIN_GloVe, GAIN_BERT
from utils import get_cuda, logging, print_params
# for ablation
# from models.GCNRE_nomention import GAIN_GloVe, GAIN_BERT
def test(model, dataloa... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/data.py | code/data.py | import json
import math
import os
import pickle
import random
from collections import defaultdict
import dgl
import numpy as np
import torch
from torch.utils.data import IterableDataset, DataLoader
from transformers import *
from models.GAIN import Bert
from utils import get_cuda
IGNORE_INDEX = -100
class DGLREDat... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/models/GAIN.py | code/models/GAIN.py | import dgl
import dgl.nn.pytorch as dglnn
import numpy as np
import torch
import torch.nn as nn
from transformers import *
from utils import get_cuda
class GAIN_GloVe(nn.Module):
def __init__(self, config):
super(GAIN_GloVe, self).__init__()
self.config = config
word_emb_size = config.wo... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
DreamInvoker/GAIN | https://github.com/DreamInvoker/GAIN/blob/178344cf00789c7ba05cfe4dca90df4b17c2caa9/code/models/GAIN_nomention.py | code/models/GAIN_nomention.py | import dgl
import dgl.nn.pytorch as dglnn
import torch
import torch.nn as nn
from transformers import *
from utils import get_cuda
# for no mention module ablation study
class GAIN_GloVe(nn.Module):
def __init__(self, config):
super(GAIN_GloVe, self).__init__()
self.config = config
word... | python | MIT | 178344cf00789c7ba05cfe4dca90df4b17c2caa9 | 2026-01-05T07:13:40.516065Z | false |
milsto/robust-kalman | https://github.com/milsto/robust-kalman/blob/0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0/robust_kalman/utils.py | robust_kalman/utils.py | """
Utilities for robust Kalman implementation and testing.
"""
import numpy as np
class HuberScore:
"""Robust Huber score function."""
def __init__(self, delta=1.5):
self._delta = delta
def evaluate(self, z):
if abs(z) >= self._delta:
return self._delta * abs(z) - pow(self._d... | python | MIT | 0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0 | 2026-01-05T07:13:41.231759Z | false |
milsto/robust-kalman | https://github.com/milsto/robust-kalman/blob/0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0/robust_kalman/__init__.py | robust_kalman/__init__.py | from .robust_kalman import RobustKalman
from . import utils
| python | MIT | 0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0 | 2026-01-05T07:13:41.231759Z | false |
milsto/robust-kalman | https://github.com/milsto/robust-kalman/blob/0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0/robust_kalman/robust_kalman.py | robust_kalman/robust_kalman.py | """
Robust Kalman filter implementation.
Author: Milos Stojanovic (github: milsto)
"""
import numpy as np
from scipy.optimize import minimize
from .utils import HuberScore
class RobustKalman():
"""Robust Kalman filter for estimation immune to outliers.
The implementation is based on rewriting classical lin... | python | MIT | 0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0 | 2026-01-05T07:13:41.231759Z | false |
milsto/robust-kalman | https://github.com/milsto/robust-kalman/blob/0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0/examples/example_advanced.py | examples/example_advanced.py | """
Script to evaluate the robust and adaptive Kalman estimator.
Primarily used for to make conclusions and plots for the paper written
for Stochastic System Theory (MSc) course at University of Belgrade, School of Electrical Engineering.
Author: Milos Stojanovic (github: milsto)
"""
import numpy as np
import matplot... | python | MIT | 0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0 | 2026-01-05T07:13:41.231759Z | false |
milsto/robust-kalman | https://github.com/milsto/robust-kalman/blob/0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0/examples/example_simple.py | examples/example_simple.py | """
Simple but fully functional example for usage of the RobustKalman implementation.
The system model is defined, system evaluation and estimation loop is implemented and results are plotted.
Author: Milos Stojanovic (github: milsto)
"""
import numpy as np
import matplotlib.pyplot as plt
import sys
sys.path.insert(... | python | MIT | 0b241f7c5648efa5b8cba8d71623a0ff0b6ae3a0 | 2026-01-05T07:13:41.231759Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/train.py | tools/train.py | """
Main Training Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
import torch
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/test_time.py | tools/test_time.py | """
Main Testing Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default_argument_pars... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/test_CDSegNet_ScanNet200.py | tools/test_CDSegNet_ScanNet200.py | """
Main Testing Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default_argument_pars... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/train_CDSegNet_nuScenes.py | tools/train_CDSegNet_nuScenes.py | """
Main Training Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
import torch
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/train_CDSegNet_ScanNet.py | tools/train_CDSegNet_ScanNet.py | """
Main Training Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
import torch
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/train_CDSegNet_ScanNet200.py | tools/train_CDSegNet_ScanNet200.py | """
Main Training Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
import torch
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/test_CDSegNet_ScanNet.py | tools/test_CDSegNet_ScanNet.py | """
Main Testing Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default_argument_pars... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/test_CDSegNet_nuScenes.py | tools/test_CDSegNet_nuScenes.py | """
Main Testing Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default_argument_pars... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/tools/test.py | tools/test.py | """
Main Testing Script
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import sys
import os
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
from pointcept.engines.defaults import (
default_argument_pars... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/__init__.py | pointcept/__init__.py | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false | |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/defaults.py | pointcept/datasets/defaults.py | """
Default Datasets
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import glob
import numpy as np
import torch
from copy import deepcopy
from torch.utils.data import Dataset
from collections.abc import Sequence
from pointcept.utils.logger import get_... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/arkitscenes.py | pointcept/datasets/arkitscenes.py | """
ArkitScenes Dataset
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import glob
import numpy as np
import torch
from copy import deepcopy
from torch.utils.data import Dataset
from pointcept.utils.logger import get_root_logger
from .builder import D... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/modelnet.py | pointcept/datasets/modelnet.py | """
ModelNet40 Dataset
get sampled point clouds of ModelNet40 (XYZ and normal from mesh, 10k points per shape)
at "https://shapenet.cs.stanford.edu/media/modelnet40_normal_resampled.zip"
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import numpy as n... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/nuscenes.py | pointcept/datasets/nuscenes.py | """
nuScenes Dataset
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com), Zheng Zhang
Please cite our work if the code is helpful to you.
"""
import os
import numpy as np
from collections.abc import Sequence
import pickle
from .builder import DATASETS
from .defaults import DefaultDataset
@DATASETS.register_module()
cla... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/scannet.py | pointcept/datasets/scannet.py | """
ScanNet20 / ScanNet200 / ScanNet Data Efficient Dataset
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import glob
import numpy as np
import torch
from copy import deepcopy
from torch.utils.data import Dataset
from collections.abc import Sequence
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/transform.py | pointcept/datasets/transform.py | """
3D Point Cloud Augmentation
Inspirited by chrischoy/SpatioTemporalSegmentation
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import random
import numbers
import scipy
import scipy.ndimage
import scipy.interpolate
import scipy.stats
import numpy as np
impor... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | true |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/structure3d.py | pointcept/datasets/structure3d.py | """
Structured3D Datasets
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import glob
from collections.abc import Sequence
from .defaults import DefaultDataset
from .builder import DATASETS
@DATASETS.register_module()
class Structured3DDataset(Defaul... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/semantic_kitti.py | pointcept/datasets/semantic_kitti.py | """
Semantic KITTI dataset
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import numpy as np
from .builder import DATASETS
from .defaults import DefaultDataset
@DATASETS.register_module()
class SemanticKITTIDataset(DefaultDataset):
def __init__(... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/utils.py | pointcept/datasets/utils.py | """
Utils for Datasets
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import random
from collections.abc import Mapping, Sequence
import numpy as np
import torch
from torch.utils.data.dataloader import default_collate
def collate_fn(batch):
"""
collate... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/waymo.py | pointcept/datasets/waymo.py | """
Waymo dataset
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import numpy as np
import glob
from .builder import DATASETS
from .defaults import DefaultDataset
@DATASETS.register_module()
class WaymoDataset(DefaultDataset):
def __init__(
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/__init__.py | pointcept/datasets/__init__.py | from .defaults import DefaultDataset, ConcatDataset
from .builder import build_dataset
from .utils import point_collate_fn, collate_fn
# indoor scene
from .s3dis import S3DISDataset
from .scannet import ScanNetDataset, ScanNet200Dataset
from .scannet_pair import ScanNetPairDataset
from .arkitscenes import ArkitScenesD... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/dataloader.py | pointcept/datasets/dataloader.py | from functools import partial
import weakref
import torch
import torch.utils.data
import pointcept.utils.comm as comm
from pointcept.datasets.utils import point_collate_fn
from pointcept.datasets import ConcatDataset
from pointcept.utils.env import set_seed
class MultiDatasetDummySampler:
def __init__(self):
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/shapenet_part.py | pointcept/datasets/shapenet_part.py | """
ShapeNet Part Dataset (Unmaintained)
get processed shapenet part dataset
at "https://shapenet.cs.stanford.edu/media/shapenetcore_partanno_segmentation_benchmark_v0_normal.zip"
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import json
import torch... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/s3dis.py | pointcept/datasets/s3dis.py | """
S3DIS Dataset
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import glob
import numpy as np
import torch
from copy import deepcopy
from torch.utils.data import Dataset
from collections.abc import Sequence
from pointcept.utils.logger import get_roo... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/scannet_pair.py | pointcept/datasets/scannet_pair.py | """
ScanNet Pair Dataset (Frame-level contrastive view)
Refer PointContrast
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import glob
import numpy as np
import torch
from copy import deepcopy
from torch.utils.data import Dataset
from pointcept.utils... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/builder.py | pointcept/datasets/builder.py | """
Dataset Builder
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from pointcept.utils.registry import Registry
DATASETS = Registry("datasets")
def build_dataset(cfg):
"""Build datasets."""
return DATASETS.build(cfg)
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/s3dis/preprocess_s3dis_voxelized.py | pointcept/datasets/preprocessing/s3dis/preprocess_s3dis_voxelized.py | """
Preprocessing Script for S3DIS
Parsing normal vectors has a large consumption of memory. Please reduce max_workers if memory is limited.
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import argparse
import glob
import torch
import numpy as np
impo... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/s3dis/preprocess_s3dis.py | pointcept/datasets/preprocessing/s3dis/preprocess_s3dis.py | """
Preprocessing Script for S3DIS
Parsing normal vectors has a large consumption of memory. Please reduce max_workers if memory is limited.
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
import argparse
import glob
import torch
import numpy as np
impo... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/structured3d/preprocess_structured3d.py | pointcept/datasets/preprocessing/structured3d/preprocess_structured3d.py | """
Preprocessing Script for Structured3D
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import argparse
import io
import sys
import os
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(SCRIPT_DIR))
import PIL
from PIL i... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/preprocess_scannet.py | pointcept/datasets/preprocessing/scannet/preprocess_scannet.py | """
Preprocessing Script for ScanNet 20/200
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import warnings
import torch
warnings.filterwarnings("ignore", category=DeprecationWarning)
import os
import argparse
import glob
import json
import plyfile
import nump... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/meta_data/scannet200_splits.py | pointcept/datasets/preprocessing/scannet/meta_data/scannet200_splits.py | # This file contains the HEAD - COMMON - TAIL split category ids for ScanNet 200
HEAD_CATS_SCANNET_200 = [
"tv stand",
"curtain",
"blinds",
"shower curtain",
"bookshelf",
"tv",
"kitchen cabinet",
"pillow",
"lamp",
"dresser",
"monitor",
"object",
"ceiling",
"board... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/meta_data/scannet200_constants.py | pointcept/datasets/preprocessing/scannet/meta_data/scannet200_constants.py | # ScanNet Benchmark constants
VALID_CLASS_IDS_20 = (
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
14,
16,
24,
28,
33,
34,
36,
39,
)
CLASS_LABELS_20 = (
"wall",
"floor",
"cabinet",
"bed",
"chair",
"sofa",
"table",
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/compute_full_overlapping.py | pointcept/datasets/preprocessing/scannet/scannet_pair/compute_full_overlapping.py | # Copyright (c) Facebook, Inc. and its affiliates.
#
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
import copy
import torch
import numpy as np
import math
import glob, os
import argparse
import open3d as o3d
def make_open3d_point_cloud(xyz... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/SensorData.py | pointcept/datasets/preprocessing/scannet/scannet_pair/SensorData.py | import os, struct
import numpy as np
import zlib
import imageio
import cv2
COMPRESSION_TYPE_COLOR = {-1: "unknown", 0: "raw", 1: "png", 2: "jpeg"}
COMPRESSION_TYPE_DEPTH = {
-1: "unknown",
0: "raw_ushort",
1: "zlib_ushort",
2: "occi_ushort",
}
class RGBDFrame:
def load(self, file_handle):
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/reader.py | pointcept/datasets/preprocessing/scannet/scannet_pair/reader.py | import argparse
import os, sys
from SensorData import SensorData
def reader(
filename,
output_path,
frame_skip,
export_color_images=False,
export_depth_images=False,
export_poses=False,
export_intrinsics=False,
):
if not os.path.exists(output_path):
os.makedirs(output_path)
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/generage_list.py | pointcept/datasets/preprocessing/scannet/scannet_pair/generage_list.py | # Copyright (c) Facebook, Inc. and its affiliates.
#
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
import argparse
import glob, os, sys
from SensorData import SensorData
# params
parser = argparse.ArgumentParser()
# data paths
parser.add_... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/plyfile.py | pointcept/datasets/preprocessing/scannet/scannet_pair/plyfile.py | # Copyright 2014 Darsh Ranjan
#
# This file is part of python-plyfile.
#
# python-plyfile is free software: you can redistribute it and/or
# modify it under the terms of the GNU General Public License as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any ... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/point_cloud_extractor.py | pointcept/datasets/preprocessing/scannet/scannet_pair/point_cloud_extractor.py | # Copyright (c) Facebook, Inc. and its affiliates.
#
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
import glob, os
import numpy as np
import cv2
import torch
def extractor(input_path, output_path):
if not os.path.exists(output_path):
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/scannet/scannet_pair/preprocess.py | pointcept/datasets/preprocessing/scannet/scannet_pair/preprocess.py | import os
import argparse
import glob
import multiprocessing as mp
from concurrent.futures import ProcessPoolExecutor
from itertools import repeat
from reader import reader
from point_cloud_extractor import extractor
from compute_full_overlapping import compute_full_overlapping
frame_skip = 25
def parse_sens(sens_d... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/arkitscenes/preprocess_arkitscenes_mesh.py | pointcept/datasets/preprocessing/arkitscenes/preprocess_arkitscenes_mesh.py | """
Preprocessing ArkitScenes
"""
import os
import argparse
import glob
import plyfile
import numpy as np
import pandas as pd
import multiprocessing as mp
from concurrent.futures import ProcessPoolExecutor
from itertools import repeat
import torch
def read_plymesh(filepath):
"""Read ply file and return it as nu... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/nuscenes/preprocess_nuscenes_info.py | pointcept/datasets/preprocessing/nuscenes/preprocess_nuscenes_info.py | """
Preprocessing Script for nuScenes Informantion
modified from OpenPCDet (https://github.com/open-mmlab/OpenPCDet)
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
from pathlib import Path
import numpy as np
import argparse
import tqdm
import pickle
fr... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/datasets/preprocessing/waymo/preprocess_waymo.py | pointcept/datasets/preprocessing/waymo/preprocess_waymo.py | """
Preprocessing Script for ScanNet 20/200
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import warnings
warnings.filterwarnings("ignore", category=DeprecationWarning)
import os
os.environ["TF_CPP_MIN_LOG_LEVEL"] = "3"
os.environ["CUDA_VISIBLE_DEVICES"] = "... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/default.py | pointcept/models/default.py | import torch.nn as nn
import torch
import numpy as np
import math
from scipy import special
from pointcept.utils.comm import calc_t_emb
from pointcept.models.losses import build_criteria
from pointcept.models.utils.structure import Point
from .builder import MODELS, build_model
### ---------------------------- ① ----... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | true |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/modules.py | pointcept/models/modules.py | import sys
import torch.nn as nn
import spconv.pytorch as spconv
from collections import OrderedDict
from pointcept.models.utils.structure import Point
class PointModule(nn.Module):
r"""PointModule
placeholder, all module subclass from this will take Point in PointSequential.
"""
def __init__(self, *... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/__init__.py | pointcept/models/__init__.py | from .builder import build_model
from .default import DefaultSegmentor, DefaultClassifier
# Backbones
from .sparse_unet import *
from .point_transformer import *
from .point_transformer_v2 import *
from .point_transformer_v3 import *
from .stratified_transformer import *
from .spvcnn import *
from .octformer import *
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/builder.py | pointcept/models/builder.py | """
Model Builder
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from pointcept.utils.registry import Registry
MODELS = Registry("models")
MODULES = Registry("modules")
def build_model(cfg):
"""Build models."""
return MODELS.build(cfg)
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/oacnns/__init__.py | pointcept/models/oacnns/__init__.py | from .oacnns_v1m1_base import OACNNs
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/oacnns/oacnns_v1m1_base.py | pointcept/models/oacnns/oacnns_v1m1_base.py | from functools import partial
import torch
import torch.nn as nn
from einops import rearrange
import spconv.pytorch as spconv
from timm.models.layers import trunc_normal_
from ..builder import MODELS
from ..utils import offset2batch
from torch_geometric.nn.pool import voxel_grid
from torch_geometric.utils import scatte... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/losses/misc.py | pointcept/models/losses/misc.py | """
Misc Losses
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import torch
import torch.nn as nn
import torch.nn.functional as F
from .builder import LOSSES
def ignore_label(scores, labels, ignore=None):
"""Flattens predictions in the batch (binary case)
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/losses/__init__.py | pointcept/models/losses/__init__.py | from .builder import build_criteria
from .misc import CrossEntropyLoss, SmoothCELoss, DiceLoss, FocalLoss, BinaryFocalLoss
from .lovasz import LovaszLoss
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/losses/builder.py | pointcept/models/losses/builder.py | """
Criteria Builder
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import torch
import torch.nn as nn
import torch.nn.functional as F
from pointcept.utils.registry import Registry
LOSSES = Registry("losses")
class Criteria(object):
def __init__(self, cfg=N... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/losses/lovasz.py | pointcept/models/losses/lovasz.py | """
Lovasz Loss
refer https://arxiv.org/abs/1705.08790
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from typing import Optional
from itertools import filterfalse
import torch
import torch.nn.functional as F
from torch.nn.modules.loss import _Loss
from .builde... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/sparse_unet/mink_unet.py | pointcept/models/sparse_unet/mink_unet.py | """
SparseUNet Driven by MinkowskiEngine
Modified from chrischoy/SpatioTemporalSegmentation
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import torch
import torch.nn as nn
try:
import MinkowskiEngine as ME
except ImportError:
ME = None
from pointcep... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/sparse_unet/spconv_unet_v1m3_pdnorm.py | pointcept/models/sparse_unet/spconv_unet_v1m3_pdnorm.py | """
SparseUNet V1M3
Enable Prompt-Driven Normalization for Point Prompt Training
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from functools import partial
from collections import OrderedDict
import torch
import torch.nn as nn
import spconv.pytorch as spcon... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/sparse_unet/__init__.py | pointcept/models/sparse_unet/__init__.py | from .mink_unet import *
from .spconv_unet_v1m1_base import *
from .spconv_unet_v1m2_bn_momentum import *
from .spconv_unet_v1m3_pdnorm import *
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/sparse_unet/spconv_unet_v1m1_base.py | pointcept/models/sparse_unet/spconv_unet_v1m1_base.py | """
SparseUNet Driven by SpConv (recommend)
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from functools import partial
from collections import OrderedDict
import torch
import torch.nn as nn
import spconv.pytorch as spconv
from torch_geometric.utils import sc... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/sparse_unet/spconv_unet_v1m2_bn_momentum.py | pointcept/models/sparse_unet/spconv_unet_v1m2_bn_momentum.py | """
SparseUNet Driven by SpConv (recommend)
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from functools import partial
from collections import OrderedDict
import torch
import torch.nn as nn
try:
import spconv.pytorch as spconv
except ImportError:
imp... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/point_prompt_training/prompt_driven_normalization.py | pointcept/models/point_prompt_training/prompt_driven_normalization.py | import torch.nn as nn
from pointcept.models.modules import PointModule, PointSequential
from pointcept.models.builder import MODULES
@MODULES.register_module()
class PDNorm(PointModule):
def __init__(
self,
num_features,
norm_layer,
context_channels=256,
conditions=("ScanN... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/point_prompt_training/point_prompt_training_v1m2_decoupled.py | pointcept/models/point_prompt_training/point_prompt_training_v1m2_decoupled.py | """
Point Prompt Training with decoupled segmentation head
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from functools import partial
from collections import OrderedDict
import torch
import torch.nn as nn
from pointcept.models.utils.structure import Point
fro... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/point_prompt_training/point_prompt_training_v1m1_language_guided.py | pointcept/models/point_prompt_training/point_prompt_training_v1m1_language_guided.py | """
Point Prompt Training
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from functools import partial
from collections import OrderedDict
import numpy as np
import math
import torch
import torch.nn as nn
from pointcept.utils.comm import calc_t_emb
from pointc... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/point_prompt_training/__init__.py | pointcept/models/point_prompt_training/__init__.py | from .point_prompt_training_v1m1_language_guided import *
from .point_prompt_training_v1m2_decoupled import *
from .prompt_driven_normalization import PDNorm
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/structure.py | pointcept/models/utils/structure.py | import torch
import spconv.pytorch as spconv
try:
import ocnn
except ImportError:
ocnn = None
from addict import Dict
from pointcept.models.utils.serialization import encode, decode
from pointcept.models.utils import offset2batch, batch2offset
class Point(Dict):
"""
Point Structure of Pointcept
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/checkpoint.py | pointcept/models/utils/checkpoint.py | """
Checkpoint Utils for Models
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import torch
class CheckpointFunction(torch.autograd.Function):
@staticmethod
def forward(ctx, run_function, length, *args):
ctx.run_function = run_function
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/misc.py | pointcept/models/utils/misc.py | """
General Utils for Models
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import torch
@torch.inference_mode()
def offset2bincount(offset):
return torch.diff(
offset, prepend=torch.tensor([0], device=offset.device, dtype=torch.long)
)
@torc... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/__init__.py | pointcept/models/utils/__init__.py | from .misc import offset2batch, offset2bincount, batch2offset, off_diagonal
from .checkpoint import checkpoint
from .serialization import encode, decode
from .structure import Point
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/serialization/default.py | pointcept/models/utils/serialization/default.py | import torch
from .z_order import xyz2key as z_order_encode_
from .z_order import key2xyz as z_order_decode_
from .hilbert import encode as hilbert_encode_
from .hilbert import decode as hilbert_decode_
@torch.inference_mode()
def encode(grid_coord, batch=None, depth=16, order="z"):
assert order in {"z", "z-trans... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/serialization/hilbert.py | pointcept/models/utils/serialization/hilbert.py | """
Hilbert Order
Modified from https://github.com/PrincetonLIPS/numpy-hilbert-curve
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com), Kaixin Xu
Please cite our work if the code is helpful to you.
"""
import torch
def right_shift(binary, k=1, axis=-1):
"""Right shift an array of binary values.
Parameters:
... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/serialization/z_order.py | pointcept/models/utils/serialization/z_order.py | # --------------------------------------------------------
# Octree-based Sparse Convolutional Neural Networks
# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
# Licensed under The MIT License [see LICENSE for details]
# Written by Peng-Shuai Wang
# --------------------------------------------------------
imp... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/utils/serialization/__init__.py | pointcept/models/utils/serialization/__init__.py | from .default import (
encode,
decode,
z_order_encode,
z_order_decode,
hilbert_encode,
hilbert_decode,
)
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/octformer/octformer_v1m1_base.py | pointcept/models/octformer/octformer_v1m1_base.py | """
Octree Transformer
Modified from https://github.com/octree-nn/octformer
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
from typing import Optional, List, Dict
import torch
import torch.nn as nn
from torch.utils.checkpoint import checkpoint
try:
import ... | python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
QWTforGithub/CDSegNet | https://github.com/QWTforGithub/CDSegNet/blob/87b603dbd011c0f57fb498d70680e32d4f8cf2f0/pointcept/models/octformer/__init__.py | pointcept/models/octformer/__init__.py | from .octformer_v1m1_base import OctFormer
| python | MIT | 87b603dbd011c0f57fb498d70680e32d4f8cf2f0 | 2026-01-05T07:13:40.759144Z | false |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.