├── .gitignore ├── .gitmodules ├── README.md ├── figs ├── overview.png ├── performance.png └── visualization.png ├── lib └── dvr │ ├── dvr.cpp │ └── dvr.cu ├── ops_dcnv3 ├── DCNv3.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt ├── build │ ├── lib.linux-x86_64-3.8 │ │ ├── functions │ │ │ ├── __init__.py │ │ │ └── dcnv3_func.py │ │ └── modules │ │ │ ├── __init__.py │ │ │ └── dcnv3.py │ └── temp.linux-x86_64-3.8 │ │ ├── .ninja_deps │ │ ├── .ninja_log │ │ └── build.ninja ├── dist │ └── DCNv3-1.1-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 ├── projects ├── __init__.py ├── configs │ ├── bevdet_occ │ │ ├── bevdet-occ-r50-4d-stereo.py │ │ ├── bevdet-occ-r50.py │ │ └── bevdet-occ-stbase-4d-stereo-512x1408.py │ ├── flashocc │ │ ├── flashocc-r50-4d-stereo.py │ │ ├── flashocc-r50-M0-trt.py │ │ ├── flashocc-r50-M0.py │ │ ├── flashocc-r50-trt.py │ │ ├── flashocc-r50.py │ │ ├── flashocc-r50_wo_detpretrain.py │ │ ├── flashocc-r50_wo_pretrain.py │ │ ├── flashocc-stbase-4d-stereo-512x1408_4x4_1e-2.py │ │ └── flashocc-stbase-4d-stereo-512x1408_4x4_2e-4.py │ ├── flashoccv2 │ │ ├── flashoccv2-r50-depth-tiny.py │ │ ├── flashoccv2-r50-depth-trt.py │ │ ├── flashoccv2-r50-depth.py │ │ ├── flashoccv2-r50-depth4d-longterm16f.py │ │ ├── flashoccv2-r50-depth4d-longterm8f.py │ │ └── flashoccv2-r50-depth4d.py │ └── mambaocc │ │ ├── mambaocc-stbase-4d-stereo-512x1408_4x4_1e-4_dcnv3_3x3_large.py │ │ ├── mambaocc_tiny.py │ │ └── mambaocc_tiny_256x704_4D.py ├── mmdet3d_plugin │ ├── __init__.py │ ├── core │ │ ├── __init__.py │ │ ├── bbox │ │ │ ├── __init__.py │ │ │ └── coders │ │ │ │ ├── __init__.py │ │ │ │ └── centerpoint_bbox_coders.py │ │ ├── evaluation │ │ │ ├── __init__.py │ │ │ ├── occ_metrics.py │ │ │ └── ray_metrics.py │ │ ├── hook │ │ │ ├── __init__.py │ │ │ ├── ema.py │ │ │ ├── sequentialcontrol.py │ │ │ ├── syncbncontrol.py │ │ │ └── utils.py │ │ └── post_processing │ │ │ ├── __init__.py │ │ │ └── box3d_nms.py │ ├── datasets │ │ ├── __init__.py │ │ ├── ego_pose_dataset.py │ │ ├── nuscenes_dataset_bevdet.py │ │ ├── nuscenes_dataset_occ.py │ │ └── pipelines │ │ │ ├── __init__.py │ │ │ ├── formating.py │ │ │ └── loading.py │ ├── models │ │ ├── __init__.py │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── resnet.py │ │ │ ├── swin.py │ │ │ ├── vmamba.py │ │ │ └── vmamba_bev_encoder.py │ │ ├── builder.py │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ ├── bev_centerpoint_head.py │ │ │ └── bev_occ_head.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ └── bevdet_occ.cpython-38.pyc.140015452552528 │ │ │ ├── bevdepth.py │ │ │ ├── bevdepth4d.py │ │ │ ├── bevdet.py │ │ │ ├── bevdet4d.py │ │ │ ├── bevdet_occ.py │ │ │ ├── bevstereo4d.py │ │ │ └── mambaocc.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ ├── cross_entropy_loss.py │ │ │ ├── focal_loss.py │ │ │ ├── lovasz_softmax.py │ │ │ └── semkitti_loss.py │ │ ├── model_utils │ │ │ ├── __init__.py │ │ │ └── depthnet.py │ │ └── necks │ │ │ ├── __init__.py │ │ │ ├── fpn.py │ │ │ ├── lss_fpn.py │ │ │ └── view_transformer.py │ └── ops │ │ ├── __init__.py │ │ ├── bev_pool │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ │ ├── bev_max_pool.cpp │ │ │ ├── bev_max_pool.h │ │ │ ├── bev_max_pool_cuda.cu │ │ │ ├── bev_pooling.cpp │ │ │ ├── bev_sum_pool.cpp │ │ │ ├── bev_sum_pool.h │ │ │ └── bev_sum_pool_cuda.cu │ │ └── bev_pool_v2 │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ ├── bev_pool.cpp │ │ └── bev_pool_cuda.cu └── setup.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py ├── benchmark_sequential.py ├── benchmark_trt.py ├── benchmark_view_transformer.py ├── get_flops.py ├── vis.py └── vis_occ.py ├── convert_bevdet_to_TRT.py ├── create_data_bevdet.py ├── data_converter ├── __init__.py ├── create_gt_database.py ├── indoor_converter.py ├── kitti_converter.py ├── kitti_data_utils.py ├── lyft_converter.py ├── lyft_data_fixer.py ├── nuimage_converter.py ├── nuscenes_converter.py ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py └── waymo_converter.py ├── deployment ├── mmdet3d2torchserve.py ├── mmdet3d_handler.py └── test_torchserver.py ├── dist_test.sh ├── dist_train.sh ├── flops_occ.py ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── print_config.py └── visualize_results.py ├── model_converters ├── convert_h3dnet_checkpoints.py ├── convert_votenet_checkpoints.py ├── publish_model.py └── regnet2mmdet.py ├── slurm_test.sh ├── slurm_train.sh ├── test.py ├── train.py ├── update_data_coords.py └── update_data_coords.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Hub-Tian/MambaOcc/HEAD/.gitignore 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