├── .gitignore ├── .readthedocs.yaml ├── LICENSE ├── README.md ├── docs ├── Makefile ├── conf.py ├── index.rst ├── make.bat ├── md_files │ ├── config_tutorial.md │ ├── contributor.md │ ├── data_annotation_tutorial.md │ ├── data_intro.md │ ├── data_pipeline.png │ ├── installation.md │ ├── lidar_benchmark.md │ └── logic_flow.md └── requirements.txt ├── environment.yml ├── images ├── camera_demo.gif ├── demo1.gif ├── logreplay.gif ├── opencood.png └── pytorch-logo-dark.png ├── logreplay ├── README.md ├── __init__.py ├── assets │ ├── __init__.py │ ├── presave_lib.py │ └── utils.py ├── hypes_yaml │ ├── __init__.py │ └── replay.yaml ├── map │ ├── __init__.py │ ├── map_drawing.py │ ├── map_manager.py │ └── map_utils.py ├── scenario │ ├── __init__.py │ ├── scenarios_manager.py │ └── scene_manager.py └── sensors │ ├── __init__.py │ ├── base_sensor.py │ ├── bev_semantic_camera.py │ ├── semantic_lidar.py │ ├── sensor_manager.py │ └── utils.py ├── opencood ├── __init__.py ├── data_utils │ ├── __init__.py │ ├── augmentor │ │ ├── __init__.py │ │ ├── augment_utils.py │ │ └── data_augmentor.py │ ├── datasets │ │ ├── __init__.py │ │ ├── basedataset.py │ │ ├── early_fusion_dataset.py │ │ ├── early_fusion_vis_dataset.py │ │ ├── intermediate_fusion_dataset.py │ │ ├── intermediate_fusion_dataset_v2.py │ │ └── late_fusion_dataset.py │ ├── post_processor │ │ ├── __init__.py │ │ ├── base_postprocessor.py │ │ ├── bev_postprocessor.py │ │ ├── ciassd_postprocessor.py │ │ ├── fpvrcnn_postprocessor.py │ │ └── voxel_postprocessor.py │ └── pre_processor │ │ ├── __init__.py │ │ ├── base_preprocessor.py │ │ ├── bev_preprocessor.py │ │ ├── sp_voxel_preprocessor.py │ │ └── voxel_preprocessor.py ├── hypes_yaml │ ├── __init__.py │ ├── ciassd_early_fusion.yaml │ ├── ciassd_intermediate_fusion.yaml │ ├── fpvrcnn_intermediate_fusion.yaml │ ├── pixor_early_fusion.yaml │ ├── pixor_intermediate_fusion.yaml │ ├── pixor_late_fusion.yaml │ ├── point_pillar_coalign.yaml │ ├── point_pillar_cobevt.yaml │ ├── point_pillar_early_fusion.yaml │ ├── point_pillar_fcooper.yaml │ ├── point_pillar_intermediate_V2VAM.yaml │ ├── point_pillar_intermediate_fusion.yaml │ ├── point_pillar_late_fusion.yaml │ ├── point_pillar_v2vnet.yaml │ ├── point_pillar_v2xvit.yaml │ ├── point_pillar_where2comm.yaml │ ├── second_early_fusion.yaml │ ├── second_intermediate_fusion.yaml │ ├── second_late_fusion.yaml │ ├── visualization.yaml │ ├── voxelnet_early_fusion.yaml │ ├── voxelnet_intermediate_fusion.yaml │ ├── voxelnet_late_fusion.yaml │ └── yaml_utils.py ├── loss │ ├── __init__.py │ ├── ciassd_loss.py │ ├── fpvrcnn_loss.py │ ├── pixor_loss.py │ └── point_pillar_loss.py ├── models │ ├── __init__.py │ ├── ciassd.py │ ├── fpvrcnn.py │ ├── fuse_modules │ │ ├── V2VAM.py │ │ ├── __init__.py │ │ ├── coalign_fuse.py │ │ ├── f_cooper_fuse.py │ │ ├── fuse_utils.py │ │ ├── hmsa.py │ │ ├── mswin.py │ │ ├── self_attn.py │ │ ├── swap_fusion_modules.py │ │ ├── v2v_fuse.py │ │ ├── v2xvit_basic.py │ │ └── where2comm_fuse.py │ ├── pixor.py │ ├── pixor_intermediate.py │ ├── point_pillar.py │ ├── point_pillar_coalign.py │ ├── point_pillar_cobevt.py │ ├── point_pillar_fcooper.py │ ├── point_pillar_intermediate.py │ ├── point_pillar_intermediate_V2VAM.py │ ├── point_pillar_transformer.py │ ├── point_pillar_v2vnet.py │ ├── point_pillar_where2comm.py │ ├── second.py │ ├── second_intermediate.py │ ├── sub_modules │ │ ├── att_bev_backbone.py │ │ ├── auto_encoder.py │ │ ├── base_bev_backbone.py │ │ ├── base_transformer.py │ │ ├── cia_ssd_utils.py │ │ ├── convgru.py │ │ ├── downsample_conv.py │ │ ├── height_compression.py │ │ ├── matcher.py │ │ ├── mean_vfe.py │ │ ├── naive_compress.py │ │ ├── pillar_vfe.py │ │ ├── point_pillar_scatter.py │ │ ├── res_bev_backbone.py │ │ ├── resblock.py │ │ ├── roi_head.py │ │ ├── sparse_backbone_3d.py │ │ ├── split_attn.py │ │ ├── torch_transformation_utils.py │ │ └── vsa.py │ ├── voxel_net.py │ └── voxel_net_intermediate.py ├── pcdet_utils │ ├── __init__.py │ ├── iou3d_nms │ │ ├── iou3d_nms_utils.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── pointnet2 │ │ ├── pointnet2_batch │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ └── pointnet2_stack │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── ball_query_gpu.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── group_points_gpu.h │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── interpolate_gpu.h │ │ │ ├── pointnet2_api.cpp │ │ │ ├── sampling.cpp │ │ │ ├── sampling_gpu.cu │ │ │ └── sampling_gpu.h │ ├── roiaware_pool3d │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── setup.py ├── tools │ ├── __init__.py │ ├── debug_utils.py │ ├── inference.py │ ├── inference_utils.py │ ├── multi_gpu_utils.py │ ├── train.py │ └── train_utils.py ├── utils │ ├── __init__.py │ ├── box_overlaps.pyx │ ├── box_utils.py │ ├── common_utils.py │ ├── draco_compression.py │ ├── eval_utils.py │ ├── max_consensus.py │ ├── pcd_utils.py │ ├── setup.py │ ├── transformation_utils.py │ └── visulizor.py ├── version.py └── visualization │ ├── __init__.py │ ├── vis_data_sequence.py │ └── vis_utils.py ├── requirements.txt └── setup.py /.gitignore: -------------------------------------------------------------------------------- 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