├── Dockerfile ├── LICENSE ├── README.md ├── data ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── base_data_loader.cpython-37.pyc │ ├── base_data_loader.cpython-38.pyc │ ├── base_dataset.cpython-37.pyc │ ├── base_dataset.cpython-38.pyc │ ├── bev_lidar.cpython-38.pyc │ ├── kitti_dataset.cpython-38.pyc │ ├── lidar_input_kitticonfig.cpython-38.pyc │ └── lidar_input_pklconfig.cpython-38.pyc ├── base_data_loader.py ├── base_dataset.py └── kitti_dataset.py ├── datasets ├── kitti │ ├── image_cam │ │ ├── up_000642.png │ │ ├── up_000971.png │ │ ├── up_001029.png │ │ ├── up_001205.png │ │ ├── up_001229.png │ │ ├── up_001261.png │ │ ├── up_003153.png │ │ ├── up_003305.png │ │ └── up_003333.png │ ├── testing │ │ ├── gt_image_2 │ │ │ ├── up_000642.png │ │ │ ├── up_000971.png │ │ │ ├── up_001029.png │ │ │ ├── up_001205.png │ │ │ ├── up_001229.png │ │ │ ├── up_001261.png │ │ │ ├── up_003153.png │ │ │ ├── up_003305.png │ │ │ └── up_003333.png │ │ └── image_2 │ │ │ ├── up_000642.png │ │ │ ├── up_000971.png │ │ │ ├── up_001029.png │ │ │ ├── up_001205.png │ │ │ ├── up_001229.png │ │ │ ├── up_001261.png │ │ │ ├── up_003153.png │ │ │ ├── up_003305.png │ │ │ └── up_003333.png │ ├── training │ │ ├── gt_image_2 │ │ │ ├── up_000675.png │ │ │ ├── up_000694.png │ │ │ ├── up_000768.png │ │ │ ├── up_001011.png │ │ │ ├── up_001057.png │ │ │ ├── up_001091.png │ │ │ ├── up_001111.png │ │ │ ├── up_001135.png │ │ │ ├── up_001149.png │ │ │ ├── up_001159.png │ │ │ ├── up_001169.png │ │ │ ├── up_001175.png │ │ │ ├── up_001197.png │ │ │ ├── up_001213.png │ │ │ ├── up_001237.png │ │ │ ├── up_001245.png │ │ │ ├── up_001247.png │ │ │ ├── up_001253.png │ │ │ ├── up_003145.png │ │ │ ├── up_003159.png │ │ │ ├── up_003175.png │ │ │ ├── up_003239.png │ │ │ ├── up_003253.png │ │ │ ├── up_003347.png │ │ │ ├── up_003361.png │ │ │ └── up_003375.png │ │ └── image_2 │ │ │ ├── up_000675.png │ │ │ ├── up_000694.png │ │ │ ├── up_000768.png │ │ │ ├── up_001011.png │ │ │ ├── up_001057.png │ │ │ ├── up_001091.png │ │ │ ├── up_001111.png │ │ │ ├── up_001135.png │ │ │ ├── up_001149.png │ │ │ ├── up_001159.png │ │ │ ├── up_001169.png │ │ │ ├── up_001175.png │ │ │ ├── up_001197.png │ │ │ ├── up_001213.png │ │ │ ├── up_001237.png │ │ │ ├── up_001245.png │ │ │ ├── up_001247.png │ │ │ ├── up_001253.png │ │ │ ├── up_003145.png │ │ │ ├── up_003159.png │ │ │ ├── up_003175.png │ │ │ ├── up_003239.png │ │ │ ├── up_003253.png │ │ │ ├── up_003347.png │ │ │ ├── up_003361.png │ │ │ └── up_003375.png │ ├── validation │ │ ├── gt_image_2 │ │ │ ├── up_000660.png │ │ │ ├── up_000762.png │ │ │ ├── up_000991.png │ │ │ ├── up_001097.png │ │ │ ├── up_001147.png │ │ │ ├── up_001193.png │ │ │ ├── up_001219.png │ │ │ ├── up_003269.png │ │ │ └── up_003437.png │ │ └── image_2 │ │ │ ├── up_000660.png │ │ │ ├── up_000762.png │ │ │ ├── up_000991.png │ │ │ ├── up_001097.png │ │ │ ├── up_001147.png │ │ │ ├── up_001193.png │ │ │ ├── up_001219.png │ │ │ ├── up_003269.png │ │ │ └── up_003437.png │ └── velodyne │ │ ├── 000000.pkl │ │ ├── 000001.pkl │ │ ├── 000002.pkl │ │ ├── 000003.pkl │ │ ├── 000004.pkl │ │ ├── 000005.pkl │ │ ├── 000006.pkl │ │ ├── 000007.pkl │ │ ├── 000008.pkl │ │ ├── 000009.pkl │ │ └── 000010.pkl └── palette.txt ├── detect.py ├── doc ├── roadseg.gif └── sne-roadseg.png ├── export_onnx.py ├── lidar_pkl_to_bev.py ├── models ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── base_model.cpython-37.pyc │ ├── base_model.cpython-38.pyc │ ├── networks.cpython-37.pyc │ ├── networks.cpython-38.pyc │ ├── roadseg_model.cpython-37.pyc │ ├── roadseg_model.cpython-38.pyc │ ├── sne_model.cpython-37.pyc │ └── sne_model.cpython-38.pyc ├── base_model.py ├── networks.py └── roadseg_model.py ├── options ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── base_options.cpython-37.pyc │ ├── base_options.cpython-38.pyc │ ├── detect_options.cpython-38.pyc │ ├── 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