downstream/votenet/datasets/evaluation/evaluate_object_detection_helper.py
downstream/votenet/lib/utils/eval_det.py

downstream/votenet/datasets/evaluation/util.py
downstream/votenet/lib/utils/io3d.py

downstream/votenet/datasets/sunrgbd/sunrgbd_utils.py
downstream/votenet/lib/utils/box_util.py

downstream/votenet/datasets/sunrgbd/sunrgbd_utils.py
downstream/votenet/lib/utils/pc_util.py