├── CITATION.cff ├── LICENSE ├── MANIFEST.in ├── README.md ├── configs ├── 3dssd │ ├── 3dssd_4xb4_kitti-3d-car.py │ ├── README.md │ └── metafile.yml ├── _base_ │ ├── datasets │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.py │ │ ├── kitti-mono3d.py │ │ ├── lyft-3d-range100.py │ │ ├── lyft-3d.py │ │ ├── nuim-instance.py │ │ ├── nus-3d.py │ │ ├── nus-mono3d.py │ │ ├── s3dis-3d.py │ │ ├── s3dis-seg.py │ │ ├── scannet-3d.py │ │ ├── scannet-seg.py │ │ ├── semantickitti.py │ │ ├── sunrgbd-3d.py │ │ ├── waymoD3-fov-mono3d-3class.py │ │ ├── waymoD3-mv-mono3d-3class.py │ │ ├── waymoD5-3d-3class.py │ │ ├── waymoD5-3d-car.py │ │ ├── waymoD5-fov-mono3d-3class.py │ │ ├── waymoD5-mv-mono3d-3class.py │ │ └── waymoD5-mv3d-3class.py │ ├── default_runtime.py │ ├── models │ │ ├── 3dssd.py │ │ ├── cascade-mask-rcnn_r50_fpn.py │ │ ├── centerpoint_pillar02_second_secfpn_nus.py │ │ ├── centerpoint_voxel01_second_secfpn_nus.py │ │ ├── cylinder3d.py │ │ ├── dgcnn.py │ │ ├── fcaf3d.py │ │ ├── fcos3d.py │ │ ├── groupfree3d.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── mask-rcnn_r50_fpn.py │ │ ├── minkunet.py │ │ ├── multiview_dfm.py │ │ ├── paconv_ssg-cuda.py │ │ ├── paconv_ssg.py │ │ ├── parta2.py │ │ ├── pgd.py │ │ ├── point_rcnn.py │ │ ├── pointnet2_msg.py │ │ ├── pointnet2_ssg.py │ │ ├── pointpillars_hv_fpn_lyft.py │ │ ├── pointpillars_hv_fpn_nus.py │ │ ├── pointpillars_hv_fpn_range100_lyft.py │ │ ├── pointpillars_hv_secfpn_kitti.py │ │ ├── pointpillars_hv_secfpn_waymo.py │ │ ├── second_hv_secfpn_kitti.py │ │ ├── second_hv_secfpn_waymo.py │ │ ├── smoke.py │ │ ├── spvcnn.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_pillar02_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_talk2radar_lidar.py │ ├── centerpoint_pillar02_second_talk2radar_radar5.py │ ├── centerpoint_pillar02_second_vod_lidar.py │ ├── centerpoint_pillar02_second_vod_radar.py │ ├── centerpoint_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-flip-tta-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-flip-tta-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-tta-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ └── metafile.yml ├── cylinder3d │ ├── README.md │ ├── cylinder3d_4xb4-3x_semantickitti.py │ ├── cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py │ └── metafile.yml ├── dgcnn │ ├── README.md │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area1.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area2.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area3.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area4.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area5.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area6.py │ └── metafile.yml ├── dynamic_voxelization │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_dv_secfpn_8xb6-160e_kitti-3d-car.py │ ├── second_dv_secfpn_8xb2-cosine-80e_kitti-3d-3class.py │ └── second_dv_secfpn_8xb6-80e_kitti-3d-car.py ├── fcaf3d │ ├── README.md │ ├── fcaf3d_2xb8_s3dis-3d-5class.py │ ├── fcaf3d_2xb8_scannet-3d-18class.py │ ├── fcaf3d_2xb8_sunrgbd-3d-10class.py │ └── metafile.yml ├── fcos3d │ ├── README.md │ ├── fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d.py │ ├── fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d_finetune.py │ └── metafile.yml ├── free_anchor │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py │ ├── pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py │ └── pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py ├── groupfree3d │ ├── README.md │ ├── groupfree3d_head-L12-O256_4xb8_scannet-seg.py │ ├── groupfree3d_head-L6-O256_4xb8_scannet-seg.py │ ├── groupfree3d_w2x-head-L12-O256_4xb8_scannet-seg.py │ ├── groupfree3d_w2x-head-L12-O512_4xb8_scannet-seg.py │ └── metafile.yml ├── h3dnet │ ├── README.md │ ├── h3dnet_8xb3_scannet-seg.py │ └── metafile.yml ├── imvotenet │ ├── README.md │ ├── imvotenet_faster-rcnn-r50_fpn_4xb2_sunrgbd-3d.py │ ├── imvotenet_stage2_8xb16_sunrgbd-3d.py │ └── metafile.yml ├── imvoxelnet │ ├── README.md │ ├── imvoxelnet_2xb4_sunrgbd-3d-10class.py │ ├── imvoxelnet_8xb4_kitti-3d-car.py │ └── metafile.yml ├── minkunet │ ├── README.md │ ├── metafile.yml │ ├── minkunet18_w16_torchsparse_8xb2-amp-15e_semantickitti.py │ ├── minkunet18_w20_torchsparse_8xb2-amp-15e_semantickitti.py │ ├── minkunet18_w32_torchsparse_8xb2-amp-15e_semantickitti.py │ ├── minkunet34_w32_minkowski_8xb2-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_spconv_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_spconv_8xb2-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py │ └── minkunet34v2_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py ├── monoflex │ ├── README.md │ └── metafile.yml ├── mvfcos3d │ ├── README.md │ ├── multiview-fcos3d_r101-dcn_8xb2_waymoD5-3d-3class.py │ └── multiview-fcos3d_r101-dcn_centerhead_16xb2_waymoD5-3d-3class.py ├── mvxnet │ ├── README.md │ ├── metafile.yml │ └── mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py ├── nuimages │ ├── README.md │ ├── cascade-mask-rcnn-r50-fpn_coco-20e_nuim.py │ ├── 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_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_nuim.py │ ├── htc_r50_fpn_head-without-semantic_1x_nuim.py │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e-1xb16_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_ssg-cuda_8xb8-cosine-200e_s3dis-seg.py │ └── paconv_ssg_8xb8-cosine-150e_s3dis-seg.py ├── parta2 │ ├── README.md │ ├── metafile.yml │ ├── parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py │ └── parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-car.py ├── pgd │ ├── README.md │ ├── metafile.yml │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d.py │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d_finetune.py │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-2x_nus-mono3d.py │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-2x_nus-mono3d_finetune.py │ ├── pgd_r101-caffe_fpn_head-gn_4xb3-4x_kitti-mono3d.py │ ├── pgd_r101_fpn-head_dcn_16xb3_waymoD5-fov-mono3d.py │ ├── pgd_r101_fpn-head_dcn_16xb3_waymoD5-mv-mono3d.py │ ├── pgd_r101_fpn_gn-head_dcn_8xb3-2x_waymoD3-fov-mono3d.py │ └── pgd_r101_fpn_gn-head_dcn_8xb3-2x_waymoD3-mv-mono3d.py ├── point_rcnn │ ├── README.md │ ├── metafile.yml │ └── point-rcnn_8xb2_kitti-3d-3class.py ├── pointnet2 │ ├── README.md │ ├── metafile.yml │ ├── pointnet2_msg_2xb16-cosine-250e_scannet-seg-xyz-only.py │ ├── pointnet2_msg_2xb16-cosine-250e_scannet-seg.py │ ├── pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py │ ├── pointnet2_ssg_2xb16-cosine-200e_scannet-seg-xyz-only.py │ ├── pointnet2_ssg_2xb16-cosine-200e_scannet-seg.py │ └── pointnet2_ssg_2xb16-cosine-50e_s3dis-seg.py ├── pointpillars │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d-range100.py │ ├── pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_fpn_sbn-all_8xb2-amp-2x_nus-3d.py │ ├── pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py │ ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py │ ├── pointpillars_hv_secfpn_8xb6-160e_vod-3d-3class-lidar-full.py │ ├── pointpillars_hv_secfpn_8xb6-160e_vod-3d-3class-lidar.py │ ├── pointpillars_hv_secfpn_8xb6-160e_vod-3d-3class.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-3class.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-car.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-car.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d-range100.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-amp-2x_nus-3d.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_lidar_talk2radar.py │ ├── pointpillars_radar5_talk2radar.py │ ├── pointpillars_radar_talk2radar.py │ └── pointpillars_radar_vod.py ├── pv_rcnn │ ├── README.md │ ├── metafile.yml │ └── pv_rcnn_8xb2-80e_kitti-3d-3class.py ├── regnet │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_hv_regnet-1.6gf_fpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_range100_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_regnet-400mf_secfpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_regnet-400mf_secfpn_sbn-all_8xb4-2x_nus-3d.py │ └── pointpillars_hv_regnet-400mf_secfpn_sbn-all_range100_8xb2-2x_lyft-3d.py ├── sassd │ ├── README.md │ └── sassd_8xb6-80e_kitti-3d-3class.py ├── second │ ├── README.md │ ├── metafile.yml │ ├── second_hv_secfpn_8xb6-80e_kitti-3d-3class.py │ ├── second_hv_secfpn_8xb6-80e_kitti-3d-car.py │ ├── second_hv_secfpn_8xb6-amp-80e_kitti-3d-3class.py │ ├── second_hv_secfpn_8xb6-amp-80e_kitti-3d-car.py │ ├── second_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py │ ├── second_talk2radar-lidar-full.py │ └── second_talk2radar-radar5-full.py ├── smoke │ ├── README.md │ ├── metafile.yml │ └── smoke_dla34_dlaneck_gn-all_4xb8-6x_kitti-mono3d.py ├── spvcnn │ ├── README.md │ ├── metafile.yml │ ├── spvcnn_w16_8xb2-amp-15e_semantickitti.py │ ├── spvcnn_w20_8xb2-amp-15e_semantickitti.py │ ├── spvcnn_w32_8xb2-amp-15e_semantickitti.py │ └── spvcnn_w32_8xb2-amp-laser-polar-mix-3x_semantickitti.py ├── ssn │ ├── README.md │ ├── metafile.yml │ ├── ssn_hv_regnet-400mf_secfpn_sbn-all_16xb1-2x_lyft-3d.py │ ├── ssn_hv_regnet-400mf_secfpn_sbn-all_16xb2-2x_nus-3d.py │ ├── ssn_hv_secfpn_sbn-all_16xb2-2x_lyft-3d.py │ └── ssn_hv_secfpn_sbn-all_16xb2-2x_nus-3d.py └── votenet │ ├── README.md │ ├── metafile.yml │ ├── votenet_8xb16_sunrgbd-3d.py │ ├── votenet_8xb8_scannet-3d.py │ ├── votenet_head-iouloss_8xb8_scannet-3d.py │ └── votenet_talk2radar.py ├── convert_results_index.ipynb ├── data ├── lyft │ ├── test.txt │ ├── train.txt │ └── val.txt ├── s3dis │ ├── README.md │ ├── collect_indoor3d_data.py │ ├── indoor3d_util.py │ └── meta_data │ │ ├── anno_paths.txt │ │ └── class_names.txt ├── scannet │ ├── README.md │ ├── batch_load_scannet_data.py │ ├── extract_posed_images.py │ ├── load_scannet_data.py │ ├── meta_data │ │ ├── scannet_means.npz │ │ ├── scannet_train.txt │ │ ├── scannetv2-labels.combined.tsv │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ └── scannetv2_val.txt │ └── scannet_utils.py └── sunrgbd │ ├── README.md │ └── matlab │ ├── extract_rgbd_data_v1.m │ ├── extract_rgbd_data_v2.m │ └── extract_split.m ├── dataset-index.yml ├── demo ├── data │ ├── kitti │ │ ├── 000008.bin │ │ ├── 000008.pkl │ │ ├── 000008.png │ │ └── 000008.txt │ ├── nuscenes │ │ ├── n015-2018-07-24-11-22-45+0800.pkl │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402927647423.jpg │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402927627893.jpg │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402927637525.jpg │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402927604844.jpg │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402927620339.jpg │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402927612460.jpg │ │ └── n015-2018-07-24-11-22-45+0800__LIDAR_TOP__1532402927647951.pcd.bin │ ├── scannet │ │ └── scene0000_00.bin │ └── sunrgbd │ │ ├── 000017.bin │ │ ├── 000017.jpg │ │ └── sunrgbd_000017_infos.pkl ├── inference_demo.ipynb ├── mono_det_demo.py ├── multi_modality_demo.py ├── pcd_demo.py └── pcd_seg_demo.py ├── docker ├── Dockerfile └── serve │ ├── Dockerfile │ ├── config.properties │ └── entrypoint.sh ├── docs ├── en │ ├── Makefile │ ├── _static │ │ ├── css │ │ │ └── readthedocs.css │ │ └── image │ │ │ └── mmdet3d-logo.png │ ├── advanced_guides │ │ ├── customize_dataset.md │ │ ├── customize_models.md │ │ ├── customize_runtime.md │ │ ├── datasets │ │ │ ├── index.rst │ │ │ ├── kitti.md │ │ │ ├── lyft.md │ │ │ ├── nuscenes.md │ │ │ ├── s3dis.md │ │ │ ├── scannet.md │ │ │ ├── semantickitti.md │ │ │ ├── sunrgbd.md │ │ │ └── waymo.md │ │ ├── index.rst │ │ ├── pure_point_cloud_dataset.md │ │ └── supported_tasks │ │ │ ├── index.rst │ │ │ ├── lidar_det3d.md │ │ │ ├── lidar_sem_seg3d.md │ │ │ └── vision_det3d.md │ ├── api.rst │ ├── conf.py │ ├── get_started.md │ ├── index.rst │ ├── make.bat │ ├── migration.md │ ├── model_zoo.md │ ├── notes │ │ ├── benchmarks.md │ │ ├── changelog.md │ │ ├── changelog_v1.0.x.md │ │ ├── compatibility.md │ │ ├── contribution_guides.md │ │ ├── faq.md │ │ └── index.rst │ ├── stat.py │ ├── switch_language.md │ └── user_guides │ │ ├── backends_support.md │ │ ├── config.md │ │ ├── coord_sys_tutorial.md │ │ ├── data_pipeline.md │ │ ├── dataset_prepare.md │ │ ├── index.rst │ │ ├── inference.md │ │ ├── model_deployment.md │ │ ├── new_data_model.md │ │ ├── train_test.md │ │ ├── useful_tools.md │ │ └── visualization.md └── zh_cn │ ├── Makefile │ ├── _static │ ├── css │ │ └── readthedocs.css │ └── image │ │ └── mmdet3d-logo.png │ ├── advanced_guides │ ├── customize_dataset.md │ ├── customize_models.md │ ├── customize_runtime.md │ ├── datasets │ │ ├── index.rst │ │ ├── kitti.md │ │ ├── lyft.md │ │ ├── nuscenes.md │ │ ├── s3dis.md │ │ ├── scannet.md │ │ ├── semantickitti.md │ │ ├── sunrgbd.md │ │ └── waymo.md │ ├── index.rst │ └── supported_tasks │ │ ├── index.rst │ │ ├── lidar_det3d.md │ │ ├── lidar_sem_seg3d.md │ │ └── vision_det3d.md │ ├── api.rst │ ├── conf.py │ ├── get_started.md │ ├── index.rst │ ├── make.bat │ ├── model_zoo.md │ ├── notes │ ├── benchmarks.md │ ├── changelog.md │ ├── changelog_v1.0.x.md │ ├── compatibility.md │ ├── faq.md │ └── index.rst │ ├── stat.py │ ├── switch_language.md │ └── user_guides │ ├── backends_support.md │ ├── config.md │ ├── coord_sys_tutorial.md │ ├── data_pipeline.md │ ├── dataset_prepare.md │ ├── index.rst │ ├── inference.md │ ├── model_deployment.md │ ├── new_data_model.md │ ├── train_test.md │ ├── useful_tools.md │ └── visualization.md ├── mmdet3d.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── not-zip-safe ├── requires.txt └── top_level.txt ├── mmdet3d ├── .mim │ ├── dataset-index.yml │ └── model-index.yml ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── registry.cpython-37.pyc │ ├── registry.cpython-38.pyc │ ├── version.cpython-37.pyc │ └── version.cpython-38.pyc ├── apis │ ├── __init__.py │ ├── inference.py │ └── inferencers │ │ ├── __init__.py │ │ ├── base_3d_inferencer.py │ │ ├── lidar_det3d_inferencer.py │ │ ├── lidar_seg3d_inferencer.py │ │ ├── mono_det3d_inferencer.py │ │ └── multi_modality_det3d_inferencer.py ├── configs │ ├── _base_ │ │ ├── datasets │ │ │ ├── kitti_3d_3class.py │ │ │ ├── kitti_3d_car.py │ │ │ ├── kitti_mono3d.py │ │ │ ├── lyft_3d.py │ │ │ ├── lyft_3d_range100.py │ │ │ ├── nuim_instance.py │ │ │ ├── nus_3d.py │ │ │ ├── nus_mono3d.py │ │ │ ├── s3dis_3d.py │ │ │ ├── s3dis_seg.py │ │ │ ├── scannet_3d.py │ │ │ ├── scannet_seg.py │ │ │ ├── semantickitti.py │ │ │ ├── sunrgbd_3d.py │ │ │ ├── waymoD5_3d_3class.py │ │ │ ├── waymoD5_3d_car.py │ │ │ ├── waymoD5_fov_mono3d_3class.py │ │ │ ├── waymoD5_mv3d_3class.py │ │ │ └── waymoD5_mv_mono3d_3class.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ ├── centerpoint_pillar02_second_secfpn_nus.py │ │ │ ├── centerpoint_voxel01_second_secfpn_nus.py │ │ │ ├── cylinder3d.py │ │ │ ├── fcos3d.py │ │ │ ├── minkunet.py │ │ │ ├── pgd.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 │ ├── centerpoint │ │ ├── centerpoint_pillar02_second_secfpn_8xb4_cyclic_20e_nus_3d.py │ │ └── centerpoint_voxel01_second_secfpn_8xb4_cyclic_20e_nus_3d.py │ ├── cylinder3d │ │ ├── cylinder3d_4xb4-3x_semantickitti.py │ │ └── cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py │ ├── minkunet │ │ └── minkunet34_w32_torchsparse_8xb2_laser_polar_mix_3x_semantickitti.py │ ├── mvxnet │ │ └── mvxnet_fpn_dv_second_secfpn_8xb2_80e_kitti_3d_3class.py │ ├── pgd │ │ └── pgd_r101_caffe_fpn_head_gn_4xb3_4x_kitti_mono3d.py │ └── votenet │ │ ├── __init__.py │ │ └── votenet_8xb8_scannet_3d.py ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── convert_utils.cpython-37.pyc │ │ ├── convert_utils.cpython-38.pyc │ │ ├── dataset_wrappers.cpython-37.pyc │ │ ├── dataset_wrappers.cpython-38.pyc │ │ ├── det3d_dataset.cpython-37.pyc │ │ ├── det3d_dataset.cpython-38.pyc │ │ ├── kitti_dataset.cpython-37.pyc │ │ ├── kitti_dataset.cpython-38.pyc │ │ ├── lyft_dataset.cpython-37.pyc │ │ ├── lyft_dataset.cpython-38.pyc │ │ ├── nuscenes_dataset.cpython-37.pyc │ │ ├── nuscenes_dataset.cpython-38.pyc │ │ ├── s3dis_dataset.cpython-37.pyc │ │ ├── s3dis_dataset.cpython-38.pyc │ │ ├── scannet_dataset.cpython-37.pyc │ │ ├── scannet_dataset.cpython-38.pyc │ │ ├── seg3d_dataset.cpython-37.pyc │ │ ├── seg3d_dataset.cpython-38.pyc │ │ ├── semantickitti_dataset.cpython-37.pyc │ │ ├── semantickitti_dataset.cpython-38.pyc │ │ ├── sunrgbd_dataset.cpython-37.pyc │ │ ├── sunrgbd_dataset.cpython-38.pyc │ │ ├── talk2radar_dataset.cpython-37.pyc │ │ ├── utils.cpython-37.pyc │ │ ├── utils.cpython-38.pyc │ │ ├── waymo_dataset.cpython-37.pyc │ │ └── waymo_dataset.cpython-38.pyc │ ├── convert_utils.py │ ├── dataset_wrappers.py │ ├── det3d_dataset.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── s3dis_dataset.py │ ├── scannet_dataset.py │ ├── seg3d_dataset.py │ ├── semantickitti_dataset.py │ ├── sunrgbd_dataset.py │ ├── talk2radar_dataset.py │ ├── transforms │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.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 │ │ │ ├── test_time_aug.cpython-37.pyc │ │ │ ├── test_time_aug.cpython-38.pyc │ │ │ ├── transforms_3d.cpython-37.pyc │ │ │ └── transforms_3d.cpython-38.pyc │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── utils.py │ └── waymo_dataset.py ├── engine │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── __init__.cpython-38.pyc │ └── hooks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── benchmark_hook.cpython-37.pyc │ │ ├── benchmark_hook.cpython-38.pyc │ │ ├── disable_object_sample_hook.cpython-37.pyc │ │ ├── disable_object_sample_hook.cpython-38.pyc │ │ ├── visualization_hook.cpython-37.pyc │ │ └── visualization_hook.cpython-38.pyc │ │ ├── benchmark_hook.py │ │ ├── disable_object_sample_hook.py │ │ └── visualization_hook.py ├── evaluation │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── __init__.cpython-38.pyc │ ├── functional │ │ ├── __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 │ │ │ ├── panoptic_seg_eval.cpython-37.pyc │ │ │ ├── panoptic_seg_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 │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── eval.cpython-37.pyc │ │ │ │ ├── eval.cpython-38.pyc │ │ │ │ ├── rotate_iou.cpython-37.pyc │ │ │ │ └── rotate_iou.cpython-38.pyc │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── panoptic_seg_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── evaluate_semantic_instance.cpython-37.pyc │ │ │ │ ├── evaluate_semantic_instance.cpython-38.pyc │ │ │ │ ├── util_3d.cpython-37.pyc │ │ │ │ └── util_3d.cpython-38.pyc │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_to_waymo.py │ └── metrics │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── indoor_metric.cpython-37.pyc │ │ ├── indoor_metric.cpython-38.pyc │ │ ├── instance_seg_metric.cpython-37.pyc │ │ ├── instance_seg_metric.cpython-38.pyc │ │ ├── kitti_metric.cpython-37.pyc │ │ ├── kitti_metric.cpython-38.pyc │ │ ├── lyft_metric.cpython-37.pyc │ │ ├── lyft_metric.cpython-38.pyc │ │ ├── nuscenes_metric.cpython-37.pyc │ │ ├── nuscenes_metric.cpython-38.pyc │ │ ├── panoptic_seg_metric.cpython-37.pyc │ │ ├── panoptic_seg_metric.cpython-38.pyc │ │ ├── seg_metric.cpython-37.pyc │ │ ├── seg_metric.cpython-38.pyc │ │ ├── waymo_metric.cpython-37.pyc │ │ └── waymo_metric.cpython-38.pyc │ │ ├── indoor_metric.py │ │ ├── instance_seg_metric.py │ │ ├── kitti_metric.py │ │ ├── lyft_metric.py │ │ ├── nuscenes_metric.py │ │ ├── panoptic_seg_metric.py │ │ ├── seg_metric.py │ │ └── waymo_metric.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── __init__.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 │ │ │ ├── cylinder3d.cpython-37.pyc │ │ │ ├── cylinder3d.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 │ │ │ ├── minkunet_backbone.cpython-37.pyc │ │ │ ├── minkunet_backbone.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 │ │ │ ├── second.cpython-37.pyc │ │ │ ├── second.cpython-38.pyc │ │ │ ├── spvcnn_backone.cpython-37.pyc │ │ │ └── spvcnn_backone.cpython-38.pyc │ │ ├── base_pointnet.py │ │ ├── cylinder3d.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── mink_resnet.py │ │ ├── minkunet_backbone.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── second.py │ │ └── spvcnn_backone.py │ ├── data_preprocessors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── data_preprocessor.cpython-37.pyc │ │ │ ├── data_preprocessor.cpython-38.pyc │ │ │ ├── utils.cpython-37.pyc │ │ │ ├── utils.cpython-38.pyc │ │ │ ├── voxelize.cpython-37.pyc │ │ │ └── voxelize.cpython-38.pyc │ │ ├── data_preprocessor.py │ │ ├── utils.py │ │ └── voxelize.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── cylinder3d_head.cpython-37.pyc │ │ │ ├── cylinder3d_head.cpython-38.pyc │ │ │ ├── decode_head.cpython-37.pyc │ │ │ ├── decode_head.cpython-38.pyc │ │ │ ├── dgcnn_head.cpython-37.pyc │ │ │ ├── dgcnn_head.cpython-38.pyc │ │ │ ├── minkunet_head.cpython-37.pyc │ │ │ ├── minkunet_head.cpython-38.pyc │ │ │ ├── paconv_head.cpython-37.pyc │ │ │ ├── paconv_head.cpython-38.pyc │ │ │ ├── pointnet2_head.cpython-37.pyc │ │ │ └── pointnet2_head.cpython-38.pyc │ │ ├── cylinder3d_head.py │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── minkunet_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── anchor3d_head.cpython-37.pyc │ │ │ ├── anchor3d_head.cpython-38.pyc │ │ │ ├── anchor_free_mono3d_head.cpython-37.pyc │ │ │ ├── anchor_free_mono3d_head.cpython-38.pyc │ │ │ ├── base_3d_dense_head.cpython-37.pyc │ │ │ ├── base_3d_dense_head.cpython-38.pyc │ │ │ ├── base_conv_bbox_head.cpython-37.pyc │ │ │ ├── base_conv_bbox_head.cpython-38.pyc │ │ │ ├── base_mono3d_dense_head.cpython-37.pyc │ │ │ ├── base_mono3d_dense_head.cpython-38.pyc │ │ │ ├── centerpoint_head.cpython-37.pyc │ │ │ ├── centerpoint_head.cpython-38.pyc │ │ │ ├── fcaf3d_head.cpython-37.pyc │ │ │ ├── fcaf3d_head.cpython-38.pyc │ │ │ ├── fcos_mono3d_head.cpython-37.pyc │ │ │ ├── fcos_mono3d_head.cpython-38.pyc │ │ │ ├── free_anchor3d_head.cpython-37.pyc │ │ │ ├── free_anchor3d_head.cpython-38.pyc │ │ │ ├── groupfree3d_head.cpython-37.pyc │ │ │ ├── groupfree3d_head.cpython-38.pyc │ │ │ ├── imvoxel_head.cpython-37.pyc │ │ │ ├── imvoxel_head.cpython-38.pyc │ │ │ ├── monoflex_head.cpython-37.pyc │ │ │ ├── monoflex_head.cpython-38.pyc │ │ │ ├── parta2_rpn_head.cpython-37.pyc │ │ │ ├── parta2_rpn_head.cpython-38.pyc │ │ │ ├── pgd_head.cpython-37.pyc │ │ │ ├── pgd_head.cpython-38.pyc │ │ │ ├── point_rpn_head.cpython-37.pyc │ │ │ ├── point_rpn_head.cpython-38.pyc │ │ │ ├── shape_aware_head.cpython-37.pyc │ │ │ ├── shape_aware_head.cpython-38.pyc │ │ │ ├── smoke_mono3d_head.cpython-37.pyc │ │ │ ├── smoke_mono3d_head.cpython-38.pyc │ │ │ ├── ssd_3d_head.cpython-37.pyc │ │ │ ├── ssd_3d_head.cpython-38.pyc │ │ │ ├── train_mixins.cpython-37.pyc │ │ │ ├── train_mixins.cpython-38.pyc │ │ │ ├── vote_head.cpython-37.pyc │ │ │ └── vote_head.cpython-38.pyc │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_3d_dense_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 │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-37.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ ├── centerpoint.cpython-37.pyc │ │ │ ├── centerpoint.cpython-38.pyc │ │ │ ├── dfm.cpython-37.pyc │ │ │ ├── dfm.cpython-38.pyc │ │ │ ├── dynamic_voxelnet.cpython-37.pyc │ │ │ ├── dynamic_voxelnet.cpython-38.pyc │ │ │ ├── fcos_mono3d.cpython-37.pyc │ │ │ ├── fcos_mono3d.cpython-38.pyc │ │ │ ├── groupfree3dnet.cpython-37.pyc │ │ │ ├── groupfree3dnet.cpython-38.pyc │ │ │ ├── h3dnet.cpython-37.pyc │ │ │ ├── h3dnet.cpython-38.pyc │ │ │ ├── imvotenet.cpython-37.pyc │ │ │ ├── imvotenet.cpython-38.pyc │ │ │ ├── imvoxelnet.cpython-37.pyc │ │ │ ├── imvoxelnet.cpython-38.pyc │ │ │ ├── mink_single_stage.cpython-37.pyc │ │ │ ├── mink_single_stage.cpython-38.pyc │ │ │ ├── multiview_dfm.cpython-37.pyc │ │ │ ├── multiview_dfm.cpython-38.pyc │ │ │ ├── mvx_faster_rcnn.cpython-37.pyc │ │ │ ├── mvx_faster_rcnn.cpython-38.pyc │ │ │ ├── mvx_two_stage.cpython-37.pyc │ │ │ ├── mvx_two_stage.cpython-38.pyc │ │ │ ├── parta2.cpython-37.pyc │ │ │ ├── parta2.cpython-38.pyc │ │ │ ├── point_rcnn.cpython-37.pyc │ │ │ ├── point_rcnn.cpython-38.pyc │ │ │ ├── pv_rcnn.cpython-37.pyc │ │ │ ├── pv_rcnn.cpython-38.pyc │ │ │ ├── sassd.cpython-37.pyc │ │ │ ├── sassd.cpython-38.pyc │ │ │ ├── single_stage.cpython-37.pyc │ │ │ ├── single_stage.cpython-38.pyc │ │ │ ├── single_stage_mono3d.cpython-37.pyc │ │ │ ├── single_stage_mono3d.cpython-38.pyc │ │ │ ├── smoke_mono3d.cpython-37.pyc │ │ │ ├── smoke_mono3d.cpython-38.pyc │ │ │ ├── ssd3dnet.cpython-37.pyc │ │ │ ├── ssd3dnet.cpython-38.pyc │ │ │ ├── two_stage.cpython-37.pyc │ │ │ ├── two_stage.cpython-38.pyc │ │ │ ├── votenet.cpython-37.pyc │ │ │ ├── votenet.cpython-38.pyc │ │ │ ├── voxelnet.cpython-37.pyc │ │ │ └── voxelnet.cpython-38.pyc │ │ ├── base.py │ │ ├── centerpoint.py │ │ ├── dfm.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── multiview_dfm.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── point_rcnn.py │ │ ├── pv_rcnn.py │ │ ├── sassd.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── layers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── box3d_nms.cpython-37.pyc │ │ │ ├── box3d_nms.cpython-38.pyc │ │ │ ├── edge_fusion_module.cpython-37.pyc │ │ │ ├── edge_fusion_module.cpython-38.pyc │ │ │ ├── minkowski_engine_block.cpython-37.pyc │ │ │ ├── minkowski_engine_block.cpython-38.pyc │ │ │ ├── mlp.cpython-37.pyc │ │ │ ├── mlp.cpython-38.pyc │ │ │ ├── norm.cpython-37.pyc │ │ │ ├── norm.cpython-38.pyc │ │ │ ├── sparse_block.cpython-37.pyc │ │ │ ├── sparse_block.cpython-38.pyc │ │ │ ├── torchsparse_block.cpython-37.pyc │ │ │ ├── torchsparse_block.cpython-38.pyc │ │ │ ├── transformer.cpython-37.pyc │ │ │ ├── transformer.cpython-38.pyc │ │ │ ├── vote_module.cpython-37.pyc │ │ │ └── vote_module.cpython-38.pyc │ │ ├── box3d_nms.py │ │ ├── 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 │ │ ├── edge_fusion_module.py │ │ ├── fusion_layers │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── coord_transform.cpython-37.pyc │ │ │ │ ├── coord_transform.cpython-38.pyc │ │ │ │ ├── point_fusion.cpython-37.pyc │ │ │ │ ├── point_fusion.cpython-38.pyc │ │ │ │ ├── vote_fusion.cpython-37.pyc │ │ │ │ └── vote_fusion.cpython-38.pyc │ │ │ ├── coord_transform.py │ │ │ ├── point_fusion.py │ │ │ └── vote_fusion.py │ │ ├── minkowski_engine_block.py │ │ ├── mlp.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 │ │ │ │ ├── stack_point_sa_module.cpython-37.pyc │ │ │ │ └── stack_point_sa_module.cpython-38.pyc │ │ │ ├── builder.py │ │ │ ├── paconv_sa_module.py │ │ │ ├── point_fp_module.py │ │ │ ├── point_sa_module.py │ │ │ └── stack_point_sa_module.py │ │ ├── sparse_block.py │ │ ├── spconv │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ └── __init__.cpython-38.pyc │ │ │ └── overwrite_spconv │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── write_spconv2.cpython-37.pyc │ │ │ │ └── write_spconv2.cpython-38.pyc │ │ │ │ └── write_spconv2.py │ │ ├── torchsparse │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── torchsparse_wrapper.cpython-37.pyc │ │ │ │ └── torchsparse_wrapper.cpython-38.pyc │ │ │ └── torchsparse_wrapper.py │ │ ├── torchsparse_block.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── losses │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── axis_aligned_iou_loss.cpython-37.pyc │ │ │ ├── axis_aligned_iou_loss.cpython-38.pyc │ │ │ ├── chamfer_distance.cpython-37.pyc │ │ │ ├── chamfer_distance.cpython-38.pyc │ │ │ ├── lovasz_loss.cpython-37.pyc │ │ │ ├── lovasz_loss.cpython-38.pyc │ │ │ ├── multibin_loss.cpython-37.pyc │ │ │ ├── multibin_loss.cpython-38.pyc │ │ │ ├── paconv_regularization_loss.cpython-37.pyc │ │ │ ├── paconv_regularization_loss.cpython-38.pyc │ │ │ ├── rotated_iou_loss.cpython-37.pyc │ │ │ ├── rotated_iou_loss.cpython-38.pyc │ │ │ ├── uncertain_smooth_l1_loss.cpython-37.pyc │ │ │ └── uncertain_smooth_l1_loss.cpython-38.pyc │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── lovasz_loss.py │ │ ├── multibin_loss.py │ │ ├── paconv_regularization_loss.py │ │ ├── rotated_iou_loss.py │ │ └── uncertain_smooth_l1_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── pillar_scatter.cpython-37.pyc │ │ │ ├── pillar_scatter.cpython-38.pyc │ │ │ ├── sparse_encoder.cpython-37.pyc │ │ │ ├── sparse_encoder.cpython-38.pyc │ │ │ ├── sparse_unet.cpython-37.pyc │ │ │ ├── sparse_unet.cpython-38.pyc │ │ │ ├── voxel_set_abstraction.cpython-37.pyc │ │ │ └── voxel_set_abstraction.cpython-38.pyc │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ ├── sparse_unet.py │ │ └── voxel_set_abstraction.py │ ├── modal_fusion │ │ ├── GGF.py │ │ ├── LPCF.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── GGF.cpython-37.pyc │ │ │ ├── LGF.cpython-37.pyc │ │ │ ├── LPCF.cpython-37.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── mhca.cpython-37.pyc │ │ │ └── position_encodings.cpython-37.pyc │ │ ├── mhca.py │ │ └── position_encodings.py │ ├── necks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dcn_convs.cpython-37.pyc │ │ │ ├── deformable_fpn.cpython-37.pyc │ │ │ ├── dla_neck.cpython-37.pyc │ │ │ ├── dla_neck.cpython-38.pyc │ │ │ ├── imvoxel_neck.cpython-37.pyc │ │ │ ├── imvoxel_neck.cpython-38.pyc │ │ │ ├── pointnet2_fp_neck.cpython-37.pyc │ │ │ ├── pointnet2_fp_neck.cpython-38.pyc │ │ │ ├── second_fpn.cpython-37.pyc │ │ │ └── second_fpn.cpython-38.pyc │ │ ├── dcn_convs.py │ │ ├── deformable_fpn.py │ │ ├── dla_neck.py │ │ ├── imvoxel_neck.py │ │ ├── ops_dcnv3 │ │ │ ├── build │ │ │ │ └── lib.linux-x86_64-cpython-37 │ │ │ │ │ ├── functions │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── dcnv3_func.py │ │ │ │ │ └── modules │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── dcnv3.py │ │ │ ├── functions │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ │ └── dcnv3_func.cpython-37.pyc │ │ │ │ └── dcnv3_func.py │ │ │ ├── make.sh │ │ │ ├── modules │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ │ └── dcnv3.cpython-37.pyc │ │ │ │ └── dcnv3.py │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ ├── cpu │ │ │ │ │ ├── dcnv3_cpu.cpp │ │ │ │ │ └── dcnv3_cpu.h │ │ │ │ ├── cuda │ │ │ │ │ ├── dcnv3_cuda.cu │ │ │ │ │ ├── dcnv3_cuda.h │ │ │ │ │ └── dcnv3_im2col_cuda.cuh │ │ │ │ ├── dcnv3.h │ │ │ │ └── vision.cpp │ │ │ └── test.py │ │ ├── pointnet2_fp_neck.py │ │ └── second_fpn.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_3droi_head.cpython-37.pyc │ │ │ ├── base_3droi_head.cpython-38.pyc │ │ │ ├── h3d_roi_head.cpython-37.pyc │ │ │ ├── h3d_roi_head.cpython-38.pyc │ │ │ ├── part_aggregation_roi_head.cpython-37.pyc │ │ │ ├── part_aggregation_roi_head.cpython-38.pyc │ │ │ ├── point_rcnn_roi_head.cpython-37.pyc │ │ │ ├── point_rcnn_roi_head.cpython-38.pyc │ │ │ ├── pv_rcnn_roi_head.cpython-37.pyc │ │ │ └── pv_rcnn_roi_head.cpython-38.pyc │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── h3d_bbox_head.cpython-37.pyc │ │ │ │ ├── h3d_bbox_head.cpython-38.pyc │ │ │ │ ├── parta2_bbox_head.cpython-37.pyc │ │ │ │ ├── parta2_bbox_head.cpython-38.pyc │ │ │ │ ├── point_rcnn_bbox_head.cpython-37.pyc │ │ │ │ ├── point_rcnn_bbox_head.cpython-38.pyc │ │ │ │ ├── pv_rcnn_bbox_head.cpython-37.pyc │ │ │ │ └── pv_rcnn_bbox_head.cpython-38.pyc │ │ │ ├── h3d_bbox_head.py │ │ │ ├── parta2_bbox_head.py │ │ │ ├── point_rcnn_bbox_head.py │ │ │ └── pv_rcnn_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── foreground_segmentation_head.cpython-37.pyc │ │ │ │ ├── foreground_segmentation_head.cpython-38.pyc │ │ │ │ ├── pointwise_semantic_head.cpython-37.pyc │ │ │ │ ├── pointwise_semantic_head.cpython-38.pyc │ │ │ │ ├── primitive_head.cpython-37.pyc │ │ │ │ └── primitive_head.cpython-38.pyc │ │ │ ├── foreground_segmentation_head.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ ├── point_rcnn_roi_head.py │ │ ├── pv_rcnn_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── batch_roigridpoint_extractor.cpython-37.pyc │ │ │ ├── batch_roigridpoint_extractor.cpython-38.pyc │ │ │ ├── single_roiaware_extractor.cpython-37.pyc │ │ │ ├── single_roiaware_extractor.cpython-38.pyc │ │ │ ├── single_roipoint_extractor.cpython-37.pyc │ │ │ └── single_roipoint_extractor.cpython-38.pyc │ │ │ ├── batch_roigridpoint_extractor.py │ │ │ ├── single_roiaware_extractor.py │ │ │ └── single_roipoint_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-37.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ ├── cylinder3d.cpython-37.pyc │ │ │ ├── cylinder3d.cpython-38.pyc │ │ │ ├── encoder_decoder.cpython-37.pyc │ │ │ ├── encoder_decoder.cpython-38.pyc │ │ │ ├── minkunet.cpython-37.pyc │ │ │ ├── minkunet.cpython-38.pyc │ │ │ ├── seg3d_tta.cpython-37.pyc │ │ │ └── seg3d_tta.cpython-38.pyc │ │ ├── base.py │ │ ├── cylinder3d.py │ │ ├── encoder_decoder.py │ │ ├── minkunet.py │ │ └── seg3d_tta.py │ ├── task_modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-37.pyc │ │ │ └── builder.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 │ │ │ │ ├── builder.cpython-37.pyc │ │ │ │ └── builder.cpython-38.pyc │ │ │ ├── anchor_3d_generator.py │ │ │ └── builder.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── max_3d_iou_assigner.cpython-37.pyc │ │ │ │ └── max_3d_iou_assigner.cpython-38.pyc │ │ │ └── max_3d_iou_assigner.py │ │ ├── builder.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── anchor_free_bbox_coder.cpython-37.pyc │ │ │ │ ├── anchor_free_bbox_coder.cpython-38.pyc │ │ │ │ ├── centerpoint_bbox_coders.cpython-37.pyc │ │ │ │ ├── centerpoint_bbox_coders.cpython-38.pyc │ │ │ │ ├── delta_xyzwhlr_bbox_coder.cpython-37.pyc │ │ │ │ ├── delta_xyzwhlr_bbox_coder.cpython-38.pyc │ │ │ │ ├── fcos3d_bbox_coder.cpython-37.pyc │ │ │ │ ├── fcos3d_bbox_coder.cpython-38.pyc │ │ │ │ ├── groupfree3d_bbox_coder.cpython-37.pyc │ │ │ │ ├── groupfree3d_bbox_coder.cpython-38.pyc │ │ │ │ ├── monoflex_bbox_coder.cpython-37.pyc │ │ │ │ ├── monoflex_bbox_coder.cpython-38.pyc │ │ │ │ ├── partial_bin_based_bbox_coder.cpython-37.pyc │ │ │ │ ├── partial_bin_based_bbox_coder.cpython-38.pyc │ │ │ │ ├── pgd_bbox_coder.cpython-37.pyc │ │ │ │ ├── pgd_bbox_coder.cpython-38.pyc │ │ │ │ ├── point_xyzwhlr_bbox_coder.cpython-37.pyc │ │ │ │ ├── point_xyzwhlr_bbox_coder.cpython-38.pyc │ │ │ │ ├── smoke_bbox_coder.cpython-37.pyc │ │ │ │ └── smoke_bbox_coder.cpython-38.pyc │ │ │ ├── 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 │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── iou_neg_piecewise_sampler.cpython-37.pyc │ │ │ │ ├── iou_neg_piecewise_sampler.cpython-38.pyc │ │ │ │ ├── pseudosample.cpython-37.pyc │ │ │ │ └── pseudosample.cpython-38.pyc │ │ │ ├── iou_neg_piecewise_sampler.py │ │ │ └── pseudosample.py │ │ └── voxel │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── voxel_generator.cpython-37.pyc │ │ │ └── voxel_generator.cpython-38.pyc │ │ │ └── voxel_generator.py │ ├── test_time_augs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── merge_augs.cpython-37.pyc │ │ │ └── merge_augs.cpython-38.pyc │ │ └── merge_augs.py │ ├── text_encoders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── bert_encoder.cpython-37.pyc │ │ │ ├── nestedtensor.cpython-37.pyc │ │ │ └── position_encodings.cpython-37.pyc │ │ ├── bert_encoder.py │ │ └── nestedtensor.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── add_prefix.cpython-37.pyc │ │ │ ├── add_prefix.cpython-38.pyc │ │ │ ├── clip_sigmoid.cpython-37.pyc │ │ │ ├── clip_sigmoid.cpython-38.pyc │ │ │ ├── edge_indices.cpython-37.pyc │ │ │ ├── edge_indices.cpython-38.pyc │ │ │ ├── gaussian.cpython-37.pyc │ │ │ ├── gaussian.cpython-38.pyc │ │ │ ├── gen_keypoints.cpython-37.pyc │ │ │ ├── gen_keypoints.cpython-38.pyc │ │ │ ├── handle_objs.cpython-37.pyc │ │ │ └── handle_objs.cpython-38.pyc │ │ ├── add_prefix.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gaussian.py │ │ ├── gen_keypoints.py │ │ └── handle_objs.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── pillar_encoder.cpython-37.pyc │ │ ├── pillar_encoder.cpython-38.pyc │ │ ├── utils.cpython-37.pyc │ │ ├── utils.cpython-38.pyc │ │ ├── voxel_encoder.cpython-37.pyc │ │ └── voxel_encoder.cpython-38.pyc │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── registry.py ├── structures │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── det3d_data_sample.cpython-37.pyc │ │ ├── det3d_data_sample.cpython-38.pyc │ │ ├── point_data.cpython-37.pyc │ │ └── point_data.cpython-38.pyc │ ├── bbox_3d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_box3d.cpython-37.pyc │ │ │ ├── base_box3d.cpython-38.pyc │ │ │ ├── box_3d_mode.cpython-37.pyc │ │ │ ├── box_3d_mode.cpython-38.pyc │ │ │ ├── cam_box3d.cpython-37.pyc │ │ │ ├── cam_box3d.cpython-38.pyc │ │ │ ├── coord_3d_mode.cpython-37.pyc │ │ │ ├── coord_3d_mode.cpython-38.pyc │ │ │ ├── depth_box3d.cpython-37.pyc │ │ │ ├── depth_box3d.cpython-38.pyc │ │ │ ├── lidar_box3d.cpython-37.pyc │ │ │ ├── lidar_box3d.cpython-38.pyc │ │ │ ├── utils.cpython-37.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── base_box3d.py │ │ ├── box_3d_mode.py │ │ ├── cam_box3d.py │ │ ├── coord_3d_mode.py │ │ ├── depth_box3d.py │ │ ├── lidar_box3d.py │ │ └── utils.py │ ├── det3d_data_sample.py │ ├── ops │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── box_np_ops.cpython-37.pyc │ │ │ ├── box_np_ops.cpython-38.pyc │ │ │ ├── iou3d_calculator.cpython-37.pyc │ │ │ ├── iou3d_calculator.cpython-38.pyc │ │ │ ├── transforms.cpython-37.pyc │ │ │ └── transforms.cpython-38.pyc │ │ ├── box_np_ops.py │ │ ├── iou3d_calculator.py │ │ └── transforms.py │ ├── point_data.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 ├── testing │ ├── __init__.py │ ├── data_utils.py │ └── model_utils.py ├── utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── array_converter.cpython-37.pyc │ │ ├── array_converter.cpython-38.pyc │ │ ├── collect_env.cpython-37.pyc │ │ ├── collect_env.cpython-38.pyc │ │ ├── compat_cfg.cpython-37.pyc │ │ ├── compat_cfg.cpython-38.pyc │ │ ├── misc.cpython-37.pyc │ │ ├── misc.cpython-38.pyc │ │ ├── setup_env.cpython-37.pyc │ │ ├── setup_env.cpython-38.pyc │ │ ├── typing_utils.cpython-37.pyc │ │ └── typing_utils.cpython-38.pyc │ ├── array_converter.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── misc.py │ ├── setup_env.py │ └── typing_utils.py ├── version.py └── visualization │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── local_visualizer.cpython-37.pyc │ ├── local_visualizer.cpython-38.pyc │ ├── vis_utils.cpython-37.pyc │ └── vis_utils.cpython-38.pyc │ ├── local_visualizer.py │ └── vis_utils.py ├── model-index.yml ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py ├── projects ├── BEVFusion │ ├── README.md │ ├── bevfusion │ │ ├── __init__.py │ │ ├── bevfusion.py │ │ ├── bevfusion_necks.py │ │ ├── depth_lss.py │ │ ├── loading.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── bev_pool │ │ │ │ ├── __init__.py │ │ │ │ ├── bev_pool.py │ │ │ │ └── src │ │ │ │ │ ├── bev_pool.cpp │ │ │ │ │ └── bev_pool_cuda.cu │ │ │ └── voxel │ │ │ │ ├── __init__.py │ │ │ │ ├── scatter_points.py │ │ │ │ ├── src │ │ │ │ ├── scatter_points_cpu.cpp │ │ │ │ ├── scatter_points_cuda.cu │ │ │ │ ├── voxelization.cpp │ │ │ │ ├── voxelization.h │ │ │ │ ├── voxelization_cpu.cpp │ │ │ │ └── voxelization_cuda.cu │ │ │ │ └── voxelize.py │ │ ├── sparse_encoder.py │ │ ├── transformer.py │ │ ├── transforms_3d.py │ │ ├── transfusion_head.py │ │ └── utils.py │ ├── configs │ │ ├── bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ └── bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── demo │ │ └── multi_modality_demo.py │ └── setup.py ├── CENet │ ├── README.md │ ├── cenet │ │ ├── __init__.py │ │ ├── boundary_loss.py │ │ ├── cenet_backbone.py │ │ ├── range_image_head.py │ │ ├── range_image_segmentor.py │ │ ├── transforms_3d.py │ │ └── utils.py │ └── configs │ │ ├── cenet-64x1024_4xb4_semantickitti.py │ │ ├── cenet-64x2048_4xb4_semantickitti.py │ │ └── cenet-64x512_4xb4_semantickitti.py ├── CenterFormer │ ├── README.md │ ├── centerformer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── bbox_ops.cpython-37.pyc │ │ │ ├── centerformer.cpython-37.pyc │ │ │ ├── centerformer_backbone.cpython-37.pyc │ │ │ ├── centerformer_head.cpython-37.pyc │ │ │ ├── losses.cpython-37.pyc │ │ │ ├── multi_scale_deform_attn.cpython-37.pyc │ │ │ └── transformer.cpython-37.pyc │ │ ├── bbox_ops.py │ │ ├── centerformer.py │ │ ├── centerformer_backbone.py │ │ ├── centerformer_head.py │ │ ├── losses.py │ │ ├── multi_scale_deform_attn.py │ │ └── transformer.py │ └── configs │ │ ├── centerformer_lidar_talk2radar.py │ │ ├── centerformer_lidar_vod.py │ │ ├── centerformer_radar5_talk2radar.py │ │ ├── centerformer_radar_vod.py │ │ └── centerformer_voxel01_second-attn_secfpn-attn_4xb4-cyclic-20e_waymoD5-3d-3class.py ├── DETR3D │ ├── README.md │ ├── configs │ │ ├── detr3d_r101_gridmask.py │ │ ├── detr3d_r101_gridmask_cbgs.py │ │ └── detr3d_vovnet_gridmask_trainval_cbgs.py │ ├── detr3d │ │ ├── __init__.py │ │ ├── detr3d.py │ │ ├── detr3d_head.py │ │ ├── detr3d_transformer.py │ │ ├── grid_mask.py │ │ ├── hungarian_assigner_3d.py │ │ ├── match_cost.py │ │ ├── nms_free_coder.py │ │ ├── util.py │ │ └── vovnet.py │ └── old_detr3d_converter.py ├── DSVT │ ├── README.md │ ├── configs │ │ └── dsvt_voxel032_res-second_secfpn_8xb1-cyclic-12e_waymoD5-3d-3class.py │ ├── dsvt │ │ ├── __init__.py │ │ ├── disable_aug_hook.py │ │ ├── dsvt.py │ │ ├── dsvt_head.py │ │ ├── dsvt_input_layer.py │ │ ├── dsvt_transformer.py │ │ ├── dynamic_pillar_vfe.py │ │ ├── map2bev.py │ │ ├── ops │ │ │ └── ingroup_inds │ │ │ │ ├── ingroup_inds_op.py │ │ │ │ └── src │ │ │ │ ├── error.cuh │ │ │ │ ├── ingroup_inds.cpp │ │ │ │ └── ingroup_inds_kernel.cu │ │ ├── res_second.py │ │ ├── transforms_3d.py │ │ └── utils.py │ └── setup.py ├── NeRF-Det │ ├── README.md │ ├── configs │ │ ├── nerfdet_res101_2x_low_res_depth.py │ │ ├── nerfdet_res50_2x_low_res.py │ │ └── nerfdet_res50_2x_low_res_depth.py │ ├── nerfdet │ │ ├── __init__.py │ │ ├── data_preprocessor.py │ │ ├── formating.py │ │ ├── multiview_pipeline.py │ │ ├── nerf_det3d_data_sample.py │ │ ├── nerf_utils │ │ │ ├── nerf_mlp.py │ │ │ ├── projection.py │ │ │ ├── render_ray.py │ │ │ └── save_rendered_img.py │ │ ├── nerfdet.py │ │ ├── nerfdet_head.py │ │ └── scannet_multiview_dataset.py │ └── prepare_infos.py ├── PETR │ ├── README.md │ ├── configs │ │ └── petr_vovnet_gridmask_p4_800x320.py │ └── petr │ │ ├── __init__.py │ │ ├── cp_fpn.py │ │ ├── grid_mask.py │ │ ├── hungarian_assigner_3d.py │ │ ├── match_cost.py │ │ ├── nms_free_coder.py │ │ ├── petr.py │ │ ├── petr_head.py │ │ ├── petr_transformer.py │ │ ├── positional_encoding.py │ │ ├── transforms_3d.py │ │ ├── utils.py │ │ └── vovnetcp.py ├── TPVFormer │ ├── README.md │ ├── configs │ │ └── tpvformer_8xb1-2x_nus-seg.py │ └── tpvformer │ │ ├── __init__.py │ │ ├── cross_view_hybrid_attention.py │ │ ├── data_preprocessor.py │ │ ├── image_cross_attention.py │ │ ├── loading.py │ │ ├── nuscenes_dataset.py │ │ ├── positional_encoding.py │ │ ├── tpvformer.py │ │ ├── tpvformer_encoder.py │ │ ├── tpvformer_head.py │ │ └── tpvformer_layer.py ├── TR3D │ ├── README.md │ ├── configs │ │ ├── tr3d.py │ │ ├── tr3d_1xb16_s3dis-3d-5class.py │ │ ├── tr3d_1xb16_scannet-3d-18class.py │ │ └── tr3d_1xb16_sunrgbd-3d-10class.py │ └── tr3d │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── mink_resnet.py │ │ ├── rotated_iou_loss.py │ │ ├── tr3d_head.py │ │ ├── tr3d_neck.py │ │ └── transforms_3d.py └── example_project │ ├── README.md │ ├── configs │ └── fcos3d_dummy-resnet-caffe-dcn_fpn_head-gn_8xb2-1x_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 ├── browse_dataset_mono.png ├── browse_dataset_multi_modality.png ├── browse_dataset_seg.png ├── coord_sys_all.png ├── data_pipeline.png ├── loss_curve.png ├── mmdet3d-logo.png ├── mmdet3d_outdoor_demo.gif ├── nuimages_demo.gif ├── open3d_visual.gif └── open3d_visual.png ├── setup.cfg ├── setup.py ├── talk2sensors-main ├── .circleci │ ├── config.yml │ ├── docker │ │ └── Dockerfile │ └── test.yml ├── .dev_scripts │ ├── benchmark_options.py │ ├── covignore.cfg │ ├── diff_coverage_test.sh │ ├── 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 │ └── workflows │ │ ├── deploy.yml │ │ ├── lint.yml │ │ ├── merge_stage_test.yml │ │ ├── pr_stage_test.yml │ │ └── test_mim.yml ├── .gitignore ├── .pre-commit-config-zh-cn.yaml ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CITATION.cff ├── LICENSE ├── MANIFEST.in ├── README.md ├── README_mmdet3d.md ├── README_zh-CN.md ├── configs │ ├── 3dssd │ │ ├── 3dssd_4xb4_kitti-3d-car.py │ │ ├── README.md │ │ └── metafile.yml │ ├── _base_ │ │ ├── datasets │ │ │ ├── kitti-3d-3class.py │ │ │ ├── kitti-3d-car.py │ │ │ ├── kitti-mono3d.py │ │ │ ├── lyft-3d-range100.py │ │ │ ├── lyft-3d.py │ │ │ ├── nuim-instance.py │ │ │ ├── nus-3d.py │ │ │ ├── nus-mono3d.py │ │ │ ├── s3dis-3d.py │ │ │ ├── s3dis-seg.py │ │ │ ├── scannet-3d.py │ │ │ ├── scannet-seg.py │ │ │ ├── semantickitti.py │ │ │ ├── sunrgbd-3d.py │ │ │ ├── waymoD3-fov-mono3d-3class.py │ │ │ ├── waymoD3-mv-mono3d-3class.py │ │ │ ├── waymoD5-3d-3class.py │ │ │ ├── waymoD5-3d-car.py │ │ │ ├── waymoD5-fov-mono3d-3class.py │ │ │ ├── waymoD5-mv-mono3d-3class.py │ │ │ └── waymoD5-mv3d-3class.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ ├── 3dssd.py │ │ │ ├── cascade-mask-rcnn_r50_fpn.py │ │ │ ├── centerpoint_pillar02_second_secfpn_nus.py │ │ │ ├── centerpoint_voxel01_second_secfpn_nus.py │ │ │ ├── cylinder3d.py │ │ │ ├── dgcnn.py │ │ │ ├── fcaf3d.py │ │ │ ├── fcos3d.py │ │ │ ├── groupfree3d.py │ │ │ ├── h3dnet.py │ │ │ ├── imvotenet.py │ │ │ ├── mask-rcnn_r50_fpn.py │ │ │ ├── minkunet.py │ │ │ ├── multiview_dfm.py │ │ │ ├── paconv_ssg-cuda.py │ │ │ ├── paconv_ssg.py │ │ │ ├── parta2.py │ │ │ ├── pgd.py │ │ │ ├── point_rcnn.py │ │ │ ├── pointnet2_msg.py │ │ │ ├── pointnet2_ssg.py │ │ │ ├── pointpillars_hv_fpn_lyft.py │ │ │ ├── pointpillars_hv_fpn_nus.py │ │ │ ├── pointpillars_hv_fpn_range100_lyft.py │ │ │ ├── pointpillars_hv_secfpn_kitti.py │ │ │ ├── pointpillars_hv_secfpn_waymo.py │ │ │ ├── second_hv_secfpn_kitti.py │ │ │ ├── second_hv_secfpn_waymo.py │ │ │ ├── smoke.py │ │ │ ├── spvcnn.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_pillar02_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_pillar02_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_pillar02_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_pillar02_second_talk2radar_lidar.py │ │ ├── centerpoint_pillar02_second_talk2radar_radar5.py │ │ ├── centerpoint_pillar02_second_vod_lidar.py │ │ ├── centerpoint_pillar02_second_vod_radar.py │ │ ├── centerpoint_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel0075_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-flip-tta-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-flip-tta-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-tta-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel01_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel01_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel01_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ │ ├── centerpoint_voxel01_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ │ └── metafile.yml │ ├── cylinder3d │ │ ├── README.md │ │ ├── cylinder3d_4xb4-3x_semantickitti.py │ │ ├── cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py │ │ └── metafile.yml │ ├── dgcnn │ │ ├── README.md │ │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area1.py │ │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area2.py │ │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area3.py │ │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area4.py │ │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area5.py │ │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area6.py │ │ └── metafile.yml │ ├── dynamic_voxelization │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pointpillars_dv_secfpn_8xb6-160e_kitti-3d-car.py │ │ ├── second_dv_secfpn_8xb2-cosine-80e_kitti-3d-3class.py │ │ └── second_dv_secfpn_8xb6-80e_kitti-3d-car.py │ ├── fcaf3d │ │ ├── README.md │ │ ├── fcaf3d_2xb8_s3dis-3d-5class.py │ │ ├── fcaf3d_2xb8_scannet-3d-18class.py │ │ ├── fcaf3d_2xb8_sunrgbd-3d-10class.py │ │ └── metafile.yml │ ├── fcos3d │ │ ├── README.md │ │ ├── fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d.py │ │ ├── fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d_finetune.py │ │ └── metafile.yml │ ├── free_anchor │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py │ │ ├── pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py │ │ └── pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── groupfree3d │ │ ├── README.md │ │ ├── groupfree3d_head-L12-O256_4xb8_scannet-seg.py │ │ ├── groupfree3d_head-L6-O256_4xb8_scannet-seg.py │ │ ├── groupfree3d_w2x-head-L12-O256_4xb8_scannet-seg.py │ │ ├── groupfree3d_w2x-head-L12-O512_4xb8_scannet-seg.py │ │ └── metafile.yml │ ├── h3dnet │ │ ├── README.md │ │ ├── h3dnet_8xb3_scannet-seg.py │ │ └── metafile.yml │ ├── imvotenet │ │ ├── README.md │ │ ├── imvotenet_faster-rcnn-r50_fpn_4xb2_sunrgbd-3d.py │ │ ├── imvotenet_stage2_8xb16_sunrgbd-3d.py │ │ └── metafile.yml │ ├── imvoxelnet │ │ ├── README.md │ │ ├── imvoxelnet_2xb4_sunrgbd-3d-10class.py │ │ ├── imvoxelnet_8xb4_kitti-3d-car.py │ │ └── metafile.yml │ ├── minkunet │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── minkunet18_w16_torchsparse_8xb2-amp-15e_semantickitti.py │ │ ├── minkunet18_w20_torchsparse_8xb2-amp-15e_semantickitti.py │ │ ├── minkunet18_w32_torchsparse_8xb2-amp-15e_semantickitti.py │ │ ├── minkunet34_w32_minkowski_8xb2-laser-polar-mix-3x_semantickitti.py │ │ ├── minkunet34_w32_spconv_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ │ ├── minkunet34_w32_spconv_8xb2-laser-polar-mix-3x_semantickitti.py │ │ ├── minkunet34_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ │ ├── minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py │ │ └── minkunet34v2_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ ├── monoflex │ │ ├── README.md │ │ └── metafile.yml │ ├── mvfcos3d │ │ ├── README.md │ │ ├── multiview-fcos3d_r101-dcn_8xb2_waymoD5-3d-3class.py │ │ └── multiview-fcos3d_r101-dcn_centerhead_16xb2_waymoD5-3d-3class.py │ ├── mvxnet │ │ ├── README.md │ │ ├── metafile.yml │ │ └── mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py │ ├── nuimages │ │ ├── README.md │ │ ├── cascade-mask-rcnn-r50-fpn_coco-20e_nuim.py │ │ ├── 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_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_nuim.py │ │ ├── htc_r50_fpn_head-without-semantic_1x_nuim.py │ │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e-1xb16_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_ssg-cuda_8xb8-cosine-200e_s3dis-seg.py │ │ └── paconv_ssg_8xb8-cosine-150e_s3dis-seg.py │ ├── parta2 │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py │ │ └── parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-car.py │ ├── pgd │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d.py │ │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d_finetune.py │ │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-2x_nus-mono3d.py │ │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-2x_nus-mono3d_finetune.py │ │ ├── pgd_r101-caffe_fpn_head-gn_4xb3-4x_kitti-mono3d.py │ │ ├── pgd_r101_fpn-head_dcn_16xb3_waymoD5-fov-mono3d.py │ │ ├── pgd_r101_fpn-head_dcn_16xb3_waymoD5-mv-mono3d.py │ │ ├── pgd_r101_fpn_gn-head_dcn_8xb3-2x_waymoD3-fov-mono3d.py │ │ └── pgd_r101_fpn_gn-head_dcn_8xb3-2x_waymoD3-mv-mono3d.py │ ├── point_rcnn │ │ ├── README.md │ │ ├── metafile.yml │ │ └── point-rcnn_8xb2_kitti-3d-3class.py │ ├── pointnet2 │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pointnet2_msg_2xb16-cosine-250e_scannet-seg-xyz-only.py │ │ ├── pointnet2_msg_2xb16-cosine-250e_scannet-seg.py │ │ ├── pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py │ │ ├── pointnet2_ssg_2xb16-cosine-200e_scannet-seg-xyz-only.py │ │ ├── pointnet2_ssg_2xb16-cosine-200e_scannet-seg.py │ │ └── pointnet2_ssg_2xb16-cosine-50e_s3dis-seg.py │ ├── pointpillars │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d-range100.py │ │ ├── pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d.py │ │ ├── pointpillars_hv_fpn_sbn-all_8xb2-amp-2x_nus-3d.py │ │ ├── pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py │ │ ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py │ │ ├── pointpillars_hv_secfpn_8xb6-160e_vod-3d-3class-lidar-full.py │ │ ├── pointpillars_hv_secfpn_8xb6-160e_vod-3d-3class-lidar.py │ │ ├── pointpillars_hv_secfpn_8xb6-160e_vod-3d-3class.py │ │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-3class.py │ │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-car.py │ │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py │ │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-car.py │ │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d-range100.py │ │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d.py │ │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-amp-2x_nus-3d.py │ │ ├── pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_lidar_talk2radar.py │ │ ├── pointpillars_radar5_talk2radar.py │ │ ├── pointpillars_radar_talk2radar.py │ │ └── pointpillars_radar_vod.py │ ├── pv_rcnn │ │ ├── README.md │ │ ├── metafile.yml │ │ └── pv_rcnn_8xb2-80e_kitti-3d-3class.py │ ├── regnet │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pointpillars_hv_regnet-1.6gf_fpn_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb2-2x_lyft-3d.py │ │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d.py │ │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_range100_8xb2-2x_lyft-3d.py │ │ ├── pointpillars_hv_regnet-400mf_secfpn_sbn-all_8xb2-2x_lyft-3d.py │ │ ├── pointpillars_hv_regnet-400mf_secfpn_sbn-all_8xb4-2x_nus-3d.py │ │ └── pointpillars_hv_regnet-400mf_secfpn_sbn-all_range100_8xb2-2x_lyft-3d.py │ ├── sassd │ │ ├── README.md │ │ └── sassd_8xb6-80e_kitti-3d-3class.py │ ├── second │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── second_hv_secfpn_8xb6-80e_kitti-3d-3class.py │ │ ├── second_hv_secfpn_8xb6-80e_kitti-3d-car.py │ │ ├── second_hv_secfpn_8xb6-amp-80e_kitti-3d-3class.py │ │ ├── second_hv_secfpn_8xb6-amp-80e_kitti-3d-car.py │ │ ├── second_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py │ │ ├── second_talk2radar-lidar-full.py │ │ └── second_talk2radar-radar5-full.py │ ├── smoke │ │ ├── README.md │ │ ├── metafile.yml │ │ └── smoke_dla34_dlaneck_gn-all_4xb8-6x_kitti-mono3d.py │ ├── spvcnn │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── spvcnn_w16_8xb2-amp-15e_semantickitti.py │ │ ├── spvcnn_w20_8xb2-amp-15e_semantickitti.py │ │ ├── spvcnn_w32_8xb2-amp-15e_semantickitti.py │ │ └── spvcnn_w32_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ ├── ssn │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── ssn_hv_regnet-400mf_secfpn_sbn-all_16xb1-2x_lyft-3d.py │ │ ├── ssn_hv_regnet-400mf_secfpn_sbn-all_16xb2-2x_nus-3d.py │ │ ├── ssn_hv_secfpn_sbn-all_16xb2-2x_lyft-3d.py │ │ └── ssn_hv_secfpn_sbn-all_16xb2-2x_nus-3d.py │ └── votenet │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── votenet_8xb16_sunrgbd-3d.py │ │ ├── votenet_8xb8_scannet-3d.py │ │ └── votenet_head-iouloss_8xb8_scannet-3d.py ├── dataset-index.yml ├── demo │ ├── mono_det_demo.py │ ├── multi_modality_demo.py │ ├── pcd_demo.py │ └── pcd_seg_demo.py ├── docker │ ├── Dockerfile │ └── serve │ │ ├── Dockerfile │ │ ├── config.properties │ │ └── entrypoint.sh ├── docs │ ├── en │ │ ├── Makefile │ │ ├── _static │ │ │ └── css │ │ │ │ └── readthedocs.css │ │ ├── advanced_guides │ │ │ ├── customize_dataset.md │ │ │ ├── customize_models.md │ │ │ ├── customize_runtime.md │ │ │ ├── datasets │ │ │ │ ├── index.rst │ │ │ │ ├── kitti.md │ │ │ │ ├── lyft.md │ │ │ │ ├── nuscenes.md │ │ │ │ ├── s3dis.md │ │ │ │ ├── scannet.md │ │ │ │ ├── semantickitti.md │ │ │ │ ├── sunrgbd.md │ │ │ │ └── waymo.md │ │ │ ├── index.rst │ │ │ ├── pure_point_cloud_dataset.md │ │ │ └── supported_tasks │ │ │ │ ├── index.rst │ │ │ │ ├── lidar_det3d.md │ │ │ │ ├── lidar_sem_seg3d.md │ │ │ │ └── vision_det3d.md │ │ ├── api.rst │ │ ├── conf.py │ │ ├── get_started.md │ │ ├── index.rst │ │ ├── make.bat │ │ ├── migration.md │ │ ├── model_zoo.md │ │ ├── notes │ │ │ ├── benchmarks.md │ │ │ ├── changelog.md │ │ │ ├── changelog_v1.0.x.md │ │ │ ├── compatibility.md │ │ │ ├── contribution_guides.md │ │ │ ├── faq.md │ │ │ └── index.rst │ │ ├── stat.py │ │ ├── switch_language.md │ │ └── user_guides │ │ │ ├── backends_support.md │ │ │ ├── config.md │ │ │ ├── coord_sys_tutorial.md │ │ │ ├── data_pipeline.md │ │ │ ├── dataset_prepare.md │ │ │ ├── index.rst │ │ │ ├── inference.md │ │ │ ├── model_deployment.md │ │ │ ├── new_data_model.md │ │ │ ├── train_test.md │ │ │ ├── useful_tools.md │ │ │ └── visualization.md │ └── zh_cn │ │ ├── Makefile │ │ ├── _static │ │ └── css │ │ │ └── readthedocs.css │ │ ├── advanced_guides │ │ ├── customize_dataset.md │ │ ├── customize_models.md │ │ ├── customize_runtime.md │ │ ├── datasets │ │ │ ├── index.rst │ │ │ ├── kitti.md │ │ │ ├── lyft.md │ │ │ ├── nuscenes.md │ │ │ ├── s3dis.md │ │ │ ├── scannet.md │ │ │ ├── semantickitti.md │ │ │ ├── sunrgbd.md │ │ │ └── waymo.md │ │ ├── index.rst │ │ └── supported_tasks │ │ │ ├── index.rst │ │ │ ├── lidar_det3d.md │ │ │ ├── lidar_sem_seg3d.md │ │ │ └── vision_det3d.md │ │ ├── api.rst │ │ ├── conf.py │ │ ├── get_started.md │ │ ├── index.rst │ │ ├── make.bat │ │ ├── model_zoo.md │ │ ├── notes │ │ ├── benchmarks.md │ │ ├── changelog.md │ │ ├── changelog_v1.0.x.md │ │ ├── compatibility.md │ │ ├── faq.md │ │ └── index.rst │ │ ├── stat.py │ │ ├── switch_language.md │ │ └── user_guides │ │ ├── backends_support.md │ │ ├── config.md │ │ ├── coord_sys_tutorial.md │ │ ├── data_pipeline.md │ │ ├── dataset_prepare.md │ │ ├── index.rst │ │ ├── inference.md │ │ ├── model_deployment.md │ │ ├── new_data_model.md │ │ ├── train_test.md │ │ ├── useful_tools.md │ │ └── visualization.md ├── git ├── init.patch ├── mmdet3d │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── inference.py │ │ └── inferencers │ │ │ ├── __init__.py │ │ │ ├── base_3d_inferencer.py │ │ │ ├── lidar_det3d_inferencer.py │ │ │ ├── lidar_seg3d_inferencer.py │ │ │ ├── mono_det3d_inferencer.py │ │ │ └── multi_modality_det3d_inferencer.py │ ├── configs │ │ ├── _base_ │ │ │ ├── datasets │ │ │ │ ├── kitti_3d_3class.py │ │ │ │ ├── kitti_3d_car.py │ │ │ │ ├── kitti_mono3d.py │ │ │ │ ├── lyft_3d.py │ │ │ │ ├── lyft_3d_range100.py │ │ │ │ ├── nuim_instance.py │ │ │ │ ├── nus_3d.py │ │ │ │ ├── nus_mono3d.py │ │ │ │ ├── s3dis_3d.py │ │ │ │ ├── s3dis_seg.py │ │ │ │ ├── scannet_3d.py │ │ │ │ ├── scannet_seg.py │ │ │ │ ├── semantickitti.py │ │ │ │ ├── sunrgbd_3d.py │ │ │ │ ├── waymoD5_3d_3class.py │ │ │ │ ├── waymoD5_3d_car.py │ │ │ │ ├── waymoD5_fov_mono3d_3class.py │ │ │ │ ├── waymoD5_mv3d_3class.py │ │ │ │ └── waymoD5_mv_mono3d_3class.py │ │ │ ├── default_runtime.py │ │ │ ├── models │ │ │ │ ├── centerpoint_pillar02_second_secfpn_nus.py │ │ │ │ ├── centerpoint_voxel01_second_secfpn_nus.py │ │ │ │ ├── cylinder3d.py │ │ │ │ ├── fcos3d.py │ │ │ │ ├── minkunet.py │ │ │ │ ├── pgd.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 │ │ ├── centerpoint │ │ │ ├── centerpoint_pillar02_second_secfpn_8xb4_cyclic_20e_nus_3d.py │ │ │ └── centerpoint_voxel01_second_secfpn_8xb4_cyclic_20e_nus_3d.py │ │ ├── cylinder3d │ │ │ ├── cylinder3d_4xb4-3x_semantickitti.py │ │ │ └── cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py │ │ ├── minkunet │ │ │ └── minkunet34_w32_torchsparse_8xb2_laser_polar_mix_3x_semantickitti.py │ │ ├── mvxnet │ │ │ └── mvxnet_fpn_dv_second_secfpn_8xb2_80e_kitti_3d_3class.py │ │ ├── pgd │ │ │ └── pgd_r101_caffe_fpn_head_gn_4xb3_4x_kitti_mono3d.py │ │ └── votenet │ │ │ ├── __init__.py │ │ │ └── votenet_8xb8_scannet_3d.py │ ├── datasets │ │ ├── __init__.py │ │ ├── convert_utils.py │ │ ├── dataset_wrappers.py │ │ ├── det3d_dataset.py │ │ ├── kitti2d_dataset.py │ │ ├── kitti_dataset.py │ │ ├── lyft_dataset.py │ │ ├── nuscenes_dataset.py │ │ ├── s3dis_dataset.py │ │ ├── scannet_dataset.py │ │ ├── seg3d_dataset.py │ │ ├── semantickitti_dataset.py │ │ ├── sunrgbd_dataset.py │ │ ├── talk2radar_dataset.py │ │ ├── transforms │ │ │ ├── __init__.py │ │ │ ├── data_augment_utils.py │ │ │ ├── dbsampler.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ ├── test_time_aug.py │ │ │ └── transforms_3d.py │ │ ├── utils.py │ │ └── waymo_dataset.py │ ├── engine │ │ ├── __init__.py │ │ └── hooks │ │ │ ├── __init__.py │ │ │ ├── benchmark_hook.py │ │ │ ├── disable_object_sample_hook.py │ │ │ └── visualization_hook.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── functional │ │ │ ├── __init__.py │ │ │ ├── indoor_eval.py │ │ │ ├── instance_seg_eval.py │ │ │ ├── kitti_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── eval.py │ │ │ │ └── rotate_iou.py │ │ │ ├── lyft_eval.py │ │ │ ├── panoptic_seg_eval.py │ │ │ ├── scannet_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── evaluate_semantic_instance.py │ │ │ │ └── util_3d.py │ │ │ ├── seg_eval.py │ │ │ └── waymo_utils │ │ │ │ ├── __init__.py │ │ │ │ └── prediction_to_waymo.py │ │ └── metrics │ │ │ ├── __init__.py │ │ │ ├── indoor_metric.py │ │ │ ├── instance_seg_metric.py │ │ │ ├── kitti_metric.py │ │ │ ├── lyft_metric.py │ │ │ ├── nuscenes_metric.py │ │ │ ├── panoptic_seg_metric.py │ │ │ ├── seg_metric.py │ │ │ └── waymo_metric.py │ ├── models │ │ ├── __init__.py │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── base_pointnet.py │ │ │ ├── cylinder3d.py │ │ │ ├── dgcnn.py │ │ │ ├── dla.py │ │ │ ├── mink_resnet.py │ │ │ ├── minkunet_backbone.py │ │ │ ├── multi_backbone.py │ │ │ ├── nostem_regnet.py │ │ │ ├── pointnet2_sa_msg.py │ │ │ ├── pointnet2_sa_ssg.py │ │ │ ├── second.py │ │ │ └── spvcnn_backone.py │ │ ├── data_preprocessors │ │ │ ├── __init__.py │ │ │ ├── data_preprocessor.py │ │ │ ├── utils.py │ │ │ └── voxelize.py │ │ ├── decode_heads │ │ │ ├── __init__.py │ │ │ ├── cylinder3d_head.py │ │ │ ├── decode_head.py │ │ │ ├── dgcnn_head.py │ │ │ ├── minkunet_head.py │ │ │ ├── paconv_head.py │ │ │ └── pointnet2_head.py │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ ├── anchor3d_head.py │ │ │ ├── anchor_free_mono3d_head.py │ │ │ ├── base_3d_dense_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 │ │ │ ├── dfm.py │ │ │ ├── dynamic_voxelnet.py │ │ │ ├── fcos_mono3d.py │ │ │ ├── groupfree3dnet.py │ │ │ ├── h3dnet.py │ │ │ ├── imvotenet.py │ │ │ ├── imvoxelnet.py │ │ │ ├── mink_single_stage.py │ │ │ ├── multiview_dfm.py │ │ │ ├── mvx_faster_rcnn.py │ │ │ ├── mvx_two_stage.py │ │ │ ├── parta2.py │ │ │ ├── point_rcnn.py │ │ │ ├── pv_rcnn.py │ │ │ ├── sassd.py │ │ │ ├── single_stage.py │ │ │ ├── single_stage_mono3d.py │ │ │ ├── smoke_mono3d.py │ │ │ ├── ssd3dnet.py │ │ │ ├── two_stage.py │ │ │ ├── votenet.py │ │ │ └── voxelnet.py │ │ ├── layers │ │ │ ├── __init__.py │ │ │ ├── box3d_nms.py │ │ │ ├── dgcnn_modules │ │ │ │ ├── __init__.py │ │ │ │ ├── dgcnn_fa_module.py │ │ │ │ ├── dgcnn_fp_module.py │ │ │ │ └── dgcnn_gf_module.py │ │ │ ├── edge_fusion_module.py │ │ │ ├── fusion_layers │ │ │ │ ├── __init__.py │ │ │ │ ├── coord_transform.py │ │ │ │ ├── point_fusion.py │ │ │ │ └── vote_fusion.py │ │ │ ├── minkowski_engine_block.py │ │ │ ├── mlp.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 │ │ │ │ └── stack_point_sa_module.py │ │ │ ├── sparse_block.py │ │ │ ├── spconv │ │ │ │ ├── __init__.py │ │ │ │ └── overwrite_spconv │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── write_spconv2.py │ │ │ ├── torchsparse │ │ │ │ ├── __init__.py │ │ │ │ └── torchsparse_wrapper.py │ │ │ ├── torchsparse_block.py │ │ │ ├── transformer.py │ │ │ └── vote_module.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ ├── axis_aligned_iou_loss.py │ │ │ ├── chamfer_distance.py │ │ │ ├── lovasz_loss.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 │ │ │ └── voxel_set_abstraction.py │ │ ├── modal_fusion │ │ │ ├── GGF.py │ │ │ ├── LGF.py │ │ │ ├── LPCF.py │ │ │ ├── __init__.py │ │ │ ├── mhca.py │ │ │ └── position_encodings.py │ │ ├── necks │ │ │ ├── __init__.py │ │ │ ├── dcn_convs.py │ │ │ ├── deformable_fpn.py │ │ │ ├── dla_neck.py │ │ │ ├── imvoxel_neck.py │ │ │ ├── ops_dcnv3 │ │ │ │ ├── functions │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── dcnv3_func.py │ │ │ │ ├── make.sh │ │ │ │ ├── modules │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── dcnv3.py │ │ │ │ ├── setup.py │ │ │ │ ├── src │ │ │ │ │ ├── cpu │ │ │ │ │ │ ├── dcnv3_cpu.cpp │ │ │ │ │ │ └── dcnv3_cpu.h │ │ │ │ │ ├── cuda │ │ │ │ │ │ ├── dcnv3_cuda.cu │ │ │ │ │ │ ├── dcnv3_cuda.h │ │ │ │ │ │ └── dcnv3_im2col_cuda.cuh │ │ │ │ │ ├── dcnv3.h │ │ │ │ │ └── vision.cpp │ │ │ │ └── test.py │ │ │ ├── pointnet2_fp_neck.py │ │ │ └── second_fpn.py │ │ ├── pretrained_bert │ │ │ └── README.md │ │ ├── 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 │ │ │ │ └── pv_rcnn_bbox_head.py │ │ │ ├── h3d_roi_head.py │ │ │ ├── mask_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── foreground_segmentation_head.py │ │ │ │ ├── pointwise_semantic_head.py │ │ │ │ └── primitive_head.py │ │ │ ├── part_aggregation_roi_head.py │ │ │ ├── point_rcnn_roi_head.py │ │ │ ├── pv_rcnn_roi_head.py │ │ │ └── roi_extractors │ │ │ │ ├── __init__.py │ │ │ │ ├── batch_roigridpoint_extractor.py │ │ │ │ ├── single_roiaware_extractor.py │ │ │ │ └── single_roipoint_extractor.py │ │ ├── segmentors │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── cylinder3d.py │ │ │ ├── encoder_decoder.py │ │ │ ├── minkunet.py │ │ │ └── seg3d_tta.py │ │ ├── task_modules │ │ │ ├── __init__.py │ │ │ ├── anchor │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_3d_generator.py │ │ │ │ └── builder.py │ │ │ ├── assigners │ │ │ │ ├── __init__.py │ │ │ │ └── max_3d_iou_assigner.py │ │ │ ├── builder.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 │ │ │ ├── samplers │ │ │ │ ├── __init__.py │ │ │ │ ├── iou_neg_piecewise_sampler.py │ │ │ │ └── pseudosample.py │ │ │ └── voxel │ │ │ │ ├── __init__.py │ │ │ │ └── voxel_generator.py │ │ ├── test_time_augs │ │ │ ├── __init__.py │ │ │ └── merge_augs.py │ │ ├── text_encoders │ │ │ ├── __init__.py │ │ │ ├── bert_encoder.py │ │ │ └── nestedtensor.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── add_prefix.py │ │ │ ├── clip_sigmoid.py │ │ │ ├── edge_indices.py │ │ │ ├── gaussian.py │ │ │ ├── gen_keypoints.py │ │ │ └── handle_objs.py │ │ └── voxel_encoders │ │ │ ├── __init__.py │ │ │ ├── pillar_encoder.py │ │ │ ├── utils.py │ │ │ └── voxel_encoder.py │ ├── registry.py │ ├── structures │ │ ├── __init__.py │ │ ├── bbox_3d │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ ├── det3d_data_sample.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── box_np_ops.py │ │ │ ├── iou3d_calculator.py │ │ │ └── transforms.py │ │ ├── point_data.py │ │ └── points │ │ │ ├── __init__.py │ │ │ ├── base_points.py │ │ │ ├── cam_points.py │ │ │ ├── depth_points.py │ │ │ └── lidar_points.py │ ├── testing │ │ ├── __init__.py │ │ ├── data_utils.py │ │ └── model_utils.py │ ├── utils │ │ ├── __init__.py │ │ ├── array_converter.py │ │ ├── collect_env.py │ │ ├── compat_cfg.py │ │ ├── misc.py │ │ ├── setup_env.py │ │ └── typing_utils.py │ ├── version.py │ └── visualization │ │ ├── __init__.py │ │ ├── local_visualizer.py │ │ └── vis_utils.py ├── model-index.yml ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py ├── projects │ ├── BEVFusion │ │ ├── README.md │ │ ├── bevfusion │ │ │ ├── __init__.py │ │ │ ├── bevfusion.py │ │ │ ├── bevfusion_necks.py │ │ │ ├── depth_lss.py │ │ │ ├── loading.py │ │ │ ├── ops │ │ │ │ ├── __init__.py │ │ │ │ ├── bev_pool │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── bev_pool.py │ │ │ │ │ └── src │ │ │ │ │ │ ├── bev_pool.cpp │ │ │ │ │ │ └── bev_pool_cuda.cu │ │ │ │ └── voxel │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── scatter_points.py │ │ │ │ │ ├── src │ │ │ │ │ ├── scatter_points_cpu.cpp │ │ │ │ │ ├── scatter_points_cuda.cu │ │ │ │ │ ├── voxelization.cpp │ │ │ │ │ ├── voxelization.h │ │ │ │ │ ├── voxelization_cpu.cpp │ │ │ │ │ └── voxelization_cuda.cu │ │ │ │ │ └── voxelize.py │ │ │ ├── sparse_encoder.py │ │ │ ├── transformer.py │ │ │ ├── transforms_3d.py │ │ │ ├── transfusion_head.py │ │ │ └── utils.py │ │ ├── configs │ │ │ ├── bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ │ └── bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ ├── demo │ │ │ └── multi_modality_demo.py │ │ └── setup.py │ ├── CENet │ │ ├── README.md │ │ ├── cenet │ │ │ ├── __init__.py │ │ │ ├── boundary_loss.py │ │ │ ├── cenet_backbone.py │ │ │ ├── range_image_head.py │ │ │ ├── range_image_segmentor.py │ │ │ ├── transforms_3d.py │ │ │ └── utils.py │ │ └── configs │ │ │ ├── cenet-64x1024_4xb4_semantickitti.py │ │ │ ├── cenet-64x2048_4xb4_semantickitti.py │ │ │ └── cenet-64x512_4xb4_semantickitti.py │ ├── CenterFormer │ │ ├── README.md │ │ ├── centerformer │ │ │ ├── __init__.py │ │ │ ├── bbox_ops.py │ │ │ ├── centerformer.py │ │ │ ├── centerformer_backbone.py │ │ │ ├── centerformer_head.py │ │ │ ├── losses.py │ │ │ ├── multi_scale_deform_attn.py │ │ │ └── transformer.py │ │ └── configs │ │ │ ├── centerformer_lidar_talk2radar.py │ │ │ ├── centerformer_lidar_vod.py │ │ │ ├── centerformer_radar5_talk2radar.py │ │ │ ├── centerformer_radar_vod.py │ │ │ └── centerformer_voxel01_second-attn_secfpn-attn_4xb4-cyclic-20e_waymoD5-3d-3class.py │ ├── DETR3D │ │ ├── README.md │ │ ├── configs │ │ │ ├── detr3d_r101_gridmask.py │ │ │ ├── detr3d_r101_gridmask_cbgs.py │ │ │ └── detr3d_vovnet_gridmask_trainval_cbgs.py │ │ ├── detr3d │ │ │ ├── __init__.py │ │ │ ├── detr3d.py │ │ │ ├── detr3d_head.py │ │ │ ├── detr3d_transformer.py │ │ │ ├── grid_mask.py │ │ │ ├── hungarian_assigner_3d.py │ │ │ ├── match_cost.py │ │ │ ├── nms_free_coder.py │ │ │ ├── util.py │ │ │ └── vovnet.py │ │ └── old_detr3d_converter.py │ ├── DSVT │ │ ├── README.md │ │ ├── configs │ │ │ └── dsvt_voxel032_res-second_secfpn_8xb1-cyclic-12e_waymoD5-3d-3class.py │ │ ├── dsvt │ │ │ ├── __init__.py │ │ │ ├── disable_aug_hook.py │ │ │ ├── dsvt.py │ │ │ ├── dsvt_head.py │ │ │ ├── dsvt_input_layer.py │ │ │ ├── dsvt_transformer.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── map2bev.py │ │ │ ├── ops │ │ │ │ └── ingroup_inds │ │ │ │ │ ├── ingroup_inds_op.py │ │ │ │ │ └── src │ │ │ │ │ ├── error.cuh │ │ │ │ │ ├── ingroup_inds.cpp │ │ │ │ │ └── ingroup_inds_kernel.cu │ │ │ ├── res_second.py │ │ │ ├── transforms_3d.py │ │ │ └── utils.py │ │ └── setup.py │ ├── NeRF-Det │ │ ├── README.md │ │ ├── configs │ │ │ ├── nerfdet_res101_2x_low_res_depth.py │ │ │ ├── nerfdet_res50_2x_low_res.py │ │ │ └── nerfdet_res50_2x_low_res_depth.py │ │ ├── nerfdet │ │ │ ├── __init__.py │ │ │ ├── data_preprocessor.py │ │ │ ├── formating.py │ │ │ ├── multiview_pipeline.py │ │ │ ├── nerf_det3d_data_sample.py │ │ │ ├── nerf_utils │ │ │ │ ├── nerf_mlp.py │ │ │ │ ├── projection.py │ │ │ │ ├── render_ray.py │ │ │ │ └── save_rendered_img.py │ │ │ ├── nerfdet.py │ │ │ ├── nerfdet_head.py │ │ │ └── scannet_multiview_dataset.py │ │ └── prepare_infos.py │ ├── PETR │ │ ├── README.md │ │ ├── configs │ │ │ └── petr_vovnet_gridmask_p4_800x320.py │ │ └── petr │ │ │ ├── __init__.py │ │ │ ├── cp_fpn.py │ │ │ ├── grid_mask.py │ │ │ ├── hungarian_assigner_3d.py │ │ │ ├── match_cost.py │ │ │ ├── nms_free_coder.py │ │ │ ├── petr.py │ │ │ ├── petr_head.py │ │ │ ├── petr_transformer.py │ │ │ ├── positional_encoding.py │ │ │ ├── transforms_3d.py │ │ │ ├── utils.py │ │ │ └── vovnetcp.py │ ├── TPVFormer │ │ ├── README.md │ │ ├── configs │ │ │ └── tpvformer_8xb1-2x_nus-seg.py │ │ └── tpvformer │ │ │ ├── __init__.py │ │ │ ├── cross_view_hybrid_attention.py │ │ │ ├── data_preprocessor.py │ │ │ ├── image_cross_attention.py │ │ │ ├── loading.py │ │ │ ├── nuscenes_dataset.py │ │ │ ├── positional_encoding.py │ │ │ ├── tpvformer.py │ │ │ ├── tpvformer_encoder.py │ │ │ ├── tpvformer_head.py │ │ │ └── tpvformer_layer.py │ ├── TR3D │ │ ├── README.md │ │ ├── configs │ │ │ ├── tr3d.py │ │ │ ├── tr3d_1xb16_s3dis-3d-5class.py │ │ │ ├── tr3d_1xb16_scannet-3d-18class.py │ │ │ └── tr3d_1xb16_sunrgbd-3d-10class.py │ │ └── tr3d │ │ │ ├── __init__.py │ │ │ ├── axis_aligned_iou_loss.py │ │ │ ├── mink_resnet.py │ │ │ ├── rotated_iou_loss.py │ │ │ ├── tr3d_head.py │ │ │ ├── tr3d_neck.py │ │ │ └── transforms_3d.py │ └── example_project │ │ ├── README.md │ │ ├── configs │ │ └── fcos3d_dummy-resnet-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d.py │ │ └── dummy │ │ ├── __init__.py │ │ └── dummy_resnet.py ├── resources │ ├── mmdet3d_outdoor_demo.gif │ ├── nuimages_demo.gif │ └── open3d_visual.gif ├── setup.cfg ├── setup.py ├── tests │ ├── test_apis │ │ └── test_inferencers │ │ │ ├── test_lidar_det3d_inferencer.py │ │ │ ├── test_lidar_seg3d_inferencer.py │ │ │ ├── test_mono_det3d_inferencer.py │ │ │ └── test_multi_modality_det3d_inferencer.py │ ├── test_datasets │ │ ├── test_dataset_wrappers.py │ │ ├── test_kitti_dataset.py │ │ ├── test_lyft_dataset.py │ │ ├── test_nuscenes_dataset.py │ │ ├── test_s3dis_dataset.py │ │ ├── test_scannet_dataset.py │ │ ├── test_semantickitti_dataset.py │ │ ├── test_sunrgbd_dataset.py │ │ ├── test_transforms │ │ │ ├── test_formating.py │ │ │ ├── test_loading.py │ │ │ ├── test_transforms_3d.py │ │ │ └── utils.py │ │ ├── test_tta.py │ │ └── test_waymo_dataset.py │ ├── test_engine │ │ └── test_hooks │ │ │ ├── test_disable_object_sample_hook.py │ │ │ └── test_visualization_hook.py │ ├── test_evaluation │ │ ├── test_functional │ │ │ ├── test_instance_seg_eval.py │ │ │ ├── test_kitti_eval.py │ │ │ ├── test_panoptic_seg_eval.py │ │ │ └── test_seg_eval.py │ │ └── test_metrics │ │ │ ├── test_indoor_metric.py │ │ │ ├── test_instance_seg_metric.py │ │ │ ├── test_kitti_metric.py │ │ │ ├── test_panoptic_seg_metric.py │ │ │ └── test_seg_metric.py │ ├── test_models │ │ ├── test_backbones │ │ │ ├── test_cylinder3d_backbone.py │ │ │ ├── test_dgcnn.py │ │ │ ├── test_dla.py │ │ │ ├── test_mink_resnet.py │ │ │ ├── test_minkunet_backbone.py │ │ │ ├── test_multi_backbone.py │ │ │ ├── test_pointnet2_sa_msg.py │ │ │ ├── test_pointnet2_sa_ssg.py │ │ │ └── test_spvcnn_backbone.py │ │ ├── test_data_preprocessors │ │ │ └── test_data_preprocessor.py │ │ ├── test_decode_heads │ │ │ ├── test_cylinder3d_head.py │ │ │ ├── test_dgcnn_head.py │ │ │ ├── test_minkunet_head.py │ │ │ ├── test_paconv_head.py │ │ │ └── test_pointnet2_head.py │ │ ├── test_dense_heads │ │ │ ├── test_anchor3d_head.py │ │ │ ├── test_fcaf3d_head.py │ │ │ ├── test_fcos_mono3d_head.py │ │ │ ├── test_freeanchors.py │ │ │ ├── test_imvoxel_head.py │ │ │ ├── test_monoflex_head.py │ │ │ ├── test_pgd_head.py │ │ │ ├── test_smoke_mono3d_head.py │ │ │ └── test_ssn.py │ │ ├── test_detectors │ │ │ ├── test_3dssd.py │ │ │ ├── test_center_point.py │ │ │ ├── test_fcaf3d.py │ │ │ ├── test_groupfree3d.py │ │ │ ├── test_h3dnet.py │ │ │ ├── test_imvotenet.py │ │ │ ├── test_imvoxelnet.py │ │ │ ├── test_mvxnet.py │ │ │ ├── test_parta2.py │ │ │ ├── test_pointrcnn.py │ │ │ ├── test_pvrcnn.py │ │ │ ├── test_sassd.py │ │ │ ├── test_votenet.py │ │ │ └── test_voxelnet.py │ │ ├── test_layers │ │ │ ├── test_box3d_nms.py │ │ │ ├── test_dgcnn_modules │ │ │ │ ├── test_dgcnn_fa_module.py │ │ │ │ ├── test_dgcnn_fp_module.py │ │ │ │ └── test_dgcnn_gf_module.py │ │ │ ├── test_fusion_layers │ │ │ │ ├── test_fusion_coord_trans.py │ │ │ │ ├── test_point_fusion.py │ │ │ │ └── test_vote_fusion.py │ │ │ ├── test_minkowski_engine │ │ │ │ └── test_minkowski_engine_module.py │ │ │ ├── test_paconv │ │ │ │ ├── test_paconv_modules.py │ │ │ │ └── test_paconv_ops.py │ │ │ ├── test_pointnet_modules │ │ │ │ ├── test_point_fp_module.py │ │ │ │ └── test_point_sa_module.py │ │ │ ├── test_spconv │ │ │ │ └── test_spconv_module.py │ │ │ ├── test_torchsparse │ │ │ │ └── test_torchsparse_module.py │ │ │ └── test_vote_module.py │ │ ├── test_losses │ │ │ ├── test_chamfer_disrance.py │ │ │ ├── test_multibin_loss.py │ │ │ ├── test_paconv_regularization_loss.py │ │ │ ├── test_rotated_iou_loss.py │ │ │ └── test_uncertain_smooth_l1_loss.py │ │ ├── test_middle_encoders │ │ │ ├── test_sparse_encoders.py │ │ │ └── test_sparse_unet.py │ │ ├── test_necks │ │ │ ├── test_dla_neck.py │ │ │ ├── test_imvoxel_neck.py │ │ │ ├── test_pointnet2_fp_neck.py │ │ │ └── test_second_fpn.py │ │ ├── test_segmentors │ │ │ ├── test_cylinder3d.py │ │ │ ├── test_minkunet.py │ │ │ └── test_seg3d_tta_model.py │ │ ├── test_task_modules │ │ │ ├── test_anchor │ │ │ │ └── test_anchor_3d_generator.py │ │ │ ├── test_coders │ │ │ │ ├── test_anchor_free_box_coder.py │ │ │ │ ├── test_centerpoint_bbox_coder.py │ │ │ │ ├── test_fcos3d_bbox_coder.py │ │ │ │ ├── test_monoflex_bbox_coder.py │ │ │ │ ├── test_partial_bin_based_box_coder.py │ │ │ │ ├── test_pgd_bbox_coder.py │ │ │ │ ├── test_point_xyzwhlr_bbox_coder.py │ │ │ │ └── test_smoke_bbox_coder.py │ │ │ ├── test_samplers │ │ │ │ └── test_iou_piecewise_sampler.py │ │ │ └── test_voxel │ │ │ │ └── test_voxel_generator.py │ │ ├── test_utils │ │ │ └── test_utils.py │ │ └── test_voxel_encoders │ │ │ ├── test_pillar_encoder.py │ │ │ └── test_voxel_encoders.py │ ├── test_samples │ │ └── parta2_roihead_inputs.npz │ ├── test_structures │ │ ├── test_bbox │ │ │ ├── test_box3d.py │ │ │ └── test_coord_3d_mode.py │ │ ├── test_det3d_data_sample.py │ │ ├── test_ops │ │ │ └── test_box_np_ops.py │ │ ├── test_point_data.py │ │ └── test_points │ │ │ ├── test_base_points.py │ │ │ ├── test_cam_points.py │ │ │ └── test_depth_points.py │ └── test_utils │ │ ├── test_compat_cfg.py │ │ └── test_setup_env.py └── tools │ ├── analysis_tools │ ├── analyze_logs.py │ ├── benchmark.py │ └── get_flops.py │ ├── create_data.py │ ├── create_data.sh │ ├── dataset_converters │ ├── create_gt_database.py │ ├── indoor_converter.py │ ├── kitti_converter.py │ ├── kitti_data_utils.py │ ├── kitti_unzip.sh │ ├── lyft_converter.py │ ├── lyft_data_fixer.py │ ├── nuimage_converter.py │ ├── nuscenes_converter.py │ ├── nuscenes_unzip.sh │ ├── s3dis_data_utils.py │ ├── scannet_data_utils.py │ ├── semantickitti_converter.py │ ├── semantickitti_unzip.sh │ ├── sunrgbd_data_utils.py │ ├── update_infos_to_v2.py │ └── waymo_converter.py │ ├── deployment │ ├── mmdet3d2torchserve.py │ ├── mmdet3d_handler.py │ └── test_torchserver.py │ ├── dist_test.sh │ ├── dist_train.sh │ ├── 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 │ ├── slurm_test.sh │ ├── slurm_train.sh │ ├── test.py │ ├── train.py │ ├── update_data_coords.py │ └── update_data_coords.sh ├── tests ├── data │ ├── kitti │ │ ├── a.bin │ │ ├── kitti_dbinfos_train.pkl │ │ ├── kitti_gt_database │ │ │ └── 0_Pedestrian_0.bin │ │ ├── kitti_infos_mono3d.coco.json │ │ ├── kitti_infos_mono3d.pkl │ │ ├── kitti_infos_train.pkl │ │ ├── mono3d_sample_results.pkl │ │ ├── mono3d_sample_results2d.pkl │ │ └── training │ │ │ ├── calib │ │ │ └── 000000.pkl │ │ │ ├── image_2 │ │ │ ├── 000000.png │ │ │ └── 000007.png │ │ │ ├── velodyne │ │ │ └── 000000.bin │ │ │ └── velodyne_reduced │ │ │ └── 000000.bin │ ├── lyft │ │ ├── lidar │ │ │ ├── host-a017_lidar1_1236118886501000046.bin │ │ │ ├── host-a017_lidar1_1236118886701083686.bin │ │ │ └── host-a017_lidar1_1236118886901125926.bin │ │ ├── lyft_infos.pkl │ │ ├── lyft_infos_val.pkl │ │ ├── sample_results.pkl │ │ ├── v1.01-train │ │ │ ├── maps │ │ │ │ └── map_raster_palo_alto.png │ │ │ └── v1.01-train │ │ │ │ ├── attribute.json │ │ │ │ ├── calibrated_sensor.json │ │ │ │ ├── category.json │ │ │ │ ├── ego_pose.json │ │ │ │ ├── instance.json │ │ │ │ ├── log.json │ │ │ │ ├── map.json │ │ │ │ ├── sample.json │ │ │ │ ├── sample_annotation.json │ │ │ │ ├── sample_data.json │ │ │ │ ├── scene.json │ │ │ │ ├── sensor.json │ │ │ │ └── visibility.json │ │ └── val.txt │ ├── nuscenes │ │ ├── mono3d_sample_results.pkl │ │ ├── nus_info.pkl │ │ ├── nus_infos_mono3d.coco.json │ │ ├── samples │ │ │ ├── CAM_BACK_LEFT │ │ │ │ └── n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883530447423.jpg │ │ │ └── LIDAR_TOP │ │ │ │ └── n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470948018.pcd.bin │ │ └── sweeps │ │ │ └── LIDAR_TOP │ │ │ ├── n008-2018-09-18-12-07-26-0400__LIDAR_TOP__1537287083900561.pcd.bin │ │ │ └── n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470898274.pcd.bin │ ├── ops │ │ ├── features_for_fps_distance.npy │ │ └── fps_idx.npy │ ├── s3dis │ │ ├── instance_mask │ │ │ └── Area_1_office_2.bin │ │ ├── points │ │ │ └── Area_1_office_2.bin │ │ ├── s3dis_infos.pkl │ │ └── semantic_mask │ │ │ └── Area_1_office_2.bin │ ├── scannet │ │ ├── instance_mask │ │ │ └── scene0000_00.bin │ │ ├── points │ │ │ └── scene0000_00.bin │ │ ├── scannet_infos.pkl │ │ └── semantic_mask │ │ │ └── scene0000_00.bin │ ├── semantickitti │ │ ├── semantickitti_infos.pkl │ │ └── sequences │ │ │ └── 00 │ │ │ ├── labels │ │ │ └── 000000.label │ │ │ └── velodyne │ │ │ └── 000000.bin │ ├── sunrgbd │ │ ├── points │ │ │ └── 000001.bin │ │ ├── sunrgbd_infos.pkl │ │ └── sunrgbd_trainval │ │ │ └── image │ │ │ └── 000001.jpg │ └── waymo │ │ ├── kitti_format │ │ ├── training │ │ │ ├── image_0 │ │ │ │ ├── 0000000.png │ │ │ │ └── 1000000.png │ │ │ └── velodyne │ │ │ │ ├── 0000000.bin │ │ │ │ └── 1000000.bin │ │ ├── waymo_dbinfos_train.pkl │ │ ├── waymo_gt_database │ │ │ └── 0_Car_0.bin │ │ ├── waymo_infos_train.pkl │ │ └── waymo_infos_val.pkl │ │ └── waymo_format │ │ ├── gt.bin │ │ └── validation │ │ └── val.tfrecord ├── test_apis │ └── test_inferencers │ │ ├── test_lidar_det3d_inferencer.py │ │ ├── test_lidar_seg3d_inferencer.py │ │ ├── test_mono_det3d_inferencer.py │ │ └── test_multi_modality_det3d_inferencer.py ├── test_datasets │ ├── test_dataset_wrappers.py │ ├── test_kitti_dataset.py │ ├── test_lyft_dataset.py │ ├── test_nuscenes_dataset.py │ ├── test_s3dis_dataset.py │ ├── test_scannet_dataset.py │ ├── test_semantickitti_dataset.py │ ├── test_sunrgbd_dataset.py │ ├── test_transforms │ │ ├── test_formating.py │ │ ├── test_loading.py │ │ ├── test_transforms_3d.py │ │ └── utils.py │ ├── test_tta.py │ └── test_waymo_dataset.py ├── test_engine │ └── test_hooks │ │ ├── test_disable_object_sample_hook.py │ │ └── test_visualization_hook.py ├── test_evaluation │ ├── test_functional │ │ ├── test_instance_seg_eval.py │ │ ├── test_kitti_eval.py │ │ ├── test_panoptic_seg_eval.py │ │ └── test_seg_eval.py │ └── test_metrics │ │ ├── test_indoor_metric.py │ │ ├── test_instance_seg_metric.py │ │ ├── test_kitti_metric.py │ │ ├── test_panoptic_seg_metric.py │ │ └── test_seg_metric.py ├── test_models │ ├── test_backbones │ │ ├── test_cylinder3d_backbone.py │ │ ├── test_dgcnn.py │ │ ├── test_dla.py │ │ ├── test_mink_resnet.py │ │ ├── test_minkunet_backbone.py │ │ ├── test_multi_backbone.py │ │ ├── test_pointnet2_sa_msg.py │ │ ├── test_pointnet2_sa_ssg.py │ │ └── test_spvcnn_backbone.py │ ├── test_data_preprocessors │ │ └── test_data_preprocessor.py │ ├── test_decode_heads │ │ ├── test_cylinder3d_head.py │ │ ├── test_dgcnn_head.py │ │ ├── test_minkunet_head.py │ │ ├── test_paconv_head.py │ │ └── test_pointnet2_head.py │ ├── test_dense_heads │ │ ├── test_anchor3d_head.py │ │ ├── test_fcaf3d_head.py │ │ ├── test_fcos_mono3d_head.py │ │ ├── test_freeanchors.py │ │ ├── test_imvoxel_head.py │ │ ├── test_monoflex_head.py │ │ ├── test_pgd_head.py │ │ ├── test_smoke_mono3d_head.py │ │ └── test_ssn.py │ ├── test_detectors │ │ ├── test_3dssd.py │ │ ├── test_center_point.py │ │ ├── test_fcaf3d.py │ │ ├── test_groupfree3d.py │ │ ├── test_h3dnet.py │ │ ├── test_imvotenet.py │ │ ├── test_imvoxelnet.py │ │ ├── test_mvxnet.py │ │ ├── test_parta2.py │ │ ├── test_pointrcnn.py │ │ ├── test_pvrcnn.py │ │ ├── test_sassd.py │ │ ├── test_votenet.py │ │ └── test_voxelnet.py │ ├── test_layers │ │ ├── test_box3d_nms.py │ │ ├── test_dgcnn_modules │ │ │ ├── test_dgcnn_fa_module.py │ │ │ ├── test_dgcnn_fp_module.py │ │ │ └── test_dgcnn_gf_module.py │ │ ├── test_fusion_layers │ │ │ ├── test_fusion_coord_trans.py │ │ │ ├── test_point_fusion.py │ │ │ └── test_vote_fusion.py │ │ ├── test_minkowski_engine │ │ │ └── test_minkowski_engine_module.py │ │ ├── test_paconv │ │ │ ├── test_paconv_modules.py │ │ │ └── test_paconv_ops.py │ │ ├── test_pointnet_modules │ │ │ ├── test_point_fp_module.py │ │ │ └── test_point_sa_module.py │ │ ├── test_spconv │ │ │ └── test_spconv_module.py │ │ ├── test_torchsparse │ │ │ └── test_torchsparse_module.py │ │ └── test_vote_module.py │ ├── test_losses │ │ ├── test_chamfer_disrance.py │ │ ├── test_multibin_loss.py │ │ ├── test_paconv_regularization_loss.py │ │ ├── test_rotated_iou_loss.py │ │ └── test_uncertain_smooth_l1_loss.py │ ├── test_middle_encoders │ │ ├── test_sparse_encoders.py │ │ └── test_sparse_unet.py │ ├── test_necks │ │ ├── test_dla_neck.py │ │ ├── test_imvoxel_neck.py │ │ ├── test_pointnet2_fp_neck.py │ │ └── test_second_fpn.py │ ├── test_segmentors │ │ ├── test_cylinder3d.py │ │ ├── test_minkunet.py │ │ └── test_seg3d_tta_model.py │ ├── test_task_modules │ │ ├── test_anchor │ │ │ └── test_anchor_3d_generator.py │ │ ├── test_coders │ │ │ ├── test_anchor_free_box_coder.py │ │ │ ├── test_centerpoint_bbox_coder.py │ │ │ ├── test_fcos3d_bbox_coder.py │ │ │ ├── test_monoflex_bbox_coder.py │ │ │ ├── test_partial_bin_based_box_coder.py │ │ │ ├── test_pgd_bbox_coder.py │ │ │ ├── test_point_xyzwhlr_bbox_coder.py │ │ │ └── test_smoke_bbox_coder.py │ │ ├── test_samplers │ │ │ └── test_iou_piecewise_sampler.py │ │ └── test_voxel │ │ │ └── test_voxel_generator.py │ ├── test_utils │ │ └── test_utils.py │ └── test_voxel_encoders │ │ ├── test_pillar_encoder.py │ │ └── test_voxel_encoders.py ├── test_samples │ └── parta2_roihead_inputs.npz ├── test_structures │ ├── test_bbox │ │ ├── test_box3d.py │ │ └── test_coord_3d_mode.py │ ├── test_det3d_data_sample.py │ ├── test_ops │ │ └── test_box_np_ops.py │ ├── test_point_data.py │ └── test_points │ │ ├── test_base_points.py │ │ ├── test_cam_points.py │ │ └── test_depth_points.py └── test_utils │ ├── test_compat_cfg.py │ └── test_setup_env.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── create_data.py ├── create_data.sh ├── dataset_converters ├── __pycache__ │ ├── create_gt_database.cpython-37.pyc │ ├── create_gt_database.cpython-38.pyc │ ├── indoor_converter.cpython-37.pyc │ ├── indoor_converter.cpython-38.pyc │ ├── kitti_converter.cpython-37.pyc │ ├── kitti_converter.cpython-38.pyc │ ├── kitti_data_utils.cpython-37.pyc │ ├── kitti_data_utils.cpython-38.pyc │ ├── lyft_converter.cpython-37.pyc │ ├── lyft_converter.cpython-38.pyc │ ├── nuscenes_converter.cpython-37.pyc │ ├── nuscenes_converter.cpython-38.pyc │ ├── s3dis_data_utils.cpython-37.pyc │ ├── s3dis_data_utils.cpython-38.pyc │ ├── scannet_data_utils.cpython-37.pyc │ ├── scannet_data_utils.cpython-38.pyc │ ├── semantickitti_converter.cpython-37.pyc │ ├── semantickitti_converter.cpython-38.pyc │ ├── sunrgbd_data_utils.cpython-37.pyc │ ├── sunrgbd_data_utils.cpython-38.pyc │ ├── update_infos_to_v2.cpython-37.pyc │ └── update_infos_to_v2.cpython-38.pyc ├── create_gt_database.py ├── indoor_converter.py ├── kitti_converter.py ├── kitti_data_utils.py ├── kitti_unzip.sh ├── lyft_converter.py ├── lyft_data_fixer.py ├── nuimage_converter.py ├── nuscenes_converter.py ├── nuscenes_unzip.sh ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── semantickitti_converter.py ├── semantickitti_unzip.sh ├── sunrgbd_data_utils.py ├── update_infos_to_v2.py └── waymo_converter.py ├── deployment ├── mmdet3d2torchserve.py ├── mmdet3d_handler.py └── test_torchserver.py ├── dist_test.sh ├── dist_train.sh ├── 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 ├── slurm_test.sh ├── slurm_train.sh ├── test.py ├── train.py ├── update_data_coords.py └── update_data_coords.sh /CITATION.cff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/GuanRunwei/Talk2Radar/HEAD/CITATION.cff -------------------------------------------------------------------------------- /LICENSE: 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