├── .gitignore ├── LICENSE ├── README.md ├── README_PCDet.md ├── docker ├── Dockerfile ├── README.md ├── build.sh └── run.sh ├── docs ├── demo_01.png └── demo_02.png ├── output ├── mvf_paper_car.pth └── mvf_pp_dv.pth ├── pcdet.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── requires.txt └── top_level.txt ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── data_augmentation │ │ ├── augmentation_utils.py │ │ └── dbsampler.py │ ├── dataset.py │ └── kitti │ │ ├── kitti_dataset.py │ │ ├── kitti_eval.py │ │ └── kitti_object_eval_python │ │ ├── LICENSE │ │ ├── README.md │ │ ├── eval.py │ │ ├── evaluate.py │ │ ├── kitti_common.py │ │ └── rotate_iou.py ├── models │ ├── __init__.py │ ├── bbox_heads │ │ ├── __init__.py │ │ ├── anchor_target_assigner.py │ │ └── rpn_head.py │ ├── detectors │ │ ├── MVF.py │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── detector3d.py │ │ ├── pointpillar.py │ │ └── second_net.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── proposal_layer.py │ │ ├── proposal_target_layer.py │ │ ├── pytorch_utils.py │ │ └── resnet_utils.py │ ├── rcnn │ │ ├── __init__.py │ │ └── partA2_rcnn_net.py │ ├── rpn │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── rpn_backbone.py │ │ └── rpn_unet.py │ └── vfe │ │ ├── __init__.py │ │ └── vfe_utils.py ├── ops │ ├── iou3d_nms │ │ ├── iou3d_nms_utils.py │ │ ├── setup.py │ │ └── src │ │ │ ├── iou3d_nms.cpp │ │ │ └── iou3d_nms_kernel.cu │ └── roiaware_pool3d │ │ ├── roiaware_pool3d_utils.py │ │ ├── setup.py │ │ └── src │ │ ├── roiaware_pool3d.cpp │ │ └── roiaware_pool3d_kernel.cu ├── utils │ ├── __init__.py │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration.py │ ├── common_utils.py │ ├── loss_utils.py │ └── object3d_utils.py └── version.py ├── pointpillar.pth ├── requirements.txt ├── setup.py └── tools ├── cfgs ├── PartA2.yaml ├── PartA2_car.yaml ├── PartA2_fc.yaml ├── pointpillar.yaml └── second.yaml ├── eval_utils └── eval_utils.py ├── mvf ├── mvf_paper_car.yaml └── 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