├── .github └── workflows │ └── dotnet-format.yml ├── .gitignore ├── LICENCE ├── README.md ├── TensorRT ├── .gitignore ├── CMakeLists.txt ├── README.md ├── build │ └── .gitignore ├── common │ ├── checkMacrosPlugin.cpp │ ├── checkMacrosPlugin.h │ ├── cuda_helper.cu │ ├── cuda_helper.h │ ├── cuda_int8.h │ ├── helper.h │ └── serialize.h ├── cudaComputeVersion.cu ├── install.sh ├── lib │ └── .gitignore └── plugin │ ├── bev_pool_v2 │ ├── bevPoolKernel.cu │ ├── bevPoolKernel.h │ ├── bevPoolPlugin.cpp │ └── bevPoolPlugin.h │ ├── grid_sampler │ ├── gridSamplerKernel.cu │ ├── gridSamplerKernel.h │ ├── gridSamplerPlugin.cpp │ └── gridSamplerPlugin.h │ ├── inverse │ ├── inverseKernel.cu │ ├── inverseKernel.h │ ├── inversePlugin.cpp │ └── inversePlugin.h │ ├── modulated_deformable_conv2d │ ├── modulatedDeformableConv2dKernel.cu │ ├── modulatedDeformableConv2dKernel.h │ ├── modulatedDeformableConv2dPlugin.cpp │ └── modulatedDeformableConv2dPlugin.h │ ├── multi_head_attn │ ├── multiHeadAttnKernel.cu │ ├── multiHeadAttnKernel.h │ ├── multiHeadAttnPlugin.cpp │ ├── multiHeadAttnPlugin.h │ ├── multiHeadFlashAttnKernel.cu │ └── multiHeadFlashAttnKernel.h │ ├── multi_scale_deformable_attn │ ├── multiScaleDeformableAttnKernel.cu │ ├── multiScaleDeformableAttnKernel.h │ ├── multiScaleDeformableAttnPlugin.cpp │ └── multiScaleDeformableAttnPlugin.h │ └── rotate │ ├── rotateKernel.cu │ ├── rotateKernel.h │ ├── rotatePlugin.cpp │ └── rotatePlugin.h ├── checkpoints ├── onnx │ └── .gitignore ├── pytorch │ └── .gitignore └── tensorrt │ └── .gitignore ├── ci └── check │ └── run_py_format.py ├── configs ├── _base_ │ ├── default_runtime.py │ ├── det2trt.py │ └── schedules │ │ ├── schedule_1x.py │ │ ├── schedule_20e.py │ │ └── schedule_2x.py ├── bevdet │ ├── bevdet-r50-cbgs.py │ └── bevdet-r50-cbgs_trt.py ├── bevformer │ ├── bevformer_base.py │ ├── bevformer_base_trt.py │ ├── bevformer_base_trt_q.py │ ├── bevformer_small.py │ ├── bevformer_small_trt.py │ ├── bevformer_small_trt_q.py │ ├── bevformer_tiny.py │ ├── bevformer_tiny_trt.py │ ├── bevformer_tiny_trt_q.py │ └── plugin │ │ ├── bevformer_base_trt_p.py │ │ ├── bevformer_base_trt_p2.py │ │ ├── bevformer_base_trt_p2_q.py │ │ ├── bevformer_base_trt_p_q.py │ │ ├── bevformer_small_trt_p.py │ │ ├── bevformer_small_trt_p2.py │ │ ├── bevformer_small_trt_p2_q.py │ │ ├── bevformer_small_trt_p_q.py │ │ ├── bevformer_tiny_trt_p.py │ │ ├── bevformer_tiny_trt_p2.py │ │ ├── bevformer_tiny_trt_p2_q.py │ │ └── bevformer_tiny_trt_p_q.py ├── centernet │ ├── centernet_resnet18_dcnv2_140e_coco.py │ ├── centernet_resnet18_dcnv2_140e_coco_trt.py │ └── centernet_resnet18_dcnv2_140e_coco_trt_q.py ├── datasets │ ├── coco_detection.py │ └── custom_nus-3d.py └── yolox │ ├── yolox_x_8x8_300e_coco.py │ ├── yolox_x_8x8_300e_coco_trt.py │ └── yolox_x_8x8_300e_coco_trt_q.py ├── data └── .gitignore ├── det2trt ├── __init__.py ├── convert │ ├── __init__.py │ ├── onnx2tensorrt.py │ └── pytorch2onnx.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── csp_darknet.py │ │ └── resnet.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── bevformer_head.py │ │ ├── centernet_head.py │ │ ├── centerpoint_head.py │ │ └── yolox_head.py │ ├── detector │ │ ├── __init__.py │ │ ├── bevdet.py │ │ ├── bevformer.py │ │ ├── centernet.py │ │ └── yolox.py │ ├── functions │ │ ├── __init__.py │ │ ├── bev_pool_v2.py │ │ ├── grid_sampler.py │ │ ├── inverse.py │ │ ├── modulated_deformable_conv2d.py │ │ ├── multi_head_attn.py │ │ ├── multi_scale_deformable_attn.py │ │ └── rotate.py │ ├── modules │ │ ├── __init__.py │ │ ├── cnn │ │ │ ├── __init__.py │ │ │ └── dcn.py │ │ ├── decoder.py │ │ ├── encoder.py │ │ ├── feedforward_network.py │ │ ├── multi_head_attention.py │ │ ├── spatial_cross_attention.py │ │ ├── temporal_self_attention.py │ │ └── transformer.py │ ├── necks │ │ ├── __init__.py │ │ └── view_transformer.py │ └── utils │ │ ├── __init__.py │ │ ├── onnx_ops.py │ │ ├── register.py │ │ ├── scp_layer.py │ │ ├── test_trt_ops │ │ ├── __init__.py │ │ ├── base_test_case.py │ │ ├── test_bev_pool_v2.py │ │ ├── test_grid_sampler.py │ │ ├── test_inverse.py │ │ ├── test_modulated_deformable_conv2d.py │ │ ├── test_multi_head_attn.py │ │ ├── test_multi_scale_deformable_attn.py │ │ ├── test_rotate.py │ │ └── utils.py │ │ └── trt_ops.py ├── quantization │ ├── __init__.py │ ├── calibrator_qdq.py │ └── calibrator_trt.py └── utils │ ├── __init__.py │ └── tensorrt.py ├── docker └── Dockerfile ├── requirements.txt ├── samples ├── bevdet │ └── r50_cbgs │ │ ├── onnx2trt.sh │ │ ├── onnx2trt_fp16.sh │ │ ├── onnx2trt_int8.sh │ │ ├── onnx2trt_int8_fp16.sh │ │ ├── pth2onnx.sh │ │ ├── pth_evaluate.sh │ │ ├── trt_evaluate.sh │ │ ├── trt_evaluate_fp16.sh │ │ ├── trt_evaluate_int8.sh │ │ └── trt_evaluate_int8_fp16.sh ├── bevformer │ ├── base │ │ ├── onnx2trt.sh │ │ ├── onnx2trt_fp16.sh │ │ ├── onnx2trt_int8.sh │ │ ├── onnx2trt_int8_fp16.sh │ │ ├── onnx2trt_int8_fp16_qdq.sh │ │ ├── onnx2trt_int8_qdq.sh │ │ ├── pth2onnx.sh │ │ ├── pth2onnx_q.sh │ │ ├── pth_evaluate.sh │ │ ├── quant_aware_train.sh │ │ ├── quant_max_ptq.sh │ │ ├── trt_evaluate.sh │ │ ├── trt_evaluate_fp16.sh │ │ ├── trt_evaluate_int8.sh │ │ ├── trt_evaluate_int8_fp16.sh │ │ ├── trt_evaluate_int8_fp16_qdq.sh │ │ └── trt_evaluate_int8_qdq.sh │ ├── create_data.sh │ ├── plugin │ │ ├── base │ │ │ ├── onnx2trt.sh │ │ │ ├── onnx2trt_fp16.sh │ │ │ ├── onnx2trt_fp16_2.sh │ │ │ ├── onnx2trt_int8.sh │ │ │ ├── onnx2trt_int8_fp16.sh │ │ │ ├── onnx2trt_int8_fp16_2.sh │ │ │ ├── onnx2trt_int8_fp16_2_qdq.sh │ │ │ ├── onnx2trt_int8_fp16_qdq.sh │ │ │ ├── onnx2trt_int8_qdq.sh │ │ │ ├── pth2onnx.sh │ │ │ ├── pth2onnx_2.sh │ │ │ ├── pth2onnx_q.sh │ │ │ ├── pth2onnx_q_2.sh │ │ │ ├── pth_evaluate.sh │ │ │ ├── trt_evaluate.sh │ │ │ ├── trt_evaluate_fp16.sh │ │ │ ├── trt_evaluate_fp16_2.sh │ │ │ ├── trt_evaluate_int8.sh │ │ │ ├── trt_evaluate_int8_fp16.sh │ │ │ ├── trt_evaluate_int8_fp16_2.sh │ │ │ ├── trt_evaluate_int8_fp16_2_qdq.sh │ │ │ ├── trt_evaluate_int8_fp16_qdq.sh │ │ │ └── trt_evaluate_int8_qdq.sh │ │ ├── small │ │ │ ├── onnx2trt.sh │ │ │ ├── onnx2trt_fp16.sh │ │ │ ├── onnx2trt_fp16_2.sh │ │ │ ├── onnx2trt_int8.sh │ │ │ ├── onnx2trt_int8_fp16.sh │ │ │ ├── onnx2trt_int8_fp16_2.sh │ │ │ ├── onnx2trt_int8_fp16_2_qdq.sh │ │ │ ├── onnx2trt_int8_fp16_qdq.sh │ │ │ ├── onnx2trt_int8_qdq.sh │ │ │ ├── pth2onnx.sh │ │ │ ├── pth2onnx_2.sh │ │ │ ├── pth2onnx_q.sh │ │ │ ├── pth2onnx_q_2.sh │ │ │ ├── pth_evaluate.sh │ │ │ ├── trt_evaluate.sh │ │ │ ├── trt_evaluate_fp16.sh │ │ │ ├── trt_evaluate_fp16_2.sh │ │ │ ├── trt_evaluate_int8.sh │ │ │ ├── trt_evaluate_int8_fp16.sh │ │ │ ├── trt_evaluate_int8_fp16_2.sh │ │ │ ├── trt_evaluate_int8_fp16_2_qdq.sh │ │ │ ├── trt_evaluate_int8_fp16_qdq.sh │ │ │ └── trt_evaluate_int8_qdq.sh │ │ └── tiny │ │ │ ├── onnx2trt.sh │ │ │ ├── onnx2trt_fp16.sh │ │ │ ├── onnx2trt_fp16_2.sh │ │ │ ├── onnx2trt_int8.sh │ │ │ ├── onnx2trt_int8_fp16.sh │ │ │ ├── onnx2trt_int8_fp16_2.sh │ │ │ ├── onnx2trt_int8_fp16_2_qdq.sh │ │ │ ├── onnx2trt_int8_fp16_qdq.sh │ │ │ ├── onnx2trt_int8_qdq.sh │ │ │ ├── pth2onnx.sh │ │ │ ├── pth2onnx_2.sh │ │ │ ├── pth2onnx_q.sh │ │ │ ├── pth2onnx_q_2.sh │ │ │ ├── pth_evaluate.sh │ │ │ ├── trt_evaluate.sh │ │ │ ├── trt_evaluate_fp16.sh │ │ │ ├── trt_evaluate_fp16_2.sh │ │ │ ├── trt_evaluate_int8.sh │ │ │ ├── trt_evaluate_int8_fp16.sh │ │ │ ├── trt_evaluate_int8_fp16_2.sh │ │ │ ├── trt_evaluate_int8_fp16_2_qdq.sh │ │ │ ├── trt_evaluate_int8_fp16_qdq.sh │ │ │ └── trt_evaluate_int8_qdq.sh │ ├── small │ │ ├── onnx2trt.sh │ │ ├── onnx2trt_fp16.sh │ │ ├── onnx2trt_int8.sh │ │ ├── onnx2trt_int8_fp16.sh │ │ ├── onnx2trt_int8_fp16_qdq.sh │ │ ├── onnx2trt_int8_qdq.sh │ │ ├── pth2onnx.sh │ │ ├── pth2onnx_q.sh │ │ ├── pth_evaluate.sh │ │ ├── quant_aware_train.sh │ │ ├── quant_max_ptq.sh │ │ ├── trt_evaluate.sh │ │ ├── trt_evaluate_fp16.sh │ │ ├── trt_evaluate_int8.sh │ │ ├── trt_evaluate_int8_fp16.sh │ │ ├── trt_evaluate_int8_fp16_qdq.sh │ │ └── trt_evaluate_int8_qdq.sh │ └── tiny │ │ ├── onnx2trt.sh │ │ ├── onnx2trt_fp16.sh │ │ ├── onnx2trt_int8.sh │ │ ├── onnx2trt_int8_fp16.sh │ │ ├── onnx2trt_int8_fp16_qdq.sh │ │ ├── onnx2trt_int8_qdq.sh │ │ ├── pth2onnx.sh │ │ ├── pth2onnx_q.sh │ │ ├── pth_evaluate.sh │ │ ├── quant_aware_train.sh │ │ ├── quant_max_ptq.sh │ │ ├── trt_evaluate.sh │ │ ├── trt_evaluate_fp16.sh │ │ ├── trt_evaluate_int8.sh │ │ ├── trt_evaluate_int8_fp16.sh │ │ ├── trt_evaluate_int8_fp16_qdq.sh │ │ └── trt_evaluate_int8_qdq.sh ├── centernet │ ├── onnx2trt.sh │ ├── onnx2trt_fp16.sh │ ├── onnx2trt_int8.sh │ ├── onnx2trt_int8_fp16.sh │ ├── onnx2trt_int8_fp16_qdq.sh │ ├── onnx2trt_int8_qdq.sh │ ├── pth2onnx.sh │ ├── pth2onnx_q.sh │ ├── pth_evaluate.sh │ ├── quant_aware_train.sh │ ├── quant_max_ptq.sh │ ├── trt_evaluate.sh │ ├── trt_evaluate_fp16.sh │ ├── trt_evaluate_int8.sh │ ├── trt_evaluate_int8_fp16.sh │ ├── trt_evaluate_int8_fp16_qdq.sh │ └── trt_evaluate_int8_qdq.sh ├── get_flops_params.sh ├── onnx_visualization.sh ├── test_trt_ops.sh └── yolox │ ├── onnx2trt.sh │ ├── onnx2trt_fp16.sh │ ├── onnx2trt_int8.sh │ ├── onnx2trt_int8_fp16.sh │ ├── onnx2trt_int8_fp16_qdq.sh │ ├── onnx2trt_int8_qdq.sh │ ├── pth2onnx.sh │ ├── pth2onnx_q.sh │ ├── pth_evaluate.sh │ ├── quant_aware_train.sh │ ├── quant_max_ptq.sh │ ├── trt_evaluate.sh │ ├── trt_evaluate_fp16.sh │ ├── trt_evaluate_int8.sh │ ├── trt_evaluate_int8_fp16.sh │ ├── trt_evaluate_int8_fp16_qdq.sh │ └── trt_evaluate_int8_qdq.sh ├── third_party ├── __init__.py └── bev_mmdet3d │ ├── .gitignore │ ├── __init__.py │ ├── apis │ ├── __init__.py │ ├── mmdet_train.py │ ├── test.py │ └── train.py │ ├── core │ ├── __init__.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner_3d.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ └── nms_free_coder.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ ├── transforms.py │ │ └── util.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── eval_hooks.py │ │ └── indoor_eval.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── array_converter.py │ │ └── gaussian.py │ └── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ ├── datasets │ ├── __init__.py │ ├── bevdet_dataset.py │ ├── bevformer_dataset.py │ ├── builder.py │ ├── custom_3d.py │ ├── nuscenes_dataset.py │ ├── nuscenes_eval.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transform_3d.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ └── utils.py │ ├── models │ ├── __init__.py │ ├── backbone │ │ ├── __init__.py │ │ └── bev_resnet.py │ ├── builder.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── bevformer_head.py │ │ └── centerpoint_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── bevdet.py │ │ ├── bevformer.py │ │ ├── centerpoint.py │ │ └── mvx_two_stage.py │ ├── modules │ │ ├── __init__.py │ │ ├── custom_base_transformer_layer.py │ │ ├── decoder.py │ │ ├── encoder.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── spatial_cross_attention.py │ │ ├── temporal_self_attention.py │ │ └── transformer.py │ ├── necks │ │ ├── __init__.py │ │ ├── fpn.py │ │ ├── lss_fpn.py │ │ └── view_transformer.py │ └── utils │ │ ├── __init__.py │ │ ├── bricks.py │ │ ├── clip_sigmoid.py │ │ ├── grid_mask.py │ │ └── visual.py │ ├── ops │ ├── __init__.py │ ├── bev_pool_v2 │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── iou3d │ │ ├── __init__.py │ │ ├── iou3d_utils.py │ │ └── src │ │ │ ├── iou3d.cpp │ │ │ └── iou3d_kernel.cu │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── points_in_boxes.py │ │ ├── roiaware_pool3d.py │ │ └── src │ │ │ ├── points_in_boxes_cpu.cpp │ │ │ ├── points_in_boxes_cuda.cu │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── voxel │ │ ├── __init__.py │ │ ├── scatter_points.py │ │ ├── src │ │ ├── scatter_points_cpu.cpp │ │ ├── scatter_points_cuda.cu │ │ ├── voxelization.cpp │ │ ├── voxelization.h │ │ ├── voxelization_cpu.cpp │ │ └── voxelization_cuda.cu │ │ └── voxelize.py │ └── setup.py └── tools ├── 2d ├── evaluate_pth.py ├── evaluate_trt.py ├── onnx2trt.py ├── post_training_quant.py └── train.py ├── bevdet ├── evaluate_pth.py ├── evaluate_trt.py ├── onnx2trt.py └── pth2onnx.py ├── bevformer ├── create_data.py ├── evaluate_pth.py ├── evaluate_trt.py ├── onnx2trt.py ├── post_training_quant.py └── train.py ├── flops_params.py 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