├── .gitattributes ├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── assets └── drivevla-ModelArc.jpg ├── docs ├── 1_INSTALL.md ├── 2_DATA_PREP.md └── 3_EVAL.md ├── drivevla ├── __init__.py ├── data_utils │ ├── __init__.py │ ├── build_llava_conversation.py │ ├── nuscenes_llava_datacollector.py │ ├── nuscenes_llava_dataset.py │ └── nuscenes_llava_distributed_sampler.py ├── eval_drivevla.py ├── eval_share │ ├── README.md │ ├── __init__.py │ ├── evaluation.py │ └── metric.py ├── inference_drivevla.py └── utils │ ├── __init__.py │ ├── check_meta_tensor.py │ ├── iou.py │ ├── remove_mmlab_datacontainer.py │ ├── save_transformers_checkpoint.py │ ├── tensor_utils.py │ └── trajectory_utils.py ├── llava ├── __init__.py ├── constants.py ├── conversation.py ├── mm_utils.py ├── model │ ├── __init__.py │ ├── apply_delta.py │ ├── builder.py │ ├── consolidate.py │ ├── language_model │ │ ├── llava_gemma.py │ │ ├── llava_llama.py │ │ ├── llava_mistral.py │ │ ├── llava_mixtral.py │ │ ├── llava_mpt.py │ │ ├── llava_qwen.py │ │ ├── llava_qwen_moe.py │ │ └── modeling_llama.py │ ├── llava_arch.py │ ├── make_delta.py │ ├── multimodal_encoder │ │ ├── builder.py │ │ ├── clip_encoder.py │ │ ├── dev_eva_clip │ │ │ ├── eva_clip │ │ │ │ ├── __init__.py │ │ │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ │ │ ├── constants.py │ │ │ │ ├── eva_vit_model.py │ │ │ │ ├── factory.py │ │ │ │ ├── hf_configs.py │ │ │ │ ├── hf_model.py │ │ │ │ ├── loss.py │ │ │ │ ├── model.py │ │ │ │ ├── model_configs │ │ │ │ │ ├── EVA-CLIP-18B.json │ │ │ │ │ ├── EVA-CLIP-8B-plus.json │ │ │ │ │ ├── EVA-CLIP-8B.json │ │ │ │ │ ├── EVA01-CLIP-B-16.json │ │ │ │ │ ├── EVA01-CLIP-g-14-plus.json │ │ │ │ │ ├── EVA01-CLIP-g-14.json │ │ │ │ │ ├── EVA02-CLIP-B-16.json │ │ │ │ │ ├── EVA02-CLIP-L-14-336.json │ │ │ │ │ ├── EVA02-CLIP-L-14.json │ │ │ │ │ ├── EVA02-CLIP-bigE-14-plus.json │ │ │ │ │ ├── EVA02-CLIP-bigE-14.json │ │ │ │ │ ├── Internal-EVA02-CLIP-10B-14-448.json │ │ │ │ │ └── Internal-EVA02-CLIP-10B-14.json │ │ │ │ ├── modified_resnet.py │ │ │ │ ├── openai.py │ │ │ │ ├── pretrained.py │ │ │ │ ├── rope.py │ │ │ │ ├── timm_model.py │ │ │ │ ├── tokenizer.py │ │ │ │ ├── transform.py │ │ │ │ ├── transformer.py │ │ │ │ └── utils.py │ │ │ └── eva_vit.py │ │ ├── eva_clip │ │ │ ├── eva_clip_encoder.py │ │ │ ├── eva_clip_processors.py │ │ │ ├── eva_vit.py │ │ │ ├── factory.py │ │ │ └── model_configs │ │ │ │ ├── EVA-CLIP-18B.json │ │ │ │ ├── EVA-CLIP-8B-plus.json │ │ │ │ ├── EVA-CLIP-8B.json │ │ │ │ ├── EVA01-CLIP-B-16.json │ │ │ │ ├── EVA01-CLIP-g-14-plus.json │ │ │ │ ├── EVA01-CLIP-g-14.json │ │ │ │ ├── EVA02-CLIP-B-16.json │ │ │ │ ├── EVA02-CLIP-L-14-336.json │ │ │ │ ├── EVA02-CLIP-L-14.json │ │ │ │ ├── EVA02-CLIP-bigE-14-plus.json │ │ │ │ ├── EVA02-CLIP-bigE-14.json │ │ │ │ ├── Internal-EVA02-CLIP-10B-14-448.json │ │ │ │ └── Internal-EVA02-CLIP-10B-14.json │ │ ├── hf_vision.py │ │ ├── imagebind.py │ │ ├── open_clip_encoder.py │ │ ├── siglip_encoder.py │ │ └── uniad_track_map.py │ ├── multimodal_projector │ │ ├── builder.py │ │ └── pooler_projector.py │ ├── multimodal_resampler │ │ ├── builder.py │ │ ├── masked_drop.py │ │ ├── perceiver.py │ │ ├── qformer.py │ │ └── spatial_pool.py │ └── utils.py ├── train │ └── train.py └── utils.py ├── projects ├── __init__.py ├── configs │ ├── _base_ │ │ ├── datasets │ │ │ └── nus-3d.py │ │ └── default_runtime.py │ └── stage1_track_map │ │ └── base_track_map.py └── mmdet3d_plugin │ ├── __init__.py │ ├── core │ ├── bbox │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── hungarian_assigner_3d.py │ │ │ └── hungarian_assigner_3d_track.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── detr3d_track_coder.py │ │ │ └── nms_free_coder.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ └── util.py │ └── evaluation │ │ ├── __init__.py │ │ └── eval_hooks.py │ ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── data_utils │ │ ├── data_utils.py │ │ ├── rasterize.py │ │ ├── trajectory_api.py │ │ └── vector_map.py │ ├── eval_utils │ │ ├── eval_utils.py │ │ ├── map_api.py │ │ ├── metric_utils.py │ │ ├── nuscenes_eval.py │ │ └── nuscenes_eval_motion.py │ ├── nuscenes_e2e_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── occflow_label.py │ │ └── transform_3d.py │ └── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ ├── losses │ ├── __init__.py │ ├── dice_loss.py │ ├── mtp_loss.py │ ├── occflow_loss.py │ ├── planning_loss.py │ ├── track_loss.py │ └── traj_loss.py │ ├── models │ ├── backbones │ │ ├── __init__.py │ │ └── vovnet.py │ ├── hooks │ │ ├── __init__.py │ │ └── hooks.py │ ├── opt │ │ ├── __init__.py │ │ └── adamw.py │ └── utils │ │ ├── __init__.py │ │ ├── bricks.py │ │ ├── functional.py │ │ └── grid_mask.py │ └── uniad │ ├── __init__.py │ ├── apis │ ├── __init__.py │ ├── mmdet_train.py │ ├── test.py │ └── train.py │ ├── dense_heads │ ├── __init__.py │ ├── motion_head.py │ ├── motion_head_plugin │ │ ├── __init__.py │ │ ├── base_motion_head.py │ │ ├── modules.py │ │ ├── motion_deformable_attn.py │ │ ├── motion_optimization.py │ │ └── motion_utils.py │ ├── occ_head.py │ ├── occ_head_plugin │ │ ├── __init__.py │ │ ├── metrics.py │ │ ├── modules.py │ │ └── utils.py │ ├── panseg_head.py │ ├── planning_head.py │ ├── planning_head_plugin │ │ ├── __init__.py │ │ ├── collision_optimization.py │ │ └── planning_metrics.py │ ├── seg_head_plugin │ │ ├── __init__.py │ │ ├── seg_assigner.py │ │ ├── seg_deformable_transformer.py │ │ ├── seg_detr_head.py │ │ ├── seg_mask_head.py │ │ └── seg_utils.py │ ├── track_head.py │ └── track_head_plugin │ │ ├── __init__.py │ │ ├── modules.py │ │ ├── track_instance.py │ │ └── tracker.py │ ├── detectors │ ├── __init__.py │ ├── uniad_e2e.py │ └── uniad_track.py │ ├── hooks │ ├── __init__.py │ └── custom_hooks.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 ├── pyproject.toml ├── scripts └── eval_drivevla.sh └── third_party ├── mmcv_1_7_2 ├── .circleci │ └── config.yml ├── .dev_scripts │ ├── check_installation.py │ └── visualize_lr.py ├── .dockerignore ├── .github │ ├── ISSUE_TEMPLATE │ │ ├── 1-bug-report.yml │ │ ├── 2-feature_request.yml │ │ ├── 3-documentation.yml │ │ └── config.yml │ ├── pull_request_template.md │ └── workflows │ │ ├── build.yml │ │ ├── build_macos_wheel.yml │ │ ├── build_pat.yml │ │ ├── lint.yml │ │ └── publish-to-pypi.yml ├── .gitignore ├── .pre-commit-config-zh-cn.yaml ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CITATION.cff ├── CONTRIBUTING.md ├── CONTRIBUTING_zh-CN.md ├── Jenkinsfile ├── LICENSE ├── LICENSES.md ├── MANIFEST.in ├── README.md ├── README_zh-CN.md ├── TERMINOLOGY.md ├── docker │ ├── README.md │ ├── dev │ │ └── Dockerfile │ └── release │ │ └── Dockerfile ├── docs │ ├── en │ │ ├── Makefile │ │ ├── _static │ │ │ ├── community │ │ │ │ ├── 1.png │ │ │ │ ├── 2.png │ │ │ │ └── 3.png │ │ │ ├── css │ │ │ │ └── readthedocs.css │ │ │ ├── flow_img2toimg1.png │ │ │ ├── flow_raw_images.png │ │ │ ├── flow_visualization.png │ │ │ ├── flow_warp.png │ │ │ ├── flow_warp_diff.png │ │ │ ├── image │ │ │ │ └── mmcv-logo.png │ │ │ ├── parallel_progress.gif │ │ │ ├── parallel_progress.png │ │ │ ├── progress.gif │ │ │ ├── progress.png │ │ │ └── version.json │ │ ├── api.rst │ │ ├── community │ │ │ ├── contributing.md │ │ │ └── pr.md │ │ ├── compatibility.md │ │ ├── conf.py │ │ ├── deployment │ │ │ ├── mmcv_ops_definition.md │ │ │ ├── onnx.md │ │ │ ├── onnxruntime_custom_ops.md │ │ │ ├── onnxruntime_op.md │ │ │ ├── tensorrt_custom_ops.md │ │ │ └── tensorrt_plugin.md │ │ ├── faq.md │ │ ├── get_started │ │ │ ├── build.md │ │ │ ├── installation.md │ │ │ ├── introduction.md │ │ │ └── previous_versions.md │ │ ├── index.rst │ │ ├── make.bat │ │ ├── mmcv-logo.png │ │ ├── switch_language.md │ │ └── understand_mmcv │ │ │ ├── cnn.md │ │ │ ├── config.md │ │ │ ├── data_process.md │ │ │ ├── io.md │ │ │ ├── ops.md │ │ │ ├── registry.md │ │ │ ├── runner.md │ │ │ ├── utils.md │ │ │ └── visualization.md │ └── zh_cn │ │ ├── Makefile │ │ ├── _static │ │ ├── css │ │ │ └── readthedocs.css │ │ ├── image │ │ │ └── mmcv-logo.png │ │ └── version.json │ │ ├── api.rst │ │ ├── community │ │ ├── code_style.md │ │ ├── contributing.md │ │ └── pr.md │ │ ├── compatibility.md │ │ ├── conf.py │ │ ├── deployment │ │ ├── onnx.md │ │ ├── onnxruntime_custom_ops.md │ │ ├── onnxruntime_op.md │ │ ├── tensorrt_custom_ops.md │ │ └── tensorrt_plugin.md │ │ ├── faq.md │ │ ├── get_started │ │ ├── article.md │ │ ├── build.md │ │ ├── installation.md │ │ ├── introduction.md │ │ └── previous_versions.md │ │ ├── index.rst │ │ ├── make.bat │ │ ├── mmcv-logo.png │ │ ├── switch_language.md │ │ └── understand_mmcv │ │ ├── cnn.md │ │ ├── config.md │ │ ├── data_process.md │ │ ├── io.md │ │ ├── ops.md │ │ ├── registry.md │ │ ├── runner.md │ │ ├── utils.md │ │ └── visualization.md ├── examples │ └── train.py ├── mmcv │ ├── __init__.py │ ├── arraymisc │ │ ├── __init__.py │ │ └── quantization.py │ ├── cnn │ │ ├── __init__.py │ │ ├── alexnet.py │ │ ├── bricks │ │ │ ├── __init__.py │ │ │ ├── activation.py │ │ │ ├── context_block.py │ │ │ ├── conv.py │ │ │ ├── conv2d_adaptive_padding.py │ │ │ ├── conv_module.py │ │ │ ├── conv_ws.py │ │ │ ├── depthwise_separable_conv_module.py │ │ │ ├── drop.py │ │ │ ├── generalized_attention.py │ │ │ ├── hsigmoid.py │ │ │ ├── hswish.py │ │ │ ├── non_local.py │ │ │ ├── norm.py │ │ │ ├── padding.py │ │ │ ├── plugin.py │ │ │ ├── registry.py │ │ │ ├── scale.py │ │ │ ├── swish.py │ │ │ ├── transformer.py │ │ │ ├── upsample.py │ │ │ └── wrappers.py │ │ ├── builder.py │ │ ├── resnet.py │ │ ├── rfsearch │ │ │ ├── __init__.py │ │ │ ├── operator.py │ │ │ ├── search.py │ │ │ └── utils.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── flops_counter.py │ │ │ ├── fuse_conv_bn.py │ │ │ ├── sync_bn.py │ │ │ └── weight_init.py │ │ └── vgg.py │ ├── device │ │ ├── __init__.py │ │ ├── _functions.py │ │ ├── ipu │ │ │ ├── __init__.py │ │ │ ├── dataloader.py │ │ │ ├── hierarchical_data_manager.py │ │ │ ├── hook_wrapper.py │ │ │ ├── model_wrapper.py │ │ │ ├── runner.py │ │ │ └── utils.py │ │ ├── mlu │ │ │ ├── __init__.py │ │ │ ├── _functions.py │ │ │ ├── data_parallel.py │ │ │ ├── distributed.py │ │ │ └── scatter_gather.py │ │ ├── mps │ │ │ ├── __init__.py │ │ │ └── data_parallel.py │ │ ├── npu │ │ │ ├── __init__.py │ │ │ ├── data_parallel.py │ │ │ └── distributed.py │ │ ├── scatter_gather.py │ │ └── utils.py │ ├── engine │ │ ├── __init__.py │ │ └── test.py │ ├── fileio │ │ ├── __init__.py │ │ ├── file_client.py │ │ ├── handlers │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── json_handler.py │ │ │ ├── pickle_handler.py │ │ │ └── yaml_handler.py │ │ ├── io.py │ │ └── parse.py │ ├── image │ │ ├── __init__.py │ │ ├── colorspace.py │ │ ├── geometric.py │ │ ├── io.py │ │ ├── misc.py │ │ └── photometric.py │ ├── model_zoo │ │ ├── deprecated.json │ │ ├── mmcls.json │ │ ├── open_mmlab.json │ │ └── torchvision_0.12.json │ ├── onnx │ │ ├── __init__.py │ │ ├── info.py │ │ ├── onnx_utils │ │ │ ├── __init__.py │ │ │ └── symbolic_helper.py │ │ └── symbolic.py │ ├── ops │ │ ├── __init__.py │ │ ├── active_rotated_filter.py │ │ ├── assign_score_withk.py │ │ ├── ball_query.py │ │ ├── bbox.py │ │ ├── border_align.py │ │ ├── box_iou_quadri.py │ │ ├── box_iou_rotated.py │ │ ├── carafe.py │ │ ├── cc_attention.py │ │ ├── chamfer_distance.py │ │ ├── contour_expand.py │ │ ├── convex_iou.py │ │ ├── corner_pool.py │ │ ├── correlation.py │ │ ├── csrc │ │ │ ├── README.md │ │ │ ├── common │ │ │ │ ├── box_iou_rotated_utils.hpp │ │ │ │ ├── cuda │ │ │ │ │ ├── active_rotated_filter_cuda_kernel.cuh │ │ │ │ │ ├── assign_score_withk_cuda_kernel.cuh │ │ │ │ │ ├── ball_query_cuda_kernel.cuh │ │ │ │ │ ├── bbox_overlaps_cuda_kernel.cuh │ │ │ │ │ ├── border_align_cuda_kernel.cuh │ │ │ │ │ ├── box_iou_quadri_cuda.cuh │ │ │ │ │ ├── box_iou_rotated_cuda.cuh │ │ │ │ │ ├── carafe_cuda_kernel.cuh │ │ │ │ │ ├── carafe_naive_cuda_kernel.cuh │ │ │ │ │ ├── chamfer_distance_cuda_kernel.cuh │ │ │ │ │ ├── common_cuda_helper.hpp │ │ │ │ │ ├── convex_iou_cuda_kernel.cuh │ │ │ │ │ ├── correlation_cuda.cuh │ │ │ │ │ ├── deform_conv_cuda_kernel.cuh │ │ │ │ │ ├── deform_roi_pool_cuda_kernel.cuh │ │ │ │ │ ├── diff_iou_rotated_cuda_kernel.cuh │ │ │ │ │ ├── furthest_point_sample_cuda_kernel.cuh │ │ │ │ │ ├── gather_points_cuda_kernel.cuh │ │ │ │ │ ├── group_points_cuda_kernel.cuh │ │ │ │ │ ├── iou3d_cuda_kernel.cuh │ │ │ │ │ ├── knn_cuda_kernel.cuh │ │ │ │ │ ├── masked_conv2d_cuda_kernel.cuh │ │ │ │ │ ├── min_area_polygons_cuda.cuh │ │ │ │ │ ├── modulated_deform_conv_cuda_kernel.cuh │ │ │ │ │ ├── ms_deform_attn_cuda_kernel.cuh │ │ │ │ │ ├── nms_cuda_kernel.cuh │ │ │ │ │ ├── nms_quadri_cuda.cuh │ │ │ │ │ ├── nms_rotated_cuda.cuh │ │ │ │ │ ├── parrots_cudawarpfunction.cuh │ │ │ │ │ ├── points_in_boxes_cuda_kernel.cuh │ │ │ │ │ ├── points_in_polygons_cuda_kernel.cuh │ │ │ │ │ ├── prroi_pool_cuda_kernel.cuh │ │ │ │ │ ├── psamask_cuda_kernel.cuh │ │ │ │ │ ├── riroi_align_rotated_cuda_kernel.cuh │ │ │ │ │ ├── roi_align_cuda_kernel.cuh │ │ │ │ │ ├── roi_align_rotated_cuda_kernel.cuh │ │ │ │ │ ├── roi_pool_cuda_kernel.cuh │ │ │ │ │ ├── roiaware_pool3d_cuda_kernel.cuh │ │ │ │ │ ├── roipoint_pool3d_cuda_kernel.cuh │ │ │ │ │ ├── rotated_feature_align_cuda_kernel.cuh │ │ │ │ │ ├── scatter_points_cuda_kernel.cuh │ │ │ │ │ ├── sigmoid_focal_loss_cuda_kernel.cuh │ │ │ │ │ ├── softmax_focal_loss_cuda_kernel.cuh │ │ │ │ │ ├── spconv │ │ │ │ │ │ ├── indice.cuh │ │ │ │ │ │ └── reordering.cuh │ │ │ │ │ ├── stack_ball_query_cuda_kernel.cuh │ │ │ │ │ ├── stack_group_points_cuda_kernel.cuh │ │ │ │ │ ├── sync_bn_cuda_kernel.cuh │ │ │ │ │ ├── three_interpolate_cuda_kernel.cuh │ │ │ │ │ ├── three_nn_cuda_kernel.cuh │ │ │ │ │ ├── tin_shift_cuda_kernel.cuh │ │ │ │ │ └── voxelization_cuda_kernel.cuh │ │ │ │ ├── mlu │ │ │ │ │ ├── common_mlu_helper.hpp │ │ │ │ │ ├── masked_conv2d_mlu_kernel.mlu │ │ │ │ │ └── roi_pool_mlu_kernel.mlu │ │ │ │ ├── mps │ │ │ │ │ ├── MPSDevice.h │ │ │ │ │ ├── MPSLibrary.h │ │ │ │ │ ├── MPSLibrary.mm │ │ │ │ │ ├── MPSStream.h │ │ │ │ │ └── MPSUtils.h │ │ │ │ ├── parrots_cpp_helper.hpp │ │ │ │ ├── parrots_cuda_helper.hpp │ │ │ │ ├── pytorch_cpp_helper.hpp │ │ │ │ ├── pytorch_cuda_helper.hpp │ │ │ │ ├── pytorch_device_registry.hpp │ │ │ │ ├── pytorch_mlu_helper.hpp │ │ │ │ ├── pytorch_npu_helper.hpp │ │ │ │ └── utils │ │ │ │ │ └── spconv │ │ │ │ │ ├── paramsgrid.h │ │ │ │ │ ├── prettyprint.h │ │ │ │ │ ├── pybind11_utils.h │ │ │ │ │ ├── spconv │ │ │ │ │ ├── geometry.h │ │ │ │ │ ├── indice.h │ │ │ │ │ ├── maxpool.h │ │ │ │ │ ├── mp_helper.h │ │ │ │ │ ├── point2voxel.h │ │ │ │ │ └── reordering.h │ │ │ │ │ └── tensorview │ │ │ │ │ ├── helper_kernel.cuh │ │ │ │ │ ├── helper_launch.h │ │ │ │ │ └── tensorview.h │ │ │ ├── onnxruntime │ │ │ │ ├── corner_pool.h │ │ │ │ ├── cpu │ │ │ │ │ ├── corner_pool.cpp │ │ │ │ │ ├── deform_conv.cpp │ │ │ │ │ ├── gridSample.cpp │ │ │ │ │ ├── modulated_deform_conv.cpp │ │ │ │ │ ├── nms.cpp │ │ │ │ │ ├── onnxruntime_register.cpp │ │ │ │ │ ├── reduce_ops.cpp │ │ │ │ │ ├── roi_align.cpp │ │ │ │ │ ├── roi_align_rotated.cpp │ │ │ │ │ ├── rotated_feature_align.cpp │ │ │ │ │ └── soft_nms.cpp │ │ │ │ ├── deform_conv.h │ │ │ │ ├── grid_sample.h │ │ │ │ ├── modulated_deform_conv.h │ │ │ │ ├── nms.h │ │ │ │ ├── onnxruntime_register.h │ │ │ │ ├── onnxruntime_session_options_config_keys.h │ │ │ │ ├── ort_mmcv_utils.h │ │ │ │ ├── reduce_ops.h │ │ │ │ ├── roi_align.h │ │ │ │ ├── roi_align_rotated.h │ │ │ │ ├── rotated_feature_align.h │ │ │ │ └── soft_nms.h │ │ │ ├── parrots │ │ │ │ ├── active_rotated_filter.cpp │ │ │ │ ├── active_rotated_filter_parrots.cpp │ │ │ │ ├── active_rotated_filter_pytorch.h │ │ │ │ ├── assign_score_withk.cpp │ │ │ │ ├── assign_score_withk_parrots.cpp │ │ │ │ ├── assign_score_withk_pytorch.h │ │ │ │ ├── ball_query._parrots.cpp │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_pytorch.h │ │ │ │ ├── bbox_overlaps.cpp │ │ │ │ ├── bbox_overlaps_parrots.cpp │ │ │ │ ├── bbox_overlaps_pytorch.h │ │ │ │ ├── border_align.cpp │ │ │ │ ├── border_align_parrots.cpp │ │ │ │ ├── border_align_pytorch.h │ │ │ │ ├── box_iou_rotated.cpp │ │ │ │ ├── box_iou_rotated_parrots.cpp │ │ │ │ ├── box_iou_rotated_pytorch.h │ │ │ │ ├── carafe.cpp │ │ │ │ ├── carafe_naive.cpp │ │ │ │ ├── carafe_naive_parrots.cpp │ │ │ │ ├── carafe_naive_pytorch.h │ │ │ │ ├── carafe_parrots.cpp │ │ │ │ ├── carafe_pytorch.h │ │ │ │ ├── chamfer_distance.cpp │ │ │ │ ├── chamfer_distance_parrots.cpp │ │ │ │ ├── chamfer_distance_pytorch.h │ │ │ │ ├── contour_expand.cpp │ │ │ │ ├── contour_expand_parrots.cpp │ │ │ │ ├── contour_expand_pytorch.h │ │ │ │ ├── convex_iou.cpp │ │ │ │ ├── convex_iou_parrots.cpp │ │ │ │ ├── convex_iou_pytorch.h │ │ │ │ ├── correlation.cpp │ │ │ │ ├── correlation_parrots.cpp │ │ │ │ ├── correlation_pytorch.h │ │ │ │ ├── cudabind.cpp │ │ │ │ ├── deform_conv.cpp │ │ │ │ ├── deform_conv_parrots.cpp │ │ │ │ ├── deform_conv_pytorch.h │ │ │ │ ├── deform_roi_pool.cpp │ │ │ │ ├── deform_roi_pool_parrots.cpp │ │ │ │ ├── deform_roi_pool_pytorch.h │ │ │ │ ├── diff_iou_rotated.cpp │ │ │ │ ├── diff_iou_rotated_parrots.cpp │ │ │ │ ├── diff_iou_rotated_pytorch.h │ │ │ │ ├── focal_loss.cpp │ │ │ │ ├── focal_loss_parrots.cpp │ │ │ │ ├── focal_loss_pytorch.h │ │ │ │ ├── furthest_point_sample.cpp │ │ │ │ ├── furthest_point_sample_parrots.cpp │ │ │ │ ├── furthest_point_sample_pytorch.h │ │ │ │ ├── fused_bias_leakyrelu.cpp │ │ │ │ ├── fused_bias_parrots.cpp │ │ │ │ ├── gather_points.cpp │ │ │ │ ├── gather_points_parrots.cpp │ │ │ │ ├── gather_points_pytorch.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_parrots.cpp │ │ │ │ ├── group_points_pytorch.h │ │ │ │ ├── info.cpp │ │ │ │ ├── iou3d.cpp │ │ │ │ ├── iou3d_parrots.cpp │ │ │ │ ├── iou3d_pytorch.h │ │ │ │ ├── knn.cpp │ │ │ │ ├── knn_parrots.cpp │ │ │ │ ├── knn_pytorch.h │ │ │ │ ├── masked_conv2d.cpp │ │ │ │ ├── masked_conv2d_parrots.cpp │ │ │ │ ├── masked_conv2d_pytorch.h │ │ │ │ ├── min_area_polygons.cpp │ │ │ │ ├── min_area_polygons_parrots.cpp │ │ │ │ ├── min_area_polygons_pytorch.h │ │ │ │ ├── modulated_deform_conv.cpp │ │ │ │ ├── modulated_deform_conv_parrots.cpp │ │ │ │ ├── modulated_deform_conv_pytorch.h │ │ │ │ ├── ms_deform_attn.cpp │ │ │ │ ├── ms_deform_attn_parrots.cpp │ │ │ │ ├── nms.cpp │ │ │ │ ├── nms_parrots.cpp │ │ │ │ ├── nms_pytorch.h │ │ │ │ ├── nms_rotated.cpp │ │ │ │ ├── pixel_group.cpp │ │ │ │ ├── pixel_group_parrots.cpp │ │ │ │ ├── pixel_group_pytorch.h │ │ │ │ ├── points_in_boxes.cpp │ │ │ │ ├── points_in_boxes_parrots.cpp │ │ │ │ ├── points_in_boxes_pytorch.h │ │ │ │ ├── points_in_polygons.cpp │ │ │ │ ├── points_in_polygons_parrots.cpp │ │ │ │ ├── points_in_polygons_pytorch.h │ │ │ │ ├── prroi_pool.cpp │ │ │ │ ├── prroi_pool_parrots.cpp │ │ │ │ ├── prroi_pool_pytorch.h │ │ │ │ ├── psamask.cpp │ │ │ │ ├── psamask_parrots.cpp │ │ │ │ ├── psamask_pytorch.h │ │ │ │ ├── riroi_align_rotated.cpp │ │ │ │ ├── riroi_align_rotated_parrots.cpp │ │ │ │ ├── riroi_align_rotated_pytorch.h │ │ │ │ ├── roi_align.cpp │ │ │ │ ├── roi_align_parrots.cpp │ │ │ │ ├── roi_align_pytorch.h │ │ │ │ ├── roi_align_rotated.cpp │ │ │ │ ├── roi_align_rotated_parrots.cpp │ │ │ │ ├── roi_align_rotated_pytorch.h │ │ │ │ ├── roi_pool.cpp │ │ │ │ ├── roi_pool_parrots.cpp │ │ │ │ ├── roi_pool_pytorch.h │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ ├── roiaware_pool3d_parrots.cpp │ │ │ │ ├── roiaware_pool3d_pytorch.h │ │ │ │ ├── roipoint_pool3d.cpp │ │ │ │ ├── roipoint_pool3d_parrots.cpp │ │ │ │ ├── roipoint_pool3d_pytorch.h │ │ │ │ ├── rotated_feature_align.cpp │ │ │ │ ├── rotated_feature_align_parrots.cpp │ │ │ │ ├── rotated_feature_align_pytorch.h │ │ │ │ ├── sync_bn.cpp │ │ │ │ ├── sync_bn_parrots.cpp │ │ │ │ ├── sync_bn_pytorch.h │ │ │ │ ├── three_interpolate.cpp │ │ │ │ ├── three_interpolate_parrots.cpp │ │ │ │ ├── three_interpolate_pytorch.h │ │ │ │ ├── three_nn.cpp │ │ │ │ ├── three_nn_parrots.cpp │ │ │ │ ├── three_nn_pytorch.h │ │ │ │ ├── tin_shift.cpp │ │ │ │ ├── tin_shift_parrots.cpp │ │ │ │ ├── tin_shift_pytorch.h │ │ │ │ ├── upfirdn2d.cpp │ │ │ │ ├── upfirdn2d_parrots.cpp │ │ │ │ ├── voxelization.cpp │ │ │ │ ├── voxelization_parrots.cpp │ │ │ │ └── voxelization_pytorch.h │ │ │ ├── pytorch │ │ │ │ ├── active_rotated_filter.cpp │ │ │ │ ├── assign_score_withk.cpp │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── bbox_overlaps.cpp │ │ │ │ ├── border_align.cpp │ │ │ │ ├── box_iou_quadri.cpp │ │ │ │ ├── box_iou_rotated.cpp │ │ │ │ ├── carafe.cpp │ │ │ │ ├── carafe_naive.cpp │ │ │ │ ├── chamfer_distance.cpp │ │ │ │ ├── contour_expand.cpp │ │ │ │ ├── convex_iou.cpp │ │ │ │ ├── correlation.cpp │ │ │ │ ├── cpu │ │ │ │ │ ├── active_rotated_filter.cpp │ │ │ │ │ ├── bbox_overlaps_cpu.cpp │ │ │ │ │ ├── box_iou_quadri.cpp │ │ │ │ │ ├── box_iou_rotated.cpp │ │ │ │ │ ├── deform_conv.cpp │ │ │ │ │ ├── modulated_deform_conv.cpp │ │ │ │ │ ├── nms.cpp │ │ │ │ │ ├── nms_quadri.cpp │ │ │ │ │ ├── nms_rotated.cpp │ │ │ │ │ ├── pixel_group.cpp │ │ │ │ │ ├── points_in_boxes.cpp │ │ │ │ │ ├── psamask.cpp │ │ │ │ │ ├── roi_align.cpp │ │ │ │ │ ├── roi_align_rotated.cpp │ │ │ │ │ ├── rotated_feature_align.cpp │ │ │ │ │ ├── sparse_indice.cpp │ │ │ │ │ ├── sparse_maxpool.cpp │ │ │ │ │ ├── sparse_reordering.cpp │ │ │ │ │ └── voxelization.cpp │ │ │ │ ├── cuda │ │ │ │ │ ├── active_rotated_filter_cuda.cu │ │ │ │ │ ├── assign_score_withk_cuda.cu │ │ │ │ │ ├── ball_query_cuda.cu │ │ │ │ │ ├── bbox_overlaps_cuda.cu │ │ │ │ │ ├── border_align_cuda.cu │ │ │ │ │ ├── box_iou_quadri_cuda.cu │ │ │ │ │ ├── box_iou_rotated_cuda.cu │ │ │ │ │ ├── carafe_cuda.cu │ │ │ │ │ ├── carafe_naive_cuda.cu │ │ │ │ │ ├── chamfer_distance_cuda.cu │ │ │ │ │ ├── convex_iou.cu │ │ │ │ │ ├── correlation_cuda.cu │ │ │ │ │ ├── cudabind.cpp │ │ │ │ │ ├── deform_conv_cuda.cu │ │ │ │ │ ├── deform_roi_pool_cuda.cu │ │ │ │ │ ├── diff_iou_rotated_cuda.cu │ │ │ │ │ ├── focal_loss_cuda.cu │ │ │ │ │ ├── furthest_point_sample_cuda.cu │ │ │ │ │ ├── fused_bias_leakyrelu_cuda.cu │ │ │ │ │ ├── fused_spconv_ops_cuda.cu │ │ │ │ │ ├── gather_points_cuda.cu │ │ │ │ │ ├── group_points_cuda.cu │ │ │ │ │ ├── iou3d_cuda.cu │ │ │ │ │ ├── knn_cuda.cu │ │ │ │ │ ├── masked_conv2d_cuda.cu │ │ │ │ │ ├── min_area_polygons.cu │ │ │ │ │ ├── modulated_deform_conv_cuda.cu │ │ │ │ │ ├── ms_deform_attn_cuda.cu │ │ │ │ │ ├── nms_cuda.cu │ │ │ │ │ ├── nms_quadri_cuda.cu │ │ │ │ │ ├── nms_rotated_cuda.cu │ │ │ │ │ ├── points_in_boxes_cuda.cu │ │ │ │ │ ├── points_in_polygons_cuda.cu │ │ │ │ │ ├── prroi_pool_cuda.cu │ │ │ │ │ ├── psamask_cuda.cu │ │ │ │ │ ├── riroi_align_rotated_cuda.cu │ │ │ │ │ ├── roi_align_cuda.cu │ │ │ │ │ ├── roi_align_rotated_cuda.cu │ │ │ │ │ ├── roi_pool_cuda.cu │ │ │ │ │ ├── roiaware_pool3d_cuda.cu │ │ │ │ │ ├── roipoint_pool3d_cuda.cu │ │ │ │ │ ├── rotated_feature_align_cuda.cu │ │ │ │ │ ├── scatter_points_cuda.cu │ │ │ │ │ ├── sparse_indice.cu │ │ │ │ │ ├── sparse_maxpool.cu │ │ │ │ │ ├── sparse_pool_ops_cuda.cu │ │ │ │ │ ├── sparse_reordering.cu │ │ │ │ │ ├── spconv_ops_cuda.cu │ │ │ │ │ ├── stack_ball_query_cuda.cu │ │ │ │ │ ├── stack_group_points_cuda.cu │ │ │ │ │ ├── sync_bn_cuda.cu │ │ │ │ │ ├── three_interpolate_cuda.cu │ │ │ │ │ ├── three_nn_cuda.cu │ │ │ │ │ ├── tin_shift_cuda.cu │ │ │ │ │ ├── upfirdn2d_kernel.cu │ │ │ │ │ └── voxelization_cuda.cu │ │ │ │ ├── deform_conv.cpp │ │ │ │ ├── deform_roi_pool.cpp │ │ │ │ ├── diff_iou_rotated.cpp │ │ │ │ ├── focal_loss.cpp │ │ │ │ ├── furthest_point_sample.cpp │ │ │ │ ├── fused_bias_leakyrelu.cpp │ │ │ │ ├── fused_spconv_ops.cpp │ │ │ │ ├── gather_points.cpp │ │ │ │ ├── group_points.cpp │ │ │ │ ├── info.cpp │ │ │ │ ├── iou3d.cpp │ │ │ │ ├── knn.cpp │ │ │ │ ├── masked_conv2d.cpp │ │ │ │ ├── min_area_polygons.cpp │ │ │ │ ├── mlu │ │ │ │ │ ├── ball_query_mlu.cpp │ │ │ │ │ ├── bbox_overlaps_mlu.cpp │ │ │ │ │ ├── box_iou_rotated.cpp │ │ │ │ │ ├── carafe_mlu.cpp │ │ │ │ │ ├── deform_roi_pool_mlu.cpp │ │ │ │ │ ├── diff_iou_rotated_mlu.cpp │ │ │ │ │ ├── focal_loss_sigmoid_mlu.cpp │ │ │ │ │ ├── iou3d_mlu.cpp │ │ │ │ │ ├── masked_conv2d_mlu.cpp │ │ │ │ │ ├── mlu_common_helper.cpp │ │ │ │ │ ├── mlu_common_helper.h │ │ │ │ │ ├── ms_deform_attn_mlu.cpp │ │ │ │ │ ├── nms_mlu.cpp │ │ │ │ │ ├── nms_rotated_mlu.cpp │ │ │ │ │ ├── psamask_mlu.cpp │ │ │ │ │ ├── roi_align_mlu.cpp │ │ │ │ │ ├── roi_align_rotated_mlu.cpp │ │ │ │ │ ├── roi_pool_mlu.cpp │ │ │ │ │ ├── roiaware_pool3d_mlu.cpp │ │ │ │ │ ├── roipoint_pool3d_mlu.cpp │ │ │ │ │ ├── rotated_feature_align_mlu.cpp │ │ │ │ │ ├── scatter_points_mlu.cpp │ │ │ │ │ ├── sparse_conv_mlu.cpp │ │ │ │ │ ├── three_nn_mlu.cpp │ │ │ │ │ ├── tin_shift_mlu.cpp │ │ │ │ │ └── voxelization_mlu.cpp │ │ │ │ ├── modulated_deform_conv.cpp │ │ │ │ ├── mps │ │ │ │ │ └── bbox_overlaps_mps.mm │ │ │ │ ├── ms_deform_attn.cpp │ │ │ │ ├── nms.cpp │ │ │ │ ├── nms_quadri.cpp │ │ │ │ ├── nms_rotated.cpp │ │ │ │ ├── npu │ │ │ │ │ ├── active_rotated_filter_npu.cpp │ │ │ │ │ ├── bbox_overlaps_npu.cpp │ │ │ │ │ ├── box_iou_rotated_npu.cpp │ │ │ │ │ ├── deform_roi_pool.cpp │ │ │ │ │ ├── focal_loss_npu.cpp │ │ │ │ │ ├── fused_bias_leakyrelu_npu.cpp │ │ │ │ │ ├── gather_points_npu.cpp │ │ │ │ │ ├── nms_npu.cpp │ │ │ │ │ ├── nms_rotated_npu.cpp │ │ │ │ │ ├── points_in_polygons_npu.cpp │ │ │ │ │ ├── psa_mask_npu.cpp │ │ │ │ │ ├── roi_align_npu.cpp │ │ │ │ │ ├── roi_pool_npu.cpp │ │ │ │ │ └── voxelization_npu.cpp │ │ │ │ ├── pixel_group.cpp │ │ │ │ ├── points_in_boxes.cpp │ │ │ │ ├── points_in_polygons.cpp │ │ │ │ ├── prroi_pool.cpp │ │ │ │ ├── psamask.cpp │ │ │ │ ├── pybind.cpp │ │ │ │ ├── riroi_align_rotated.cpp │ │ │ │ ├── roi_align.cpp │ │ │ │ ├── roi_align_rotated.cpp │ │ │ │ ├── roi_pool.cpp │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ ├── roipoint_pool3d.cpp │ │ │ │ ├── rotated_feature_align.cpp │ │ │ │ ├── scatter_points.cpp │ │ │ │ ├── sparse_pool_ops.cpp │ │ │ │ ├── spconv_ops.cpp │ │ │ │ ├── spconv_utils.h │ │ │ │ ├── sync_bn.cpp │ │ │ │ ├── three_interpolate.cpp │ │ │ │ ├── three_nn.cpp │ │ │ │ ├── tin_shift.cpp │ │ │ │ ├── upfirdn2d.cpp │ │ │ │ └── voxelization.cpp │ │ │ └── tensorrt │ │ │ │ ├── plugins │ │ │ │ ├── trt_corner_pool.cpp │ │ │ │ ├── trt_corner_pool_kernel.cu │ │ │ │ ├── trt_cuda_helper.cu │ │ │ │ ├── trt_cummaxmin.cpp │ │ │ │ ├── trt_cummaxmin_kernel.cu │ │ │ │ ├── trt_deform_conv.cpp │ │ │ │ ├── trt_deform_conv_kernel.cu │ │ │ │ ├── trt_grid_sampler.cpp │ │ │ │ ├── trt_grid_sampler_kernel.cu │ │ │ │ ├── trt_instance_norm.cpp │ │ │ │ ├── trt_modulated_deform_conv.cpp │ │ │ │ ├── trt_modulated_deform_conv_kernel.cu │ │ │ │ ├── trt_nms.cpp │ │ │ │ ├── trt_nms_kernel.cu │ │ │ │ ├── trt_plugin.cpp │ │ │ │ ├── trt_roi_align.cpp │ │ │ │ ├── trt_roi_align_kernel.cu │ │ │ │ ├── trt_scatternd.cpp │ │ │ │ └── trt_scatternd_kernel.cu │ │ │ │ ├── trt_corner_pool.hpp │ │ │ │ ├── trt_cuda_helper.cuh │ │ │ │ ├── trt_cummaxmin.hpp │ │ │ │ ├── trt_deform_conv.hpp │ │ │ │ ├── trt_grid_sampler.hpp │ │ │ │ ├── trt_instance_norm.hpp │ │ │ │ ├── trt_modulated_deform_conv.hpp │ │ │ │ ├── trt_nms.hpp │ │ │ │ ├── trt_plugin.hpp │ │ │ │ ├── trt_plugin_helper.hpp │ │ │ │ ├── trt_roi_align.hpp │ │ │ │ ├── trt_scatternd.hpp │ │ │ │ └── trt_serialize.hpp │ │ ├── deform_conv.py │ │ ├── deform_roi_pool.py │ │ ├── deprecated_wrappers.py │ │ ├── diff_iou_rotated.py │ │ ├── focal_loss.py │ │ ├── furthest_point_sample.py │ │ ├── fused_bias_leakyrelu.py │ │ ├── gather_points.py │ │ ├── group_points.py │ │ ├── info.py │ │ ├── iou3d.py │ │ ├── knn.py │ │ ├── masked_conv.py │ │ ├── merge_cells.py │ │ ├── min_area_polygons.py │ │ ├── modulated_deform_conv.py │ │ ├── multi_scale_deform_attn.py │ │ ├── nms.py │ │ ├── pixel_group.py │ │ ├── point_sample.py │ │ ├── points_in_boxes.py │ │ ├── points_in_polygons.py │ │ ├── points_sampler.py │ │ ├── prroi_pool.py │ │ ├── psa_mask.py │ │ ├── riroi_align_rotated.py │ │ ├── roi_align.py │ │ ├── roi_align_rotated.py │ │ ├── roi_pool.py │ │ ├── roiaware_pool3d.py │ │ ├── roipoint_pool3d.py │ │ ├── rotated_feature_align.py │ │ ├── saconv.py │ │ ├── scatter_points.py │ │ ├── sparse_conv.py │ │ ├── sparse_functional.py │ │ ├── sparse_modules.py │ │ ├── sparse_ops.py │ │ ├── sparse_pool.py │ │ ├── sparse_structure.py │ │ ├── sync_bn.py │ │ ├── three_interpolate.py │ │ ├── three_nn.py │ │ ├── tin_shift.py │ │ ├── upfirdn2d.py │ │ └── voxelize.py │ ├── parallel │ │ ├── __init__.py │ │ ├── _functions.py │ │ ├── collate.py │ │ ├── data_container.py │ │ ├── data_parallel.py │ │ ├── distributed.py │ │ ├── distributed_deprecated.py │ │ ├── registry.py │ │ ├── scatter_gather.py │ │ └── utils.py │ ├── runner │ │ ├── __init__.py │ │ ├── base_module.py │ │ ├── base_runner.py │ │ ├── builder.py │ │ ├── checkpoint.py │ │ ├── default_constructor.py │ │ ├── dist_utils.py │ │ ├── epoch_based_runner.py │ │ ├── fp16_utils.py │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ ├── checkpoint.py │ │ │ ├── closure.py │ │ │ ├── ema.py │ │ │ ├── evaluation.py │ │ │ ├── hook.py │ │ │ ├── iter_timer.py │ │ │ ├── logger │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── clearml.py │ │ │ │ ├── dvclive.py │ │ │ │ ├── mlflow.py │ │ │ │ ├── neptune.py │ │ │ │ ├── pavi.py │ │ │ │ ├── segmind.py │ │ │ │ ├── tensorboard.py │ │ │ │ ├── text.py │ │ │ │ └── wandb.py │ │ │ ├── lr_updater.py │ │ │ ├── memory.py │ │ │ ├── momentum_updater.py │ │ │ ├── optimizer.py │ │ │ ├── profiler.py │ │ │ ├── sampler_seed.py │ │ │ └── sync_buffer.py │ │ ├── iter_based_runner.py │ │ ├── log_buffer.py │ │ ├── optimizer │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── default_constructor.py │ │ ├── priority.py │ │ └── utils.py │ ├── tensorrt │ │ ├── __init__.py │ │ ├── init_plugins.py │ │ ├── preprocess.py │ │ └── tensorrt_utils.py │ ├── utils │ │ ├── __init__.py │ │ ├── config.py │ │ ├── device_type.py │ │ ├── env.py │ │ ├── ext_loader.py │ │ ├── hub.py │ │ ├── logging.py │ │ ├── misc.py │ │ ├── parrots_jit.py │ │ ├── parrots_wrapper.py │ │ ├── path.py │ │ ├── progressbar.py │ │ ├── registry.py │ │ ├── seed.py │ │ ├── testing.py │ │ ├── timer.py │ │ ├── torch_ops.py │ │ ├── trace.py │ │ └── version_utils.py │ ├── version.py │ ├── video │ │ ├── __init__.py │ │ ├── io.py │ │ ├── optflow.py │ │ └── processing.py │ └── visualization │ │ ├── __init__.py │ │ ├── color.py │ │ ├── image.py │ │ └── optflow.py ├── requirements.txt ├── requirements │ ├── build.txt │ ├── docs.txt │ ├── optional.txt │ ├── runtime.txt │ └── test.txt ├── setup.cfg ├── setup.py └── tests │ ├── test_arraymisc.py │ ├── test_cnn │ ├── test_build_layers.py │ ├── test_context_block.py │ ├── test_conv2d_adaptive_padding.py │ ├── test_conv_module.py │ ├── test_depthwise_seperable_conv_module.py │ ├── test_flops_counter.py │ ├── test_fuse_conv_bn.py │ ├── test_generalized_attention.py │ ├── test_hsigmoid.py │ ├── test_hswish.py │ ├── test_model_registry.py │ ├── test_non_local.py │ ├── test_revert_syncbn.py │ ├── test_rfsearch │ │ ├── test_operator.py │ │ └── test_search.py │ ├── test_scale.py │ ├── test_silu.py │ ├── test_swish.py │ ├── test_transformer.py │ ├── test_weight_init.py │ └── test_wrappers.py │ ├── test_device │ ├── test_device_utils.py │ ├── test_functions.py │ ├── test_ipu │ │ ├── test_hierarchicaldatamanager.py │ │ ├── test_ipu_dataloder.py │ │ ├── test_ipu_hooks.py │ │ ├── test_ipu_model.py │ │ ├── test_ipu_runner.py │ │ └── test_ipu_utils.py │ ├── test_mlu │ │ └── test_mlu_parallel.py │ ├── test_mps │ │ └── test_mps_parallel.py │ └── test_npu │ │ └── test_npu_parallel.py │ ├── test_fileclient.py │ ├── test_fileio.py │ ├── test_image │ ├── test_colorspace.py │ ├── test_geometric.py │ ├── test_image_misc.py │ ├── test_io.py │ └── test_photometric.py │ ├── test_load_model_zoo.py │ ├── test_ops │ ├── output.pkl │ ├── test_active_rotated_filter.py │ ├── test_assign_score_withk.py │ ├── test_ball_query.py │ ├── test_bbox.py │ ├── test_bilinear_grid_sample.py │ ├── test_border_align.py │ ├── test_box_iou_quadri.py │ ├── test_box_iou_rotated.py │ ├── test_carafe.py │ ├── test_cc_attention.py │ ├── test_chamfer_distance.py │ ├── test_contour_expand.py │ ├── test_convex_iou.py │ ├── test_corner_pool.py │ ├── test_correlation.py │ ├── test_deform_conv.py │ ├── test_deform_roi_pool.py │ ├── test_diff_iou_rotated.py │ ├── test_focal_loss.py │ ├── test_furthest_point_sample.py │ ├── test_fused_bias_leakyrelu.py │ ├── test_gather_points.py │ ├── test_group_points.py │ ├── test_info.py │ ├── test_iou3d.py │ ├── test_knn.py │ ├── test_masked_conv2d.py │ ├── test_merge_cells.py │ ├── test_min_area_polygons.py │ ├── test_modulated_deform_conv.py │ ├── test_ms_deformable_attn.py │ ├── test_nms.py │ ├── test_nms_quadri.py │ ├── test_nms_rotated.py │ ├── test_onnx.py │ ├── test_pixel_group.py │ ├── test_points_in_polygons.py │ ├── test_prroi_pool.py │ ├── test_psa_mask.py │ ├── test_riroi_align_rotated.py │ ├── test_roi_align.py │ ├── test_roi_align_rotated.py │ ├── test_roi_pool.py │ ├── test_roiaware_pool3d.py │ ├── test_roipoint_pool3d.py │ ├── test_rotated_feature_align.py │ ├── test_saconv.py │ ├── test_scatter_points.py │ ├── test_spconv.py │ ├── test_syncbn.py │ ├── test_tensorrt.py │ ├── test_tensorrt_preprocess.py │ ├── test_three_interpolate.py │ ├── test_three_nn.py │ ├── test_tin_shift.py │ ├── test_upfirdn2d.py │ └── test_voxelization.py │ ├── test_parallel.py │ ├── test_runner │ ├── test_basemodule.py │ ├── test_checkpoint.py │ ├── test_dist_utils.py │ ├── test_eval_hook.py │ ├── test_fp16.py │ ├── test_hooks.py │ ├── test_optimizer.py │ ├── test_runner.py │ └── test_utils.py │ ├── test_utils │ ├── test_config.py │ ├── test_env.py │ ├── test_hub.py │ ├── test_logging.py │ ├── test_misc.py │ ├── test_parrots_jit.py │ ├── test_path.py │ ├── test_progressbar.py │ ├── test_registry.py │ ├── test_testing.py │ ├── test_timer.py │ ├── test_torch_ops.py │ ├── test_trace.py │ └── test_version_utils.py │ ├── test_video │ ├── test_optflow.py │ ├── test_processing.py │ └── test_reader.py │ └── test_visualization.py └── mmdetection3d_1_0_0rc6 ├── .dev_scripts ├── gather_models.py ├── gen_benchmark_script.py ├── linter.sh ├── test_benchmark.sh └── train_benchmark.sh ├── .github ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE │ ├── 1-bug-report.yml │ ├── 2-feature-request.yml │ ├── 3-new-model.yml │ ├── 4-documentation.yml │ └── config.yml ├── pull_request_template.md ├── scripts │ └── doc_link_checker.py └── workflows │ ├── build.yml │ ├── deploy.yml │ ├── lint.yml │ └── test_mim.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CITATION.cff ├── LICENSE ├── MANIFEST.in ├── README.md ├── README_zh-CN.md ├── configs ├── 3dssd │ ├── 3dssd_4x4_kitti-3d-car.py │ ├── README.md │ └── metafile.yml ├── _base_ │ ├── datasets │ │ ├── coco_instance.py │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.py │ │ ├── kitti-mono3d.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 │ │ ├── dgcnn.py │ │ ├── fcaf3d.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 │ │ ├── pgd.py │ │ ├── point_rcnn.py │ │ ├── pointnet2_msg.py │ │ ├── pointnet2_ssg.py │ │ ├── smoke.py │ │ └── votenet.py │ └── schedules │ │ ├── cosine.py │ │ ├── cyclic_20e.py │ │ ├── cyclic_40e.py │ │ ├── mmdet_schedule_1x.py │ │ ├── schedule_2x.py │ │ ├── schedule_3x.py │ │ ├── seg_cosine_100e.py │ │ ├── seg_cosine_150e.py │ │ ├── seg_cosine_200e.py │ │ └── seg_cosine_50e.py ├── benchmark │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py ├── centerpoint │ ├── README.md │ ├── centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus_novelo.py │ ├── centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ └── metafile.yml ├── dgcnn │ ├── README.md │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area1.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area2.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area3.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area4.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area5.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area6.py │ └── metafile.yml ├── dynamic_voxelization │ ├── README.md │ ├── dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ ├── dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py │ ├── dv_second_secfpn_6x8_80e_kitti-3d-car.py │ └── metafile.yml ├── fcaf3d │ ├── README.md │ ├── fcaf3d_8x2_s3dis-3d-5class.py │ ├── fcaf3d_8x2_scannet-3d-18class.py │ ├── fcaf3d_8x2_sunrgbd-3d-10class.py │ └── metafile.yml ├── fcos3d │ ├── README.md │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune.py │ └── metafile.yml ├── free_anchor │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ └── metafile.yml ├── groupfree3d │ ├── README.md │ ├── groupfree3d_8x4_scannet-3d-18class-L12-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-L6-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O512.py │ └── metafile.yml ├── h3dnet │ ├── README.md │ ├── h3dnet_3x8_scannet-3d-18class.py │ └── metafile.yml ├── imvotenet │ ├── README.md │ ├── imvotenet_faster_rcnn_r50_fpn_2x4_sunrgbd-3d-10class.py │ ├── imvotenet_stage2_16x8_sunrgbd-3d-10class.py │ └── metafile.yml ├── imvoxelnet │ ├── README.md │ ├── imvoxelnet_4x2_sunrgbd-3d-10class.py │ ├── imvoxelnet_4x8_kitti-3d-car.py │ └── metafile.yml ├── monoflex │ ├── README.md │ └── metafile.yml ├── mvxnet │ ├── README.md │ ├── dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py │ └── metafile.yml ├── nuimages │ ├── README.md │ ├── 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 │ ├── 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 ├── paconv │ ├── README.md │ ├── metafile.yml │ ├── paconv_cuda_ssg_8x8_cosine_200e_s3dis_seg-3d-13class.py │ └── paconv_ssg_8x8_cosine_150e_s3dis_seg-3d-13class.py ├── parta2 │ ├── README.md │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py │ └── metafile.yml ├── pgd │ ├── README.md │ ├── metafile.yml │ ├── pgd_r101_caffe_fpn_gn-head_2x16_1x_nus-mono3d.py │ ├── pgd_r101_caffe_fpn_gn-head_2x16_1x_nus-mono3d_finetune.py │ ├── pgd_r101_caffe_fpn_gn-head_2x16_2x_nus-mono3d.py │ ├── pgd_r101_caffe_fpn_gn-head_2x16_2x_nus-mono3d_finetune.py │ └── pgd_r101_caffe_fpn_gn-head_3x4_4x_kitti-mono3d.py ├── point_rcnn │ ├── README.md │ ├── metafile.yml │ └── point_rcnn_2x8_kitti-3d-3classes.py ├── pointnet2 │ ├── README.md │ ├── metafile.yml │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py ├── pointpillars │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py │ └── metafile.yml ├── regnet │ ├── README.md │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ └── metafile.yml ├── sassd │ ├── README.md │ └── sassd_6x8_80e_kitti-3d-3class.py ├── second │ ├── README.md │ ├── hv_second_secfpn_6x8_80e_kitti-3d-3class.py │ ├── hv_second_secfpn_6x8_80e_kitti-3d-car.py │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py │ ├── hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ └── metafile.yml ├── smoke │ ├── README.md │ ├── metafile.yml │ └── smoke_dla34_pytorch_dlaneck_gn-all_8x4_6x_kitti-mono3d.py ├── ssn │ ├── README.md │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py │ └── metafile.yml └── votenet │ ├── README.md │ ├── metafile.yml │ ├── votenet_16x8_sunrgbd-3d-10class.py │ ├── votenet_8x8_scannet-3d-18class.py │ └── votenet_iouloss_8x8_scannet-3d-18class.py ├── demo ├── mono_det_demo.py ├── multi_modality_demo.py ├── pc_seg_demo.py └── pcd_demo.py ├── docker ├── Dockerfile └── serve │ ├── Dockerfile │ ├── config.properties │ └── entrypoint.sh ├── docs ├── en │ ├── 1_exist_data_model.md │ ├── 2_new_data_model.md │ ├── Makefile │ ├── _static │ │ └── css │ │ │ └── readthedocs.css │ ├── api.rst │ ├── benchmarks.md │ ├── changelog.md │ ├── compatibility.md │ ├── conf.py │ ├── data_preparation.md │ ├── datasets │ │ ├── index.rst │ │ ├── kitti_det.md │ │ ├── lyft_det.md │ │ ├── nuscenes_det.md │ │ ├── s3dis_sem_seg.md │ │ ├── scannet_det.md │ │ ├── scannet_sem_seg.md │ │ ├── sunrgbd_det.md │ │ └── waymo_det.md │ ├── demo.md │ ├── faq.md │ ├── getting_started.md │ ├── index.rst │ ├── make.bat │ ├── model_zoo.md │ ├── stat.py │ ├── supported_tasks │ │ ├── index.rst │ │ ├── lidar_det3d.md │ │ ├── lidar_sem_seg3d.md │ │ └── vision_det3d.md │ ├── switch_language.md │ ├── tutorials │ │ ├── backends_support.md │ │ ├── config.md │ │ ├── coord_sys_tutorial.md │ │ ├── customize_dataset.md │ │ ├── customize_models.md │ │ ├── customize_runtime.md │ │ ├── data_pipeline.md │ │ ├── index.rst │ │ ├── model_deployment.md │ │ └── pure_point_cloud_dataset.md │ └── useful_tools.md └── zh_cn │ ├── 1_exist_data_model.md │ ├── 2_new_data_model.md │ ├── Makefile │ ├── _static │ └── css │ │ └── readthedocs.css │ ├── api.rst │ ├── benchmarks.md │ ├── changelog.md │ ├── compatibility.md │ ├── conf.py │ ├── data_preparation.md │ ├── datasets │ ├── index.rst │ ├── kitti_det.md │ ├── lyft_det.md │ ├── nuscenes_det.md │ ├── s3dis_sem_seg.md │ ├── scannet_det.md │ ├── scannet_sem_seg.md │ ├── sunrgbd_det.md │ └── waymo_det.md │ ├── demo.md │ ├── faq.md │ ├── getting_started.md │ ├── index.rst │ ├── make.bat │ ├── model_zoo.md │ ├── stat.py │ ├── supported_tasks │ ├── index.rst │ ├── lidar_det3d.md │ ├── lidar_sem_seg3d.md │ └── vision_det3d.md │ ├── switch_language.md │ ├── tutorials │ ├── backends_support.md │ ├── config.md │ ├── coord_sys_tutorial.md │ ├── customize_dataset.md │ ├── customize_models.md │ ├── customize_runtime.md │ ├── data_pipeline.md │ ├── index.rst │ └── model_deployment.md │ └── useful_tools.md ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── fcos3d_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── monoflex_bbox_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ ├── pgd_bbox_coder.py │ │ │ ├── point_xyzwhlr_bbox_coder.py │ │ │ └── smoke_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_kitti_to_waymo.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 │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── custom_3d_seg.py │ ├── dataset_wrappers.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── kitti_mono_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── nuscenes_mono_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── s3dis_dataset.py │ ├── scannet_dataset.py │ ├── semantickitti_dataset.py │ ├── sunrgbd_dataset.py │ ├── utils.py │ └── waymo_dataset.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── mink_resnet.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ └── second.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── centerpoint_head.py │ │ ├── fcaf3d_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── imvoxel_head.py │ │ ├── monoflex_head.py │ │ ├── parta2_rpn_head.py │ │ ├── pgd_head.py │ │ ├── point_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── smoke_mono3d_head.py │ │ ├── ssd_3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── centerpoint.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── point_rcnn.py │ │ ├── sassd.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── fusion_layers │ │ ├── __init__.py │ │ ├── coord_transform.py │ │ ├── point_fusion.py │ │ └── vote_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── multibin_loss.py │ │ ├── paconv_regularization_loss.py │ │ ├── rotated_iou_loss.py │ │ └── uncertain_smooth_l1_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── edge_fusion_module.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── necks │ │ ├── __init__.py │ │ ├── dla_neck.py │ │ ├── imvoxel_neck.py │ │ ├── pointnet2_fp_neck.py │ │ ├── second_fpn.py │ │ └── view_transformer.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── h3d_bbox_head.py │ │ │ ├── parta2_bbox_head.py │ │ │ └── point_rcnn_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ ├── point_rcnn_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── single_roiaware_extractor.py │ │ │ └── single_roipoint_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── base.py │ │ └── encoder_decoder.py │ ├── utils │ │ ├── __init__.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── handle_objs.py │ │ └── mlp.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── ops │ ├── __init__.py │ ├── dgcnn_modules │ │ ├── __init__.py │ │ ├── dgcnn_fa_module.py │ │ ├── dgcnn_fp_module.py │ │ └── dgcnn_gf_module.py │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── paconv.py │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── sparse_block.py │ └── spconv │ │ ├── __init__.py │ │ └── overwrite_spconv │ │ ├── __init__.py │ │ └── write_spconv2.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── logger.py │ ├── misc.py │ └── setup_env.py └── version.py ├── model-index.yml ├── projects └── example_project │ ├── README.md │ ├── configs │ └── fcos3d_dummy-resnet_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ └── dummy │ ├── __init__.py │ └── dummy_resnet.py ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── resources ├── mmdet3d_outdoor_demo.gif ├── nuimages_demo.gif └── open3d_visual.gif ├── setup.cfg ├── setup.py ├── tests ├── test_data │ ├── test_datasets │ │ ├── test_dataset_wrappers.py │ │ ├── test_kitti_dataset.py │ │ ├── test_kitti_mono_dataset.py │ │ ├── test_lyft_dataset.py │ │ ├── test_nuscene_dataset.py │ │ ├── test_nuscenes_mono_dataset.py │ │ ├── test_s3dis_dataset.py │ │ ├── test_scannet_dataset.py │ │ ├── test_semantickitti_dataset.py │ │ ├── test_sunrgbd_dataset.py │ │ └── test_waymo_dataset.py │ └── test_pipelines │ │ ├── test_augmentations │ │ ├── test_data_augment_utils.py │ │ ├── test_test_augment_utils.py │ │ └── test_transforms_3d.py │ │ ├── test_indoor_pipeline.py │ │ ├── test_indoor_sample.py │ │ ├── test_loadings │ │ ├── test_load_images_from_multi_views.py │ │ ├── test_load_points_from_multi_sweeps.py │ │ └── test_loading.py │ │ └── test_outdoor_pipeline.py ├── test_metrics │ ├── test_indoor_eval.py │ ├── test_instance_seg_eval.py │ ├── test_kitti_eval.py │ ├── test_losses.py │ └── test_seg_eval.py ├── test_models │ ├── test_backbones.py │ ├── test_common_modules │ │ ├── test_dgcnn_modules.py │ │ ├── test_middle_encoders.py │ │ ├── test_paconv_modules.py │ │ ├── test_paconv_ops.py │ │ ├── test_pointnet_modules.py │ │ ├── test_sparse_unet.py │ │ └── test_vote_module.py │ ├── test_detectors.py │ ├── test_forward.py │ ├── test_fusion │ │ ├── test_fusion_coord_trans.py │ │ ├── test_point_fusion.py │ │ └── test_vote_fusion.py │ ├── test_heads │ │ ├── test_dgcnn_decode_head.py │ │ ├── test_heads.py │ │ ├── test_paconv_decode_head.py │ │ ├── test_parta2_bbox_head.py │ │ ├── test_pointnet2_decode_head.py │ │ ├── test_roi_extractors.py │ │ └── test_semantic_heads.py │ ├── test_necks │ │ ├── test_fpn.py │ │ └── test_necks.py │ ├── test_segmentors.py │ └── test_voxel_encoder │ │ ├── test_voxel_encoders.py │ │ └── test_voxel_generator.py ├── test_runtime │ ├── test_apis.py │ └── test_config.py ├── test_samples │ └── parta2_roihead_inputs.npz └── test_utils │ ├── test_anchors.py │ ├── test_assigners.py │ ├── test_bbox_coders.py │ ├── test_box3d.py │ ├── test_box_np_ops.py │ ├── test_compat_cfg.py │ ├── test_coord_3d_mode.py │ ├── test_merge_augs.py │ ├── test_nms.py │ ├── test_points.py │ ├── test_samplers.py │ ├── test_setup_env.py │ └── test_utils.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── create_data.py ├── create_data.sh ├── data_converter ├── __init__.py ├── create_gt_database.py ├── indoor_converter.py ├── kitti_converter.py ├── kitti_data_utils.py ├── lyft_converter.py ├── 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