├── .gitignore ├── LICENSE ├── README.md ├── configs ├── _base_ │ ├── datasets │ │ └── nus-3d.py │ ├── default_runtime.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 └── hvdet │ └── HVDetInfer_sim.py ├── hvdet_test.sh ├── img ├── hvdet_process.jpg └── hvdet_process.pdf ├── intern4j ├── __init__.py ├── bevdet4d-intern-b-depth-cbgs.py └── ops_dcnv3 │ ├── DCNv3.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt │ ├── dist │ └── DCNv3-1.0-py3.8-linux-x86_64.egg │ ├── 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 ├── mmdet3d.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── not-zip-safe └── top_level.txt ├── mmdet3d ├── .mim │ ├── configs │ ├── model-index.yml │ └── tools ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── fcos3d_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── monoflex_bbox_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ ├── pgd_bbox_coder.py │ │ │ ├── point_xyzwhlr_bbox_coder.py │ │ │ └── smoke_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_kitti_to_waymo.py │ ├── hook │ │ ├── __init__.py │ │ ├── ema.py │ │ ├── sequentialsontrol.py │ │ └── utils.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── array_converter.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── dataset_wrappers.py │ ├── nuscenes_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ ├── transforms_3d.py │ │ └── transforms_bevdet.py │ └── utils.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ └── intern_image.py │ ├── builder.py │ ├── dense_heads │ │ ├── __init__.py │ │ └── centerpoint_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ └── bevdet.py │ ├── necks │ │ ├── __init__.py │ │ └── view_transformer.py │ └── utils │ │ ├── __init__.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── handle_objs.py │ │ └── mlp.py ├── ops │ ├── __init__.py │ ├── bev_pool_v2 │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ ├── bev_pool_v2_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── dgcnn_modules │ │ ├── __init__.py │ │ ├── dgcnn_fa_module.py │ │ ├── dgcnn_fp_module.py │ │ └── dgcnn_gf_module.py │ ├── norm.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 │ ├── paconv │ │ ├── __init__.py │ │ ├── paconv.py │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── sparse_block.py │ └── spconv │ │ ├── __init__.py │ │ └── overwrite_spconv │ │ ├── __init__.py │ │ └── write_spconv2.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── logger.py │ ├── misc.py │ └── setup_env.py └── version.py ├── setup.cfg ├── setup.py └── tools ├── HVDet_infer.py ├── create_data_hvdet.py ├── data_converter ├── __init__.py ├── nuimage_converter.py └── nuscenes_converter.py ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── print_config.py └── visualize_results.py └── radar_process ├── utils.py └── utils_radar.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HVXLab/HVDetFusion/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HVXLab/HVDetFusion/HEAD/LICENSE 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