├── README.md └── UniBEV2 ├── .dist_test └── tmpcg31ho9z │ ├── part_0.pkl │ ├── part_1.pkl │ ├── part_2.pkl │ ├── part_3.pkl │ ├── part_4.pkl │ ├── part_5.pkl │ ├── part_6.pkl │ └── part_7.pkl ├── .idea ├── .gitignore ├── UniBEV.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml └── modules.xml ├── LICENSE ├── MANIFEST.in ├── README_zh-CN.md ├── SH ├── AB_v2 │ ├── UniBEV_pdbev0.sh │ ├── UniBEV_pdbev1.sh │ ├── UniBEV_pdbev2.sh │ ├── UniBEV_pdbev3.sh │ ├── UniBEV_pdbev4.sh │ ├── UniBEV_pdbev5.sh │ └── UniBEV_pdbev6.sh ├── NUS2Waymo.sh ├── RealSim │ ├── Single_bevdet.sh │ ├── UniBEV_Aug.sh │ ├── UniBEV_SAM.sh │ ├── UniBEV_bevdepth.sh │ ├── UniBEV_bevdet.sh │ ├── UniBEV_bevformer.sh │ ├── UniBEV_detr.sh │ ├── UniBEV_fb.sh │ ├── UniBEV_pdbev.sh │ └── UniBEV_petr.sh ├── RealSim_Test │ ├── UniBEV_Test_BEVFormer.sh │ ├── UniBEV_Test_Det.sh │ ├── UniBEV_Test_Detr.sh │ ├── UniBEV_Test_FB.sh │ ├── UniBEV_Test_PD.sh │ └── UniBEV_Test_PETR.sh ├── SingleBEV_petr.sh ├── Test │ ├── UniBEV_Test_BEVFormer.sh │ ├── UniBEV_Test_Det.sh │ ├── UniBEV_Test_PD.sh │ └── UniBEV_Test_PETR.sh ├── Test_v2 │ ├── Single_Test_Det.sh │ ├── Single_Test_PDBEV.sh │ ├── UniBEV_Test_BEVFormer.sh │ ├── UniBEV_Test_Det.sh │ ├── UniBEV_Test_Detr.sh │ ├── UniBEV_Test_FB.sh │ ├── UniBEV_Test_PD.sh │ ├── UniBEV_Test_PETR.sh │ ├── Uni_Vis.sh │ ├── Uni_Vis1.sh │ ├── Uni_Vis1_Train.sh │ ├── Uni_Vis2_Train.sh │ └── Uni_Vis_Train.sh ├── Test_v2_onlycar │ └── Single_Test_Det.sh ├── Train │ ├── SingleBEV_FB.sh │ ├── SingleBEV_bevdepth.sh │ ├── SingleBEV_bevdet.sh │ ├── SingleBEV_bevformer.sh │ ├── SingleBEV_pdbev.sh │ ├── SingleBEV_petr.sh │ ├── UniBEV_bevdepth.sh │ ├── UniBEV_bevdet.sh │ ├── UniBEV_bevformer.sh │ ├── UniBEV_pb.sh │ ├── UniBEV_pdbev.sh │ └── UniBEV_petr.sh ├── Train_v2 │ ├── SingleBEV_DETR3D.sh │ ├── SingleBEV_FB.sh │ ├── SingleBEV_bevdepth.sh │ ├── SingleBEV_bevdet.sh │ ├── SingleBEV_bevformer.sh │ ├── SingleBEV_fb-bevformer.sh │ ├── SingleBEV_pdbev.sh │ ├── SingleBEV_petr.sh │ ├── UniBEV_bevdepth.sh │ ├── UniBEV_bevdet.sh │ ├── UniBEV_bevformer.sh │ ├── UniBEV_detr.sh │ ├── UniBEV_fb.sh │ ├── UniBEV_pdbev.sh │ └── UniBEV_petr.sh ├── UniBEV.sh ├── UniBEV_bevdet.sh ├── UniBEV_bevformer.sh ├── UniBEV_petr.sh ├── a100.sh └── a1001.sh ├── Stat ├── lyft_geo.mat ├── nus_geo.mat └── waymo_geo.mat ├── build ├── lib.linux-x86_64-cpython-38 │ └── mmdet3d │ │ ├── __init__.py │ │ └── version.py ├── temp.linux-x86_64-3.7 │ ├── .ninja_deps │ ├── .ninja_log │ └── build.ninja └── temp.linux-x86_64-cpython-38 │ ├── .ninja_deps │ ├── .ninja_log │ └── build.ninja ├── configs ├── 111111_PCBEV │ ├── pcbev-r50-cbgs-DA2X-dg.py │ ├── pcbev-r50-cbgs-LYFT2X-dg.py │ ├── pcbev-r50-cbgs-NUS2X-dg.py │ ├── pcbev-uda-DA2LYFT.py │ ├── pcbev-uda-DA2NUS.py │ ├── pcbev-uda-LYFT2NUS.py │ └── pcbev-uda-NUS2LYFT.py ├── 1_DA_Debug_refine_test │ ├── bevbox-r50-cbgs-DA2DA-dg.py │ ├── bevbox-r50-cbgs-DA2LYFT-dg.py │ ├── bevbox-r50-cbgs-DA2NUS-dg.py │ ├── bevbox-r50-cbgs-LYFT2LYFT-dg.py │ ├── bevbox-r50-cbgs-LYFT2NUS-dg-da.py │ ├── bevbox-r50-cbgs-LYFT2NUS-dg.py │ ├── bevbox-r50-cbgs-NUS2LYFT-dg-large.py │ ├── bevbox-r50-cbgs-NUS2LYFT-dg.py │ ├── bevdepth-r50-cbgs-DA2LYFT-Base.py │ ├── bevdepth-r50-cbgs-DA2LYFT-Vitural.py │ ├── bevdepth-r50-cbgs-DA2LYFT-dg.py │ ├── bevdepth-r50-cbgs-DA2NUS-Base.py │ ├── bevdepth-r50-cbgs-DA2NUS-Vitural.py │ ├── bevdepth-r50-cbgs-DA2NUS-dg.py │ ├── bevdepth-r50-cbgs-LYFT2NUS-Base.py │ ├── bevdepth-r50-cbgs-LYFT2NUS-Vitural.py │ ├── bevdepth-r50-cbgs-LYFT2NUS-dg-256.py │ ├── bevdepth-r50-cbgs-LYFT2NUS-dg.py │ ├── bevdepth-r50-cbgs-NUS2LYFT-Vitural.py │ ├── bevdepth-r50-cbgs-NUS2LYFT-dg.py │ ├── bevdepth-r50-cbgs-NUS2NUS-Vitural.py │ ├── bevdepth-r50-cbgs-NUS2NUS-base.py │ ├── bevdepth-r50-cbgs-NUS2NUS-dg-256.py │ ├── bevdepth-r50-cbgs-NUS2NUS-dg.py │ ├── bevdet-r50-cbgs-DA2LYFT-Base.py │ ├── bevdet-r50-cbgs-DA2LYFT-dg.py │ ├── bevdet-r50-cbgs-DA2NUS-Base.py │ ├── bevdet-r50-cbgs-DA2NUS-dg.py │ ├── bevdet-r50-cbgs-LYFT2NUS-dg.py │ ├── bevdet-r50-cbgs-NUS2LYFT-Base.py │ ├── bevdet-r50-cbgs-NUS2LYFT-dg.py │ ├── bevdet-r50-cbgs-NUS2NUS-dg.py │ └── bevdet-r50-cbgs-NUS2Waymo.py ├── FB-BEV │ └── fb-r50-cbgs-pc-nus.py ├── PETR │ └── petr-r50-cbgs-pc-nus.py ├── Single_BEVDepth │ ├── bevdepth-r50-lyft.py │ ├── bevdepth-r50-nus.py │ └── bevdepth-r50-waymo.py ├── Single_BEVDepth_v2 │ ├── bevdepth-r50-lyft-onlycar.py │ ├── bevdepth-r50-lyft.py │ ├── bevdepth-r50-nus-onlycar.py │ ├── bevdepth-r50-nus.py │ ├── bevdepth-r50-waymo-5.py │ ├── bevdepth-r50-waymo-onlycar.py │ └── bevdepth-r50-waymo.py ├── Single_BEVDet │ ├── bevdet-r50-cbgs-lyft.py │ ├── bevdet-r50-cbgs-nus.py │ ├── bevdet-r50-cbgs-waymo.py │ ├── bevdet-r50-lyft.py │ ├── bevdet-r50-nus.py │ ├── bevdet-r50-waymo-5.py │ └── bevdet-r50-waymo.py ├── Single_BEVDet_v2 │ ├── bevdet-r50-da-test.py │ ├── bevdet-r50-da.py │ ├── bevdet-r50-lyft-train.py │ ├── bevdet-r50-lyft.py │ ├── bevdet-r50-nus-onlycar.py │ ├── bevdet-r50-nus.py │ ├── bevdet-r50-waymo-5.py │ ├── bevdet-r50-waymo-onlycar.py │ └── bevdet-r50-waymo.py ├── Single_BEVFormer │ ├── bevformer-r50-lyft.py │ ├── bevformer-r50-nus.py │ └── bevformer-r50-waymo.py ├── Single_BEVFormer_V2 │ ├── bevformer-r50-lyft.py │ ├── bevformer-r50-nus.py │ └── bevformer-r50-waymo.py ├── Single_DETR3D_v2 │ ├── detr-r50-da.py │ ├── detr-r50-lyft.py │ ├── detr-r50-nus.py │ └── detr-r50-waymo.py ├── Single_FB │ ├── fb-r50-lyft.py │ ├── fb-r50-nus.py │ └── fb-r50-waymo.py ├── Single_FB_BEVFormer_V2 │ ├── fb-bevformer-r50-da-test.py │ ├── fb-bevformer-r50-da.py │ ├── fb-bevformer-r50-lyft-train.py │ ├── fb-bevformer-r50-lyft.py │ ├── fb-bevformer-r50-nus.py │ └── fb-bevformer-r50-waymo.py ├── Single_FB_V2 │ ├── fb-r50-da-test.py │ ├── fb-r50-da.py │ ├── fb-r50-lyft.py │ ├── fb-r50-nus.py │ └── fb-r50-waymo.py ├── Single_PDBEV │ ├── pdbev-r50-lyft.py │ ├── pdbev-r50-nus.py │ └── pdbev-r50-waymo.py ├── Single_PDBEV_v2 │ ├── pdbev-r50-da.py │ ├── pdbev-r50-lyft.py │ ├── pdbev-r50-nus-onlycar.py │ ├── pdbev-r50-nus.py │ ├── pdbev-r50-waymo-onlycar.py │ └── pdbev-r50-waymo.py ├── Single_PETR │ ├── petr-r50-lyft.py │ ├── petr-r50-nus.py │ └── petr-r50-waymo.py ├── Single_PETR_V2 │ ├── petr-r50-da-test.py │ ├── petr-r50-da.py │ ├── petr-r50-lyft.py │ ├── petr-r50-nus.py │ └── petr-r50-waymo.py ├── Uni_BEV │ ├── bevdepth-r50-cbgs-pc-nus.py │ ├── bevdepth-r50-cbgs-uni.py │ ├── bevdet-r50-cbgs-uni.py │ ├── bevformer-r50-uni.py │ ├── fb-r50-uni.py │ ├── pdbev-r50-cbgs-uni.py │ ├── petr-r50-cbgs-nus-lyft.py │ └── petr-r50-cbgs-uni.py ├── Uni_BEV_v2 │ ├── bevdepth-r50-uni_v2.py │ ├── bevdet-r50-e40-uni_v2.py │ ├── bevdet-r50-uni_v2.py │ ├── bevformer-r50-uni_v2.py │ ├── detr-r50-uni_v2.py │ ├── fb-bevformer-r50-uni_v2.py │ ├── fb-r50-uni_v2.py │ ├── pdbev-r50-uni_v2.py │ ├── pdbev-sam-r50-uni_v2.py │ ├── pdbev-samv2-aug-p0-r50-uni_v2.py │ ├── pdbev-samv2-aug-p1-r50-uni_v2.py │ ├── pdbev-samv2-aug-p2-r50-uni_v2.py │ ├── pdbev-samv2-aug-p3-r50-uni_v2.py │ ├── pdbev-samv2-aug-p4-r50-uni_v2.py │ ├── pdbev-samv2-aug-p5-r50-uni_v2.py │ ├── pdbev-samv2-aug-p6-r50-uni_v2.py │ ├── pdbev-samv2-aug-p7-r50-uni_v2.py │ ├── pdbev-samv2-aug-p8-r50-uni_v2.py │ ├── pdbev-samv2-aug-p9-r50-uni_v2.py │ ├── pdbev-samv2-aug-r50-uni_v2.py │ ├── pdbev-samv2-r50-uni_v2.py │ ├── petr-r50-nus-lyft_v2.py │ └── petr-r50-uni_v2.py ├── Uni_RealSim_v2 │ ├── bevdepth-r50-realsim-v2.py │ ├── bevdet-r50-realsim-v2.py │ ├── bevformer-r50-realsim_v2.py │ ├── bevformer-r50-uni_v2.py │ ├── detr-r50-realsim_v2.py │ ├── fb-bevformer-r50-realsim-v2.py │ ├── fb-r50-realsim-v2.py │ ├── pdbev-r50-realsim-v2.py │ ├── pdbev-sam2-r50-realsim-v2.py │ ├── pdbev-samv2-aug-r50-realsim-v2.py │ └── petr-r50-realsim-v2.py ├── Uni_test │ └── bevdet-r50-cbgs-uni.py ├── _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 ├── bevdet │ ├── bevdepth-r50-cbgs.py │ ├── bevdepth-r50.py │ ├── bevdet-r50-cbgs.py │ ├── bevdet-r50.py │ ├── bevdet4d-r50-cbgs.py │ └── bevdet4d-r50-depth-cbgs.py ├── bevdet_our │ ├── bevdepth-r50-cbgs-pc-da.py │ ├── bevdepth-r50-cbgs-pc-lyft.py │ ├── bevdepth-r50-cbgs-pc-nus.py │ ├── bevdepth-r50-cbgs-pc-waymo.py │ └── bevdepth-r50-cbgs-uni-nus.py └── former │ └── former-r50-cbgs-pc-nus.py ├── demo ├── inference_demo.ipynb ├── mono_det_demo.py ├── multi_modality_demo.py ├── pc_seg_demo.py └── pcd_demo.py ├── dist └── mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg ├── docker ├── Dockerfile └── serve │ ├── Dockerfile │ ├── config.properties │ └── entrypoint.sh ├── mmdet3d.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── not-zip-safe ├── requires.txt └── top_level.txt ├── mmdet3d ├── .mim │ ├── configs │ │ ├── 111111_PCBEV │ │ │ ├── pcbev-r50-cbgs-DA2X-dg.py │ │ │ ├── pcbev-r50-cbgs-LYFT2X-dg.py │ │ │ ├── pcbev-r50-cbgs-NUS2X-dg.py │ │ │ ├── pcbev-uda-DA2LYFT.py │ │ │ ├── pcbev-uda-DA2NUS.py │ │ │ ├── pcbev-uda-LYFT2NUS.py │ │ │ └── pcbev-uda-NUS2LYFT.py │ │ ├── 1_DA_Debug_refine_test │ │ │ ├── bevbox-r50-cbgs-DA2DA-dg.py │ │ │ ├── bevbox-r50-cbgs-DA2LYFT-dg.py │ │ │ ├── bevbox-r50-cbgs-DA2NUS-dg.py │ │ │ ├── bevbox-r50-cbgs-LYFT2LYFT-dg.py │ │ │ ├── bevbox-r50-cbgs-LYFT2NUS-dg-da.py │ │ │ ├── bevbox-r50-cbgs-LYFT2NUS-dg.py │ │ │ ├── bevbox-r50-cbgs-NUS2LYFT-dg-large.py │ │ │ ├── bevbox-r50-cbgs-NUS2LYFT-dg.py │ │ │ ├── bevdepth-r50-cbgs-DA2LYFT-Base.py │ │ │ ├── bevdepth-r50-cbgs-DA2LYFT-Vitural.py │ │ │ ├── bevdepth-r50-cbgs-DA2LYFT-dg.py │ │ │ ├── bevdepth-r50-cbgs-DA2NUS-Base.py │ │ │ ├── bevdepth-r50-cbgs-DA2NUS-Vitural.py │ │ │ ├── bevdepth-r50-cbgs-DA2NUS-dg.py │ │ │ ├── bevdepth-r50-cbgs-LYFT2NUS-Base.py │ │ │ ├── bevdepth-r50-cbgs-LYFT2NUS-Vitural.py │ │ │ ├── bevdepth-r50-cbgs-LYFT2NUS-dg-256.py │ │ │ ├── bevdepth-r50-cbgs-LYFT2NUS-dg.py │ │ │ ├── bevdepth-r50-cbgs-NUS2LYFT-Vitural.py │ │ │ ├── bevdepth-r50-cbgs-NUS2LYFT-dg.py │ │ │ ├── bevdepth-r50-cbgs-NUS2NUS-Vitural.py │ │ │ ├── bevdepth-r50-cbgs-NUS2NUS-base.py │ │ │ ├── bevdepth-r50-cbgs-NUS2NUS-dg-256.py │ │ │ ├── bevdepth-r50-cbgs-NUS2NUS-dg.py │ │ │ ├── bevdet-r50-cbgs-DA2LYFT-Base.py │ │ │ ├── bevdet-r50-cbgs-DA2LYFT-dg.py │ │ │ ├── bevdet-r50-cbgs-DA2NUS-Base.py │ │ │ ├── bevdet-r50-cbgs-DA2NUS-dg.py │ │ │ ├── bevdet-r50-cbgs-LYFT2NUS-dg.py │ │ │ ├── bevdet-r50-cbgs-NUS2LYFT-Base.py │ │ │ ├── bevdet-r50-cbgs-NUS2LYFT-dg.py │ │ │ ├── bevdet-r50-cbgs-NUS2NUS-dg.py │ │ │ └── bevdet-r50-cbgs-NUS2Waymo.py │ │ ├── FB-BEV │ │ │ └── fb-r50-cbgs-pc-nus.py │ │ ├── PETR │ │ │ └── petr-r50-cbgs-pc-nus.py │ │ ├── Single_BEVDepth │ │ │ ├── bevdepth-r50-lyft.py │ │ │ ├── bevdepth-r50-nus.py │ │ │ └── bevdepth-r50-waymo.py │ │ ├── Single_BEVDepth_v2 │ │ │ ├── bevdepth-r50-lyft-onlycar.py │ │ │ ├── bevdepth-r50-lyft.py │ │ │ ├── bevdepth-r50-nus-onlycar.py │ │ │ ├── bevdepth-r50-nus.py │ │ │ ├── bevdepth-r50-waymo-5.py │ │ │ ├── bevdepth-r50-waymo-onlycar.py │ │ │ └── bevdepth-r50-waymo.py │ │ ├── Single_BEVDet │ │ │ ├── bevdet-r50-cbgs-lyft.py │ │ │ ├── bevdet-r50-cbgs-nus.py │ │ │ ├── bevdet-r50-cbgs-waymo.py │ │ │ ├── bevdet-r50-lyft.py │ │ │ ├── bevdet-r50-nus.py │ │ │ ├── bevdet-r50-waymo-5.py │ │ │ └── bevdet-r50-waymo.py │ │ ├── Single_BEVDet_v2 │ │ │ ├── bevdet-r50-da-test.py │ │ │ ├── bevdet-r50-da.py │ │ │ ├── bevdet-r50-lyft-train.py │ │ │ ├── bevdet-r50-lyft.py │ │ │ ├── bevdet-r50-nus-onlycar.py │ │ │ ├── bevdet-r50-nus.py │ │ │ ├── bevdet-r50-waymo-5.py │ │ │ ├── bevdet-r50-waymo-onlycar.py │ │ │ └── bevdet-r50-waymo.py │ │ ├── Single_BEVFormer │ │ │ ├── bevformer-r50-lyft.py │ │ │ ├── bevformer-r50-nus.py │ │ │ └── bevformer-r50-waymo.py │ │ ├── Single_BEVFormer_V2 │ │ │ ├── bevformer-r50-lyft.py │ │ │ ├── bevformer-r50-nus.py │ │ │ └── bevformer-r50-waymo.py │ │ ├── Single_DETR3D_v2 │ │ │ ├── detr-r50-da.py │ │ │ ├── detr-r50-lyft.py │ │ │ ├── detr-r50-nus.py │ │ │ └── detr-r50-waymo.py │ │ ├── Single_FB │ │ │ ├── fb-r50-lyft.py │ │ │ ├── fb-r50-nus.py │ │ │ └── fb-r50-waymo.py │ │ ├── Single_FB_BEVFormer_V2 │ │ │ ├── fb-bevformer-r50-da-test.py │ │ │ ├── fb-bevformer-r50-da.py │ │ │ ├── fb-bevformer-r50-lyft-train.py │ │ │ ├── fb-bevformer-r50-lyft.py │ │ │ ├── fb-bevformer-r50-nus.py │ │ │ └── fb-bevformer-r50-waymo.py │ │ ├── Single_FB_V2 │ │ │ ├── fb-r50-da-test.py │ │ │ ├── fb-r50-da.py │ │ │ ├── fb-r50-lyft.py │ │ │ ├── fb-r50-nus.py │ │ │ └── fb-r50-waymo.py │ │ ├── Single_PDBEV │ │ │ ├── pdbev-r50-lyft.py │ │ │ ├── pdbev-r50-nus.py │ │ │ └── pdbev-r50-waymo.py │ │ ├── Single_PDBEV_v2 │ │ │ ├── pdbev-r50-da.py │ │ │ ├── pdbev-r50-lyft.py │ │ │ ├── pdbev-r50-nus-onlycar.py │ │ │ ├── pdbev-r50-nus.py │ │ │ ├── pdbev-r50-waymo-onlycar.py │ │ │ └── pdbev-r50-waymo.py │ │ ├── Single_PETR │ │ │ ├── petr-r50-lyft.py │ │ │ ├── petr-r50-nus.py │ │ │ └── petr-r50-waymo.py │ │ ├── Single_PETR_V2 │ │ │ ├── petr-r50-da-test.py │ │ │ ├── petr-r50-da.py │ │ │ ├── petr-r50-lyft.py │ │ │ ├── petr-r50-nus.py │ │ │ └── petr-r50-waymo.py │ │ ├── Uni_BEV │ │ │ ├── bevdepth-r50-cbgs-pc-nus.py │ │ │ ├── bevdepth-r50-cbgs-uni.py │ │ │ ├── bevdet-r50-cbgs-uni.py │ │ │ ├── bevformer-r50-uni.py │ │ │ ├── fb-r50-uni.py │ │ │ ├── pdbev-r50-cbgs-uni.py │ │ │ ├── petr-r50-cbgs-nus-lyft.py │ │ │ └── petr-r50-cbgs-uni.py │ │ ├── Uni_BEV_v2 │ │ │ ├── bevdepth-r50-uni_v2.py │ │ │ ├── bevdet-r50-e40-uni_v2.py │ │ │ ├── bevdet-r50-uni_v2.py │ │ │ ├── bevformer-r50-uni_v2.py │ │ │ ├── detr-r50-uni_v2.py │ │ │ ├── fb-bevformer-r50-uni_v2.py │ │ │ ├── fb-r50-uni_v2.py │ │ │ ├── pdbev-r50-uni_v2.py │ │ │ ├── pdbev-sam-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p0-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p1-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p2-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p3-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p4-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p5-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p6-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p7-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p8-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-p9-r50-uni_v2.py │ │ │ ├── pdbev-samv2-aug-r50-uni_v2.py │ │ │ ├── pdbev-samv2-r50-uni_v2.py │ │ │ ├── petr-r50-nus-lyft_v2.py │ │ │ └── petr-r50-uni_v2.py │ │ ├── Uni_RealSim_v2 │ │ │ ├── bevdepth-r50-realsim-v2.py │ │ │ ├── bevdet-r50-realsim-v2.py │ │ │ ├── bevformer-r50-realsim_v2.py │ │ │ ├── bevformer-r50-uni_v2.py │ │ │ ├── detr-r50-realsim_v2.py │ │ │ ├── fb-bevformer-r50-realsim-v2.py │ │ │ ├── fb-r50-realsim-v2.py │ │ │ ├── pdbev-r50-realsim-v2.py │ │ │ ├── pdbev-sam2-r50-realsim-v2.py │ │ │ ├── pdbev-samv2-aug-r50-realsim-v2.py │ │ │ └── petr-r50-realsim-v2.py │ │ ├── Uni_test │ │ │ └── bevdet-r50-cbgs-uni.py │ │ ├── _base_ │ │ │ └── default_runtime.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 │ │ ├── bevdet │ │ │ ├── bevdepth-r50-cbgs.py │ │ │ ├── bevdepth-r50.py │ │ │ ├── bevdet-r50-cbgs.py │ │ │ ├── bevdet-r50.py │ │ │ ├── bevdet4d-r50-cbgs.py │ │ │ └── bevdet4d-r50-depth-cbgs.py │ │ ├── bevdet_our │ │ │ ├── bevdepth-r50-cbgs-pc-da.py │ │ │ ├── bevdepth-r50-cbgs-pc-lyft.py │ │ │ ├── bevdepth-r50-cbgs-pc-nus.py │ │ │ ├── bevdepth-r50-cbgs-pc-waymo.py │ │ │ └── bevdepth-r50-cbgs-uni-nus.py │ │ └── former │ │ │ └── former-r50-cbgs-pc-nus.py │ ├── model-index.yml │ └── tools │ │ ├── UniBEV_lyft.py │ │ ├── UniBEV_nus.py │ │ ├── Uni_DeepAccident.py │ │ ├── add_anno_bevdet_lyft.py │ │ ├── add_anno_bevdet_lyft_less.py │ │ ├── add_anno_bevdet_lyft_yawre.py │ │ ├── analysis_tools │ │ ├── analyze_logs.py │ │ ├── benchmark.py │ │ ├── benchmark_sequential.py │ │ ├── benchmark_trt.py │ │ ├── benchmark_view_transformer.py │ │ ├── get_flops.py │ │ └── vis.py │ │ ├── conver_DeepAccident2Lyft-v4.py │ │ ├── convert_bevdet_to_TRT.py │ │ ├── create_data_bevdet_lyft.py │ │ ├── data_converter │ │ ├── __init__.py │ │ ├── create_gt_database.py │ │ ├── indoor_converter.py │ │ ├── kitti_converter.py │ │ ├── kitti_data_utils.py │ │ ├── lyft_converter.py │ │ ├── lyft_data_fixer.py │ │ ├── nuimage_converter.py │ │ ├── nuscenes_converter.py │ │ ├── s3dis_data_utils.py │ │ ├── scannet_data_utils.py │ │ ├── sunrgbd_data_utils.py │ │ └── waymo_converter.py │ │ ├── deployment │ │ ├── mmdet3d2torchserve.py │ │ ├── mmdet3d_handler.py │ │ └── test_torchserver.py │ │ ├── dg_0.sh │ │ ├── dg_1.sh │ │ ├── dg_2.sh │ │ ├── dist_test.sh │ │ ├── dist_train.sh │ │ ├── dist_train_mpi.sh │ │ ├── fb.sh │ │ ├── former.sh │ │ ├── launch_dist_job.py │ │ ├── misc │ │ ├── browse_dataset.py │ │ ├── fuse_conv_bn.py │ │ ├── print_config.py │ │ └── visualize_results.py │ │ ├── model_converters │ │ ├── convert_h3dnet_checkpoints.py │ │ ├── convert_votenet_checkpoints.py │ │ ├── publish_model.py │ │ └── regnet2mmdet.py │ │ ├── petr.sh │ │ ├── run_dist.sh │ │ ├── slurm_test.sh │ │ ├── slurm_train.sh │ │ ├── test.py │ │ ├── test.sh │ │ ├── train.py │ │ ├── uda.sh │ │ ├── update_data_coords.py │ │ ├── update_data_coords.sh │ │ ├── waymo_train_pkl.py │ │ └── waymo_val_pkl.py ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── version.cpython-37.pyc │ └── version.cpython-38.pyc ├── apis │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── inference.cpython-37.pyc │ │ ├── inference.cpython-38.pyc │ │ ├── test.cpython-38.pyc │ │ └── train.cpython-38.pyc │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── __init__.cpython-38.pyc │ ├── anchor │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── anchor_3d_generator.cpython-37.pyc │ │ │ └── anchor_3d_generator.cpython-38.pyc │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── box_np_ops.cpython-37.pyc │ │ │ ├── box_np_ops.cpython-38.pyc │ │ │ ├── transforms.cpython-37.pyc │ │ │ ├── transforms.cpython-38.pyc │ │ │ └── util.cpython-38.pyc │ │ ├── array_converter.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner_3d.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 │ │ │ ├── nms_free_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 │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.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 │ │ └── util.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── indoor_eval.cpython-37.pyc │ │ │ ├── indoor_eval.cpython-38.pyc │ │ │ ├── instance_seg_eval.cpython-37.pyc │ │ │ ├── instance_seg_eval.cpython-38.pyc │ │ │ ├── lyft_eval.cpython-37.pyc │ │ │ ├── lyft_eval.cpython-38.pyc │ │ │ ├── seg_eval.cpython-37.pyc │ │ │ └── seg_eval.cpython-38.pyc │ │ ├── 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 │ ├── hook │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ema.cpython-37.pyc │ │ │ ├── ema.cpython-38.pyc │ │ │ ├── sequentialsontrol.cpython-37.pyc │ │ │ ├── sequentialsontrol.cpython-38.pyc │ │ │ ├── utils.cpython-37.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── ema.py │ │ ├── sequentialsontrol.py │ │ └── utils.py │ ├── points │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_points.cpython-37.pyc │ │ │ ├── base_points.cpython-38.pyc │ │ │ ├── cam_points.cpython-37.pyc │ │ │ ├── cam_points.cpython-38.pyc │ │ │ ├── depth_points.cpython-37.pyc │ │ │ ├── depth_points.cpython-38.pyc │ │ │ ├── lidar_points.cpython-37.pyc │ │ │ └── lidar_points.cpython-38.pyc │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── box3d_nms.cpython-37.pyc │ │ │ ├── box3d_nms.cpython-38.pyc │ │ │ ├── merge_augs.cpython-37.pyc │ │ │ └── merge_augs.cpython-38.pyc │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── array_converter.cpython-37.pyc │ │ │ ├── array_converter.cpython-38.pyc │ │ │ ├── gaussian.cpython-37.pyc │ │ │ └── gaussian.cpython-38.pyc │ │ ├── array_converter.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── image_vis.cpython-37.pyc │ │ │ ├── image_vis.cpython-38.pyc │ │ │ ├── show_result.cpython-37.pyc │ │ │ └── show_result.cpython-38.pyc │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-37.pyc │ │ ├── builder.cpython-38.pyc │ │ ├── voxel_generator.cpython-37.pyc │ │ └── voxel_generator.cpython-38.pyc │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── CARLA_dataset.py │ ├── DeepAccident_dataset.py │ ├── UDA_DA_LYFT_dataset.py │ ├── UDA_DA_Nus_dataset.py │ ├── Uni_BEVDatasets.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── CARLA_dataset.cpython-37.pyc │ │ ├── CARLA_dataset.cpython-38.pyc │ │ ├── DeepAccident_dataset.cpython-37.pyc │ │ ├── DeepAccident_dataset.cpython-38.pyc │ │ ├── UDA_DA_LYFT_dataset.cpython-37.pyc │ │ ├── UDA_DA_LYFT_dataset.cpython-38.pyc │ │ ├── Uni_BEVDatasets.cpython-38.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-37.pyc │ │ ├── builder.cpython-38.pyc │ │ ├── custom_3d.cpython-37.pyc │ │ ├── custom_3d.cpython-38.pyc │ │ ├── custom_3d_seg.cpython-37.pyc │ │ ├── custom_3d_seg.cpython-38.pyc │ │ ├── dataset_wrappers.cpython-38.pyc │ │ ├── kitti_dataset.cpython-37.pyc │ │ ├── kitti_dataset.cpython-38.pyc │ │ ├── kitti_mono_dataset.cpython-37.pyc │ │ ├── kitti_mono_dataset.cpython-38.pyc │ │ ├── lyft_dataset.cpython-37.pyc │ │ ├── lyft_dataset.cpython-38.pyc │ │ ├── lyft_dataset_DA.cpython-37.pyc │ │ ├── lyft_dataset_DA.cpython-38.pyc │ │ ├── nuscenes_dataset.cpython-37.pyc │ │ ├── nuscenes_dataset.cpython-38.pyc │ │ ├── nuscenes_dataset_DA.cpython-37.pyc │ │ ├── nuscenes_dataset_DA.cpython-38.pyc │ │ ├── nuscenes_mono_dataset.cpython-37.pyc │ │ ├── nuscenes_mono_dataset.cpython-38.pyc │ │ ├── s3dis_dataset.cpython-37.pyc │ │ ├── s3dis_dataset.cpython-38.pyc │ │ ├── scannet_dataset.cpython-37.pyc │ │ ├── scannet_dataset.cpython-38.pyc │ │ ├── semantickitti_dataset.cpython-37.pyc │ │ ├── semantickitti_dataset.cpython-38.pyc │ │ ├── shift_dataset.cpython-37.pyc │ │ ├── shift_dataset.cpython-38.pyc │ │ ├── sunrgbd_dataset.cpython-37.pyc │ │ ├── sunrgbd_dataset.cpython-38.pyc │ │ ├── utils.cpython-37.pyc │ │ ├── utils.cpython-38.pyc │ │ ├── waymo_dataset.cpython-37.pyc │ │ └── waymo_dataset.cpython-38.pyc │ ├── 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 │ ├── lyft_dataset_DA.py │ ├── lyft_dataset_pkl.py │ ├── nuscenes_dataset.py │ ├── nuscenes_dataset_DA.py │ ├── nuscenes_mono_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── compose.cpython-37.pyc │ │ │ ├── compose.cpython-38.pyc │ │ │ ├── data_augment_utils.cpython-37.pyc │ │ │ ├── data_augment_utils.cpython-38.pyc │ │ │ ├── dbsampler.cpython-37.pyc │ │ │ ├── dbsampler.cpython-38.pyc │ │ │ ├── formating.cpython-37.pyc │ │ │ ├── formating.cpython-38.pyc │ │ │ ├── loading.cpython-37.pyc │ │ │ ├── loading.cpython-38.pyc │ │ │ ├── loading_UDA.cpython-37.pyc │ │ │ ├── loading_UDA.cpython-38.pyc │ │ │ ├── loading_Uni.cpython-38.pyc │ │ │ ├── loading_plug.cpython-37.pyc │ │ │ ├── loading_plug.cpython-38.pyc │ │ │ ├── test_time_aug.cpython-37.pyc │ │ │ ├── test_time_aug.cpython-38.pyc │ │ │ ├── transforms_3d.cpython-37.pyc │ │ │ └── transforms_3d.cpython-38.pyc │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── loading_UDA.py │ │ ├── loading_Uni.py │ │ ├── loading_plug.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── s3dis_dataset.py │ ├── scannet_dataset.py │ ├── semantickitti_dataset.py │ ├── shift_dataset.py │ ├── sunrgbd_dataset.py │ ├── utils.py │ └── waymo_dataset.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-37.pyc │ │ └── builder.cpython-38.pyc │ ├── backbones │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_pointnet.cpython-37.pyc │ │ │ ├── base_pointnet.cpython-38.pyc │ │ │ ├── context_cluster.cpython-37.pyc │ │ │ ├── context_cluster.cpython-38.pyc │ │ │ ├── context_cluster2.cpython-38.pyc │ │ │ ├── dgcnn.cpython-37.pyc │ │ │ ├── dgcnn.cpython-38.pyc │ │ │ ├── dla.cpython-37.pyc │ │ │ ├── dla.cpython-38.pyc │ │ │ ├── mink_resnet.cpython-37.pyc │ │ │ ├── mink_resnet.cpython-38.pyc │ │ │ ├── multi_backbone.cpython-37.pyc │ │ │ ├── multi_backbone.cpython-38.pyc │ │ │ ├── nostem_regnet.cpython-37.pyc │ │ │ ├── nostem_regnet.cpython-38.pyc │ │ │ ├── pointnet2_sa_msg.cpython-37.pyc │ │ │ ├── pointnet2_sa_msg.cpython-38.pyc │ │ │ ├── pointnet2_sa_ssg.cpython-37.pyc │ │ │ ├── pointnet2_sa_ssg.cpython-38.pyc │ │ │ ├── resnet.cpython-37.pyc │ │ │ ├── resnet.cpython-38.pyc │ │ │ ├── second.cpython-37.pyc │ │ │ └── second.cpython-38.pyc │ │ ├── base_pointnet.py │ │ ├── context_cluster.py │ │ ├── context_cluster2.py │ │ ├── context_cluster3.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── mink_resnet.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── resnet.py │ │ └── second.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── decode_head.cpython-38.pyc │ │ │ ├── dgcnn_head.cpython-38.pyc │ │ │ ├── paconv_head.cpython-38.pyc │ │ │ └── pointnet2_head.cpython-38.pyc │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── anchor3d_head.cpython-38.pyc │ │ │ ├── anchor_free_mono3d_head.cpython-38.pyc │ │ │ ├── base_conv_bbox_head.cpython-38.pyc │ │ │ ├── base_mono3d_dense_head.cpython-38.pyc │ │ │ ├── bev_head.cpython-38.pyc │ │ │ ├── bevformer_head.cpython-38.pyc │ │ │ ├── centerpoint_head.cpython-38.pyc │ │ │ ├── detr3d_head.cpython-38.pyc │ │ │ ├── dgcnn3d_head.cpython-38.pyc │ │ │ ├── fcaf3d_head.cpython-38.pyc │ │ │ ├── fcos_mono3d_head.cpython-38.pyc │ │ │ ├── free_anchor3d_head.cpython-38.pyc │ │ │ ├── groupfree3d_head.cpython-38.pyc │ │ │ ├── monoflex_head.cpython-38.pyc │ │ │ ├── parta2_rpn_head.cpython-38.pyc │ │ │ ├── petr_depth_head.cpython-38.pyc │ │ │ ├── petr_head.cpython-38.pyc │ │ │ ├── petr_head_seg.cpython-38.pyc │ │ │ ├── petr_hit_head.cpython-38.pyc │ │ │ ├── petrv2_depth_head.cpython-38.pyc │ │ │ ├── petrv2_head.cpython-38.pyc │ │ │ ├── pgd_head.cpython-38.pyc │ │ │ ├── point_rpn_head.cpython-38.pyc │ │ │ ├── shape_aware_head.cpython-38.pyc │ │ │ ├── smoke_mono3d_head.cpython-38.pyc │ │ │ ├── ssd_3d_head.cpython-38.pyc │ │ │ ├── train_mixins.cpython-38.pyc │ │ │ └── vote_head.cpython-38.pyc │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── bev_head.py │ │ ├── bevformer_head.py │ │ ├── centerpoint_head.py │ │ ├── detr3d_head.py │ │ ├── dgcnn3d_head.py │ │ ├── fcaf3d_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── monoflex_head.py │ │ ├── parta2_rpn_head.py │ │ ├── petr_depth_head.py │ │ ├── petr_head.py │ │ ├── petr_head_seg.py │ │ ├── petr_hit_head.py │ │ ├── petrv2_depth_head.py │ │ ├── petrv2_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 │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ ├── bevbox.cpython-38.pyc │ │ │ ├── bevdepth.cpython-38.pyc │ │ │ ├── bevdepth_2D.cpython-38.pyc │ │ │ ├── bevdepth_UDA.cpython-38.pyc │ │ │ ├── bevdepth_intri.cpython-38.pyc │ │ │ ├── bevdepth_pseudo.cpython-38.pyc │ │ │ ├── bevdet.cpython-38.pyc │ │ │ ├── bevdet_intri.cpython-38.pyc │ │ │ ├── bevformer.cpython-38.pyc │ │ │ ├── bevformerV2.cpython-38.pyc │ │ │ ├── bevformer_fp16.cpython-38.pyc │ │ │ ├── centerpoint.cpython-38.pyc │ │ │ ├── detr3d.cpython-38.pyc │ │ │ ├── dynamic_voxelnet.cpython-38.pyc │ │ │ ├── fbocc.cpython-38.pyc │ │ │ ├── fcos_mono3d.cpython-38.pyc │ │ │ ├── groupfree3dnet.cpython-38.pyc │ │ │ ├── h3dnet.cpython-38.pyc │ │ │ ├── imvotenet.cpython-38.pyc │ │ │ ├── imvoxelnet.cpython-38.pyc │ │ │ ├── mink_single_stage.cpython-38.pyc │ │ │ ├── mvx_faster_rcnn.cpython-38.pyc │ │ │ ├── mvx_two_stage.cpython-38.pyc │ │ │ ├── obj_dgcnn.cpython-38.pyc │ │ │ ├── parta2.cpython-38.pyc │ │ │ ├── pcbev.cpython-38.pyc │ │ │ ├── petr3d.cpython-38.pyc │ │ │ ├── petr3d_depth.cpython-38.pyc │ │ │ ├── petr3d_seg.cpython-38.pyc │ │ │ ├── point_rcnn.cpython-38.pyc │ │ │ ├── sassd.cpython-38.pyc │ │ │ ├── scale_bev.cpython-38.pyc │ │ │ ├── single_stage.cpython-38.pyc │ │ │ ├── single_stage_mono3d.cpython-38.pyc │ │ │ ├── smoke_mono3d.cpython-38.pyc │ │ │ ├── ssd3dnet.cpython-38.pyc │ │ │ ├── two_stage.cpython-38.pyc │ │ │ ├── votenet.cpython-38.pyc │ │ │ └── voxelnet.cpython-38.pyc │ │ ├── base.py │ │ ├── bevdepth.py │ │ ├── bevdet.py │ │ ├── bevdet_intri.py │ │ ├── bevformer.py │ │ ├── bevformerV2.py │ │ ├── bevformer_fp16.py │ │ ├── centerpoint.py │ │ ├── detr3d.py │ │ ├── dynamic_voxelnet.py │ │ ├── fbocc.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── obj_dgcnn.py │ │ ├── parta2.py │ │ ├── pcbev.py │ │ ├── petr3d.py │ │ ├── petr3d_depth.py │ │ ├── petr3d_seg.py │ │ ├── point_rcnn.py │ │ ├── sassd.py │ │ ├── scale_bev.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── fastsam │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── decoder.cpython-38.pyc │ │ │ ├── model.cpython-38.pyc │ │ │ ├── predict.cpython-38.pyc │ │ │ ├── prompt.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── decoder.py │ │ ├── model.py │ │ ├── predict.py │ │ ├── prompt.py │ │ └── utils.py │ ├── fusion_layers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── coord_transform.cpython-38.pyc │ │ │ ├── point_fusion.cpython-38.pyc │ │ │ └── vote_fusion.cpython-38.pyc │ │ ├── coord_transform.py │ │ ├── point_fusion.py │ │ └── vote_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── axis_aligned_iou_loss.cpython-38.pyc │ │ │ ├── chamfer_distance.cpython-38.pyc │ │ │ ├── multibin_loss.cpython-38.pyc │ │ │ ├── paconv_regularization_loss.cpython-38.pyc │ │ │ ├── rotated_iou_loss.cpython-38.pyc │ │ │ └── uncertain_smooth_l1_loss.cpython-38.pyc │ │ ├── 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 │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── pillar_scatter.cpython-38.pyc │ │ │ ├── sparse_encoder.cpython-38.pyc │ │ │ └── sparse_unet.cpython-38.pyc │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── edge_fusion_module.cpython-38.pyc │ │ │ ├── transformer.cpython-38.pyc │ │ │ └── vote_module.cpython-38.pyc │ │ ├── edge_fusion_module.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── custom_base_transformer_layer.cpython-38.pyc │ │ │ ├── decoder.cpython-38.pyc │ │ │ ├── depth_net.cpython-38.pyc │ │ │ ├── encoder.cpython-38.pyc │ │ │ ├── fpn3d.cpython-38.pyc │ │ │ ├── frpn.cpython-38.pyc │ │ │ ├── group_attention.cpython-38.pyc │ │ │ ├── multi_scale_deformable_attn_function.cpython-38.pyc │ │ │ ├── resnet3d.cpython-38.pyc │ │ │ ├── spatial_cross_attention.cpython-38.pyc │ │ │ ├── temporal_self_attention.cpython-38.pyc │ │ │ ├── transformer.cpython-38.pyc │ │ │ └── transformerV2.cpython-38.pyc │ │ ├── custom_base_transformer_layer.py │ │ ├── decoder.py │ │ ├── depth_net.py │ │ ├── encoder.py │ │ ├── fpn3d.py │ │ ├── frpn.py │ │ ├── group_attention.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── occ_loss_utils │ │ │ ├── __init__.py │ │ │ ├── focal_loss.py │ │ │ ├── lovasz_softmax.py │ │ │ ├── nusc_param.py │ │ │ └── semkitti.py │ │ ├── resnet3d.py │ │ ├── spatial_cross_attention.py │ │ ├── temporal_self_attention.py │ │ ├── transformer.py │ │ └── transformerV2.py │ ├── necks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── cp_fpn.cpython-38.pyc │ │ │ ├── dla_neck.cpython-38.pyc │ │ │ ├── fpn.cpython-38.pyc │ │ │ ├── img_aux.cpython-38.pyc │ │ │ ├── imvoxel_neck.cpython-38.pyc │ │ │ ├── lss_fpn.cpython-38.pyc │ │ │ ├── pointnet2_fp_neck.cpython-38.pyc │ │ │ ├── second_fpn.cpython-38.pyc │ │ │ ├── view_transformer.cpython-38.pyc │ │ │ ├── view_transformer_UDA.cpython-38.pyc │ │ │ ├── view_transformer_intric.cpython-38.pyc │ │ │ └── view_transformer_pc.cpython-38.pyc │ │ ├── cp_fpn.py │ │ ├── dla_neck.py │ │ ├── fpn.py │ │ ├── img_aux.py │ │ ├── imvoxel_neck.py │ │ ├── lss_fpn.py │ │ ├── pointnet2_fp_neck.py │ │ ├── second_fpn.py │ │ ├── view_transformer.py │ │ └── view_transformer_pc.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_3droi_head.cpython-38.pyc │ │ │ ├── h3d_roi_head.cpython-38.pyc │ │ │ ├── part_aggregation_roi_head.cpython-38.pyc │ │ │ └── point_rcnn_roi_head.cpython-38.pyc │ │ ├── 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 │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ └── encoder_decoder.cpython-38.pyc │ │ ├── base.py │ │ └── encoder_decoder.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── clip_sigmoid.cpython-38.pyc │ │ │ ├── depthnet.cpython-38.pyc │ │ │ ├── detr.cpython-38.pyc │ │ │ ├── detr3d_transformer.cpython-38.pyc │ │ │ ├── dgcnn_attn.cpython-38.pyc │ │ │ ├── edge_indices.cpython-38.pyc │ │ │ ├── gen_keypoints.cpython-38.pyc │ │ │ ├── grid_mask.cpython-38.pyc │ │ │ ├── handle_objs.cpython-38.pyc │ │ │ ├── mlp.cpython-38.pyc │ │ │ ├── petr_hit_transformer.cpython-38.pyc │ │ │ ├── petr_transformer.cpython-38.pyc │ │ │ ├── petr_transformer_refine.cpython-38.pyc │ │ │ ├── petr_transformerv2.cpython-38.pyc │ │ │ ├── petr_transformerv3.cpython-38.pyc │ │ │ └── positional_encoding.cpython-38.pyc │ │ ├── clip_sigmoid.py │ │ ├── depthnet.py │ │ ├── detr.py │ │ ├── detr3d_transformer.py │ │ ├── dgcnn_attn.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── grid_mask.py │ │ ├── handle_objs.py │ │ ├── mlp.py │ │ ├── petr_hit_transformer.py │ │ ├── petr_transformer.py │ │ ├── petr_transformer_refine.py │ │ ├── petr_transformerv2.py │ │ ├── petr_transformerv3.py │ │ └── positional_encoding.py │ ├── view_transformation │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── backward_projection │ │ │ ├── __init__.py │ │ │ └── backward_projection.py │ │ └── forward_projection │ │ │ ├── __init__.py │ │ │ └── view_transformer.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── pillar_encoder.cpython-38.pyc │ │ ├── utils.cpython-38.pyc │ │ └── voxel_encoder.cpython-38.pyc │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── ops │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── norm.cpython-37.pyc │ │ ├── norm.cpython-38.pyc │ │ ├── sparse_block.cpython-37.pyc │ │ └── sparse_block.cpython-38.pyc │ ├── bev_pool_v2 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── bev_pool.cpython-38.pyc │ │ ├── bev_pool.py │ │ ├── bev_pool_v2_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── dgcnn_modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dgcnn_fa_module.cpython-37.pyc │ │ │ ├── dgcnn_fa_module.cpython-38.pyc │ │ │ ├── dgcnn_fp_module.cpython-37.pyc │ │ │ ├── dgcnn_fp_module.cpython-38.pyc │ │ │ ├── dgcnn_gf_module.cpython-37.pyc │ │ │ └── dgcnn_gf_module.cpython-38.pyc │ │ ├── dgcnn_fa_module.py │ │ ├── dgcnn_fp_module.py │ │ └── dgcnn_gf_module.py │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── paconv.cpython-37.pyc │ │ │ ├── paconv.cpython-38.pyc │ │ │ ├── utils.cpython-37.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── paconv.py │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-37.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ ├── paconv_sa_module.cpython-37.pyc │ │ │ ├── paconv_sa_module.cpython-38.pyc │ │ │ ├── point_fp_module.cpython-37.pyc │ │ │ ├── point_fp_module.cpython-38.pyc │ │ │ ├── point_sa_module.cpython-37.pyc │ │ │ └── point_sa_module.cpython-38.pyc │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── sparse_block.py │ └── spconv │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── __init__.cpython-38.pyc │ │ └── overwrite_spconv │ │ ├── __init__.py │ │ └── write_spconv2.py ├── utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── bricks.cpython-38.pyc │ │ ├── collect_env.cpython-38.pyc │ │ ├── compat_cfg.cpython-38.pyc │ │ ├── draw_bbox.cpython-38.pyc │ │ ├── eval_hook.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── misc.cpython-38.pyc │ │ ├── setup_env.cpython-38.pyc │ │ └── wechat_logger.cpython-38.pyc │ ├── bricks.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── draw_bbox.py │ ├── eval_hook.py │ ├── logger.py │ ├── misc.py │ ├── setup_env.py │ └── wechat_logger.py └── version.py ├── model-index.yml ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── resources ├── bevpoolv2.png ├── bevpoolv2_performance.png ├── browse_dataset_mono.png ├── browse_dataset_multi_modality.png ├── browse_dataset_seg.png ├── coord_sys_all.png ├── data_pipeline.png ├── nds-fps.png ├── nuimages_demo.gif ├── open3d_visual.gif └── open3d_visual.png ├── run.sh ├── scripts ├── PKL │ ├── conver_DeepAccident2Lyft-v4.py │ ├── conver_DeepAccident2Lyft-v5-height.py │ ├── conver_DeepAccident2Lyft-v5.py │ ├── conver_DeepAccident2Lyft.py │ ├── gen_info_shift.py │ └── gen_info_shift_val.py ├── PKL_3Class │ ├── deepaccident_create_data_bevdet.py │ ├── lyft_anno_bevdet.py │ └── nus_create_data_bevdet.py ├── Pseudo │ └── p_LYFT.py ├── SHIFT_process.py ├── VIS_PTS │ ├── DA.py │ ├── anns_DA.py │ ├── anns_nus.py │ ├── lidar2im_nus.py │ ├── lidar2im_nus_test.py │ ├── lidar2im_waymo.py │ ├── lidar2im_waymo_backup.py │ ├── lidar2img_DA.py │ ├── lidar2img_LYFT.py │ ├── nus.py │ └── nus_pts_vis.py ├── Vis │ ├── box_bevdet_DeepAccident.py │ ├── box_bevdet_DeepAccident2.py │ ├── box_bevdet_DeepAccident3.py │ ├── box_bevdet_DeepAccident4.py │ ├── box_bevdet_DeepAccident4_intri.py │ ├── box_bevdet_DeepAccident5.py │ ├── box_bevdet_DeepAccident6.py │ ├── box_bevdet_DeepAccident7.py │ ├── box_bevdet_DeepAccident7_intri.py │ ├── box_bevdet_lyft.py │ ├── box_bevdet_nus.py │ ├── box_bevdet_shift.py │ ├── box_bevdet_shift1.py │ ├── box_lyft2lyft.py │ ├── box_nus2lyft.py │ ├── box_resual_lyft.py │ ├── box_test_lfyt.py │ └── cam2front_shift.py ├── Vis_PKL_fixed │ ├── DA.py │ ├── box_bevdet_DA_v4.py │ ├── box_bevdet_DeepAccident4.py │ ├── box_bevdet_DeepAccident7.py │ ├── box_bevdet_lyft.py │ ├── box_bevdet_nus.py │ └── lyft.py ├── add_anno_bevdet_lyft.py ├── bos2_shift.py ├── box_bevdet_nus.py ├── det_info_test.py ├── det_keys.py ├── gen_info.py ├── gen_info_shift.py ├── lyft_submissions.pkl ├── my_test.py ├── nus_box_vis.py ├── shifit_info.py ├── shift_box_vis.py ├── vis_demo.py └── visualize_nusc.py ├── 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 ├── UniBEV_lyft.py ├── UniBEV_nus.py ├── Uni_DeepAccident.py ├── add_anno_bevdet_lyft.py ├── add_anno_bevdet_lyft_less.py ├── add_anno_bevdet_lyft_yawre.py ├── analysis_tools ├── analyze_logs.py ├── benchmark.py ├── benchmark_sequential.py ├── benchmark_trt.py ├── benchmark_view_transformer.py ├── get_flops.py └── vis.py ├── conver_DeepAccident2Lyft-v4.py ├── convert_bevdet_to_TRT.py ├── create_data_bevdet_lyft.py ├── data_converter ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── create_gt_database.cpython-38.pyc │ ├── indoor_converter.cpython-38.pyc │ ├── kitti_converter.cpython-38.pyc │ ├── kitti_data_utils.cpython-38.pyc │ ├── nuscenes_converter.cpython-38.pyc │ ├── s3dis_data_utils.cpython-38.pyc │ ├── scannet_data_utils.cpython-38.pyc │ └── sunrgbd_data_utils.cpython-38.pyc ├── create_gt_database.py ├── indoor_converter.py ├── kitti_converter.py ├── kitti_data_utils.py ├── lyft_converter.py ├── lyft_data_fixer.py ├── nuimage_converter.py ├── nuscenes_converter.py ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py └── waymo_converter.py ├── deployment ├── mmdet3d2torchserve.py ├── mmdet3d_handler.py └── test_torchserver.py ├── dg_0.sh ├── dg_1.sh ├── dg_2.sh ├── dist_test.sh ├── dist_train.sh ├── dist_train_mpi.sh ├── fb.sh ├── former.sh ├── launch_dist_job.py ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── print_config.py └── visualize_results.py ├── model_converters ├── convert_h3dnet_checkpoints.py ├── convert_votenet_checkpoints.py ├── publish_model.py └── 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