├── CLOC_fusion ├── baseline.py ├── build │ ├── lib.linux-x86_64-cpython-39 │ │ └── pcdet │ │ │ └── ops │ │ │ ├── iou3d_nms │ │ │ └── iou3d_nms_cuda.cpython-39-x86_64-linux-gnu.so │ │ │ └── roiaware_pool3d │ │ │ └── roiaware_pool3d_cuda.cpython-39-x86_64-linux-gnu.so │ └── temp.linux-x86_64-cpython-39 │ │ ├── .ninja_deps │ │ ├── .ninja_log │ │ ├── build.ninja │ │ └── pcdet │ │ └── ops │ │ ├── iou3d_nms │ │ └── src │ │ │ └── iou3d_nms_kernel.o │ │ └── roiaware_pool3d │ │ └── src │ │ ├── roiaware_pool3d.o │ │ └── roiaware_pool3d_kernel.o ├── convert │ ├── cvt_2d.py │ └── cvt_3d.py ├── eval.py ├── generate_data.py ├── index │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── pcdet │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-39.pyc │ │ └── config.cpython-39.pyc │ ├── config.py │ ├── datasets │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ └── dataset.cpython-39.pyc │ │ ├── augmentor │ │ │ ├── augmentor_utils.py │ │ │ ├── data_augmentor.py │ │ │ └── database_sampler.py │ │ ├── dataset.py │ │ ├── kitti │ │ │ ├── __pycache__ │ │ │ │ └── kitti_dataset.cpython-39.pyc │ │ │ ├── kitti_dataset.py │ │ │ └── kitti_object_eval_python │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── __pycache__ │ │ │ │ ├── eval.cpython-37.pyc │ │ │ │ ├── eval.cpython-39.pyc │ │ │ │ ├── rotate_iou.cpython-37.pyc │ │ │ │ └── rotate_iou.cpython-39.pyc │ │ │ │ ├── eval.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── kitti_common.py │ │ │ │ └── rotate_iou.py │ │ └── processor │ │ │ ├── __pycache__ │ │ │ └── point_feature_encoder.cpython-39.pyc │ │ │ └── point_feature_encoder.py │ ├── models │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-39.pyc │ │ ├── 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_unet.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 │ │ │ ├── point_head_box.py │ │ │ ├── point_head_simple.py │ │ │ ├── point_head_template.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 │ │ │ ├── detector3d_template.py │ │ │ ├── point_rcnn.py │ │ │ ├── pointpillar.py │ │ │ ├── pv_rcnn.py │ │ │ └── second_net.py │ │ ├── model_utils │ │ │ ├── __pycache__ │ │ │ │ └── model_nms_utils.cpython-39.pyc │ │ │ └── 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 │ │ │ ├── __pycache__ │ │ │ │ └── iou3d_nms_utils.cpython-39.pyc │ │ │ ├── iou3d_nms_cuda.cpython-39-x86_64-linux-gnu.so │ │ │ ├── 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 │ │ │ │ └── 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 │ │ │ └── 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 │ │ │ ├── __pycache__ │ │ │ │ ├── roiaware_pool3d_utils.cpython-37.pyc │ │ │ │ └── roiaware_pool3d_utils.cpython-39.pyc │ │ │ ├── roiaware_pool3d_cuda.cpython-39-x86_64-linux-gnu.so │ │ │ ├── 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 │ │ ├── __pycache__ │ │ │ ├── box_utils.cpython-39.pyc │ │ │ ├── calibration_kitti.cpython-39.pyc │ │ │ ├── common_utils.cpython-39.pyc │ │ │ └── object3d_kitti.cpython-39.pyc │ │ ├── box_coder_utils.py │ │ ├── box_utils.py │ │ ├── calibration_kitti.py │ │ ├── common_utils.py │ │ ├── loss_utils.py │ │ └── object3d_kitti.py │ └── version.py ├── pretrained │ ├── CLOC_fusion.pt │ └── Point_pillars.pth ├── setup.py ├── test │ └── devkit_object │ │ ├── cpp │ │ ├── CMakeLists.txt │ │ ├── evaluate_object │ │ ├── evaluate_object.cpp │ │ └── mail.h │ │ ├── mapping │ │ ├── train_mapping.txt │ │ └── train_rand.txt │ │ ├── matlab │ │ ├── computeBox3D.m │ │ ├── computeOrientation3D.m │ │ ├── drawBox2D.m │ │ ├── drawBox3D.m │ │ ├── projectToImage.m │ │ ├── readCalibration.m │ │ ├── readLabels.m │ │ ├── run_demo.m │ │ ├── run_readWriteDemo.m │ │ ├── run_statistics.m │ │ ├── visualization.m │ │ └── writeLabels.m │ │ └── readme.txt ├── tool │ ├── Focaloss.py │ ├── __init___.py │ ├── __pycache__ │ │ ├── Focaloss.cpython-39.pyc │ │ ├── dataset.cpython-39.pyc │ │ ├── fusion.cpython-39.pyc │ │ └── nms.cpython-39.pyc │ ├── cfgs │ │ ├── dataset_configs │ │ │ ├── kitti_dataset-pre-val.yaml │ │ │ ├── kitti_dataset-pre.yaml │ │ │ ├── kitti_dataset.yaml │ │ │ ├── nuscenes_dataset.yaml │ │ │ └── waymo_dataset.yaml │ │ └── kitti_models │ │ │ ├── pre │ │ │ ├── second-predict-val.yaml │ │ │ └── second-predict.yaml │ │ │ ├── second.yaml │ │ │ ├── second │ │ │ ├── second-predict-val.yaml │ │ │ ├── second-predict.yaml │ │ │ └── second_car.yaml │ │ │ └── second_multihead.yaml │ ├── dataset.py │ ├── fusion.py │ └── nms.py └── train.py ├── README.md ├── __pycache__ ├── backbone.cpython-39.pyc ├── create_pillars.cpython-39.pyc ├── deep.cpython-39.pyc ├── detection_head.cpython-39.pyc ├── losses.cpython-39.pyc ├── network.cpython-39.pyc ├── numpy.cpython-39.pyc └── pillar_feature_net.cpython-39.pyc ├── backbone.py ├── create_pillars.py ├── dataset ├── ImageSets │ ├── test.txt │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-39.pyc │ ├── data_aug.cpython-39.pyc │ ├── dataloader.cpython-39.pyc │ └── kitti.cpython-39.pyc ├── data_aug.py ├── dataloader.py └── kitti.py ├── detection_head.py ├── evaluate.py ├── losses.py ├── model ├── __pycache__ │ └── anchors.cpython-39.pyc └── anchors.py ├── network.py ├── ops ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── iou3d_module.cpython-39.pyc │ ├── voxel_module.cpython-38.pyc │ └── voxel_module.cpython-39.pyc ├── build │ ├── lib.linux-x86_64-cpython-39 │ │ ├── iou3d_op.cpython-39-x86_64-linux-gnu.so │ │ └── voxel_op.cpython-39-x86_64-linux-gnu.so │ └── temp.linux-x86_64-cpython-39 │ │ ├── .ninja_deps │ │ ├── .ninja_log │ │ ├── build.ninja │ │ ├── iou3d │ │ ├── iou3d.o │ │ └── iou3d_kernel.o │ │ └── voxelization │ │ ├── voxelization.o │ │ ├── voxelization_cpu.o │ │ └── voxelization_cuda.o ├── iou3d │ ├── 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