CurFormer Structuring Feature Extraction Group Intersection Pooling & UnPooling Beginning train python tools/train.py --cfg configs/voxformer/voxformer_4x2_80e_kitti_3cls.py eval python tools/test.py --cfg configs/voxformer/voxformer_4x2_80e_kitti_3cls.py --ckpt the_ckpt_in_output_dir