├── .gitignore ├── .vscode └── launch.json ├── LICENSE ├── README.md ├── data └── kitti │ └── ImageSets │ ├── test.txt │ ├── train.txt │ └── val.txt ├── docs ├── DEMO.md ├── GETTING_STARTED.md ├── INSTALL.md ├── dataset_vs_model.png ├── demo.png ├── model_framework.png ├── multiple_models_demo.png └── open_mmlab.png ├── experment.ipynb ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── custom │ │ ├── livox │ │ │ └── todo │ │ └── robosense │ │ │ └── robosense_dataset.py │ ├── dataset.py │ ├── kitti │ │ ├── kitti_dataset.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── eval.py │ │ │ ├── eval_bev_3d.py │ │ │ ├── eval_note.py │ │ │ ├── eval_ouster.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ ├── kitti_utils.py │ │ └── ouster_dataset.py │ ├── nuscenes │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_backbone_old.py │ │ ├── spconv_unet.py │ │ ├── spconv_unet_old.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.py │ │ ├── point_head_box.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_head_vote.py │ │ ├── point_intra_part_head.py │ │ └── target_assigner │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── point_3dssd.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ └── second_net.py │ ├── model_utils │ │ ├── centernet_utils.py │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ └── target_assigner │ │ └── proposal_target_layer.py ├── ops │ ├── iou3d_nms │ │ ├── iou3d_nms_utils.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── pointnet2 │ │ ├── pointnet2_batch │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ ├── pointnet2_utils_old.py │ │ │ ├── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ │ └── src_old │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ └── pointnet2_stack │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── ball_query_gpu.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── group_points_gpu.h │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── interpolate_gpu.h │ │ │ ├── pointnet2_api.cpp │ │ │ ├── sampling.cpp │ │ │ ├── sampling_gpu.cu │ │ │ └── sampling_gpu.h │ ├── roiaware_pool3d │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu ├── utils │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── loss_utils.py │ ├── object3d_kitti.py │ ├── object3d_ouster.py │ └── spconv_utils.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── cfgs ├── dataset_configs │ ├── kitti_dataset.yaml │ ├── nuscenes_dataset.yaml │ ├── nuscenes_point.yaml │ ├── ouster_dataset.yaml │ └── waymo_dataset.yaml ├── kitti_models │ ├── 3dssd.yaml │ ├── 3dssd_sasa.yaml │ ├── PartA2.yaml │ ├── PartA2_free.yaml │ ├── centerpoint_pillar.yaml │ ├── centerpoints.yaml │ ├── pointpillar.yaml │ ├── pointpillar_multihead.yaml │ ├── pointpillar_ouster_sgl_6class1.yaml │ ├── pointrcnn.yaml │ ├── pointrcnn_iou.yaml │ ├── pv_rcnn.yaml │ ├── second.yaml │ ├── second_multihead.yaml │ └── trpd.yaml ├── nuscenes_models │ ├── 3dssd.yaml │ ├── 3dssd_sasa.yaml │ ├── cbgs_pp_multihead.yaml │ ├── cbgs_second_multihead.yaml │ └── cbgs_voxel01_res3d_centerpoint.yaml └── waymo_models │ ├── PartA2.yaml │ ├── pv_rcnn.yaml │ └── second.yaml ├── demo.py ├── demo_include_gt.py ├── demo_npy_mayavi.py ├── demo_npy_out.py ├── eval_utils └── eval_utils.py ├── npy ├── data_dict.npy ├── pred_boxes.npy ├── pred_labels.npy └── pred_scores.npy ├── onnx_utils ├── onnx_backbone_2d.py ├── onnx_dense_head.py ├── trans_backbone_multihead.py ├── trans_pfe.py └── trans_show_all_node.py ├── scripts ├── dist_train.sh ├── slurm_test_single.sh └── 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