├── .gitignore ├── LICENSE ├── README.md ├── figs └── pipeline.jpg ├── projects ├── configs │ ├── Argoverse2 │ │ └── FSF_AV2_config.py │ ├── _base_ │ │ ├── datasets │ │ │ ├── AV2_dataloader.py │ │ │ └── nuscenes_dataloader.py │ │ ├── default_runtime.py │ │ ├── nuimages │ │ │ ├── README.md │ │ │ ├── _base_ │ │ │ │ ├── datasets │ │ │ │ │ ├── coco_instance.py │ │ │ │ │ ├── kitti-3d-3class.py │ │ │ │ │ ├── kitti-3d-car.py │ │ │ │ │ ├── lyft-3d.py │ │ │ │ │ ├── nuim_instance.py │ │ │ │ │ ├── nus-3d.py │ │ │ │ │ ├── nus-mono3d.py │ │ │ │ │ ├── range100_lyft-3d.py │ │ │ │ │ ├── s3dis-3d-5class.py │ │ │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ │ │ ├── scannet-3d-18class.py │ │ │ │ │ ├── scannet_seg-3d-20class.py │ │ │ │ │ ├── sunrgbd-3d-10class.py │ │ │ │ │ ├── waymoD5-3d-3class.py │ │ │ │ │ └── waymoD5-3d-car.py │ │ │ │ ├── default_runtime.py │ │ │ │ ├── models │ │ │ │ │ ├── 3dssd.py │ │ │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ │ │ ├── fcos3d.py │ │ │ │ │ ├── groupfree3d.py │ │ │ │ │ ├── h3dnet.py │ │ │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ │ │ ├── imvotenet_image.py │ │ │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ │ │ ├── paconv_cuda_ssg.py │ │ │ │ │ ├── paconv_ssg.py │ │ │ │ │ ├── parta2.py │ │ │ │ │ ├── pointnet2_msg.py │ │ │ │ │ ├── pointnet2_ssg.py │ │ │ │ │ └── votenet.py │ │ │ │ └── schedules │ │ │ │ │ ├── cosine.py │ │ │ │ │ ├── cyclic_20e.py │ │ │ │ │ ├── cyclic_40e.py │ │ │ │ │ ├── mmdet_schedule_1x.py │ │ │ │ │ ├── schedule_2x.py │ │ │ │ │ ├── schedule_3x.py │ │ │ │ │ ├── seg_cosine_150e.py │ │ │ │ │ ├── seg_cosine_200e.py │ │ │ │ │ └── seg_cosine_50e.py │ │ │ ├── cascade_mask_rcnn_r101_fpn_1x_nuim.py │ │ │ ├── cascade_mask_rcnn_r50_fpn_1x_nuim.py │ │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_1x_nuim.py │ │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim.py │ │ │ ├── cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ │ ├── htc_r50_fpn_1x_nuim.py │ │ │ ├── htc_r50_fpn_coco-20e_1x_nuim.py │ │ │ ├── htc_r50_fpn_coco-20e_20e_nuim.py │ │ │ ├── htc_without_semantic_r50_fpn_1x_nuim.py │ │ │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim.py │ │ │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim_class_agnostic_nms.py │ │ │ ├── mask_rcnn_r101_fpn_1x_nuim.py │ │ │ ├── mask_rcnn_r50_caffe_fpn_1x_nuim.py │ │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ │ │ ├── mask_rcnn_r50_fpn_1x_nuim.py │ │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nuim.py │ │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ │ │ ├── mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ │ └── metafile.yml │ │ └── schedules │ │ │ ├── cosine_2x.py │ │ │ └── cyclic_20e.py │ └── nuScenes │ │ └── FSF_nuScenes_config.py └── mmdet3d_plugin │ ├── __init__.py │ ├── core │ ├── __init__.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── dist_assigner.py │ │ │ ├── frustum_assigner.py │ │ │ ├── hybrid_assigner.py │ │ │ └── point_assigner.py │ │ └── coders │ │ │ ├── __init__.py │ │ │ ├── abs_point_bbox_coder.py │ │ │ └── base_point_bbox_coder.py │ ├── hook │ │ ├── __init__.py │ │ └── fsd_hooks.py │ └── utils │ │ ├── __init__.py │ │ ├── argo2_utils.py │ │ └── timer.py │ ├── datasets │ ├── __init__.py │ ├── argo2_dataset.py │ ├── dataset_wrappers.py │ └── pipelines │ │ ├── __init__.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── models │ ├── backbones │ │ ├── __init__.py │ │ └── sir.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ └── segmentation_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── frustum_cluster_head.py │ │ ├── multi_stage_refine_head.py │ │ ├── sparse_cluster_head.py │ │ └── sparse_cluster_head_v2.py │ ├── detectors │ │ ├── FSF.py │ │ ├── __init__.py │ │ └── single_stage_fsd.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── identity_middle_encoder.py │ │ ├── sst_input_layer.py │ │ └── sst_input_layer_v2.py │ ├── necks │ │ ├── __init__.py │ │ └── voxel2point_neck.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── fsd_bbox_head.py │ │ │ └── fsd_bbox_head_fsd.py │ │ ├── fsd_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ └── dynamic_point_roi_extractor.py │ └── utils │ │ └── __init__.py │ └── ops │ ├── __init__.py │ ├── dynamic_point_pool_op.py │ └── sst_ops.py └── tools ├── AV2 └── argo2_pickle_mmdet_fusion.py ├── argo_train.sh ├── dist_test.sh ├── dist_train.sh ├── mask_tools ├── save_mask_argo.sh ├── save_mask_argo2.py ├── save_mask_nusc.py └── save_mask_nusc.sh ├── nusc_train.sh ├── test.py └── train.py /.gitignore: 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