├── LICENSE ├── README.md ├── doc ├── hip.png └── install.md ├── projects ├── __init__.py ├── configs │ └── focalformer3d │ │ ├── DeformFormer3D_C_R50.py │ │ ├── DeformFormer3D_C_R50_newbevpool.py │ │ ├── DeformFormer3D_L.py │ │ ├── DeformFormer3D_L_dynamic.py │ │ ├── DeformFormer3D_Waymo15_L.py │ │ ├── DeformFormer3D_Waymo_L.py │ │ ├── FocalFormer3D_L.py │ │ ├── FocalFormer3D_LC.py │ │ ├── FocalFormer3D_LC_Proj.py │ │ ├── FocalFormer3D_LC_TTA.py │ │ ├── FocalFormer3D_LC_newbevpool.py │ │ ├── FocalFormer3D_Waymo15_L.py │ │ └── FocalFormer3D_Waymo_L.py └── mmdet3d_plugin │ ├── __init__.py │ ├── core │ ├── bbox │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner.py │ │ └── coders │ │ │ ├── __init__.py │ │ │ └── transfusion_bbox_coder.py │ ├── hook │ │ ├── __init__.py │ │ └── fading.py │ └── post_processing │ │ └── merge_augs.py │ ├── datasets │ └── pipelines │ │ ├── __init__.py │ │ └── transform_3d.py │ └── models │ ├── backbones │ ├── __init__.py │ ├── swin.py │ └── swin_utils.py │ ├── dense_heads │ ├── __init__.py │ ├── deepinteraction_decoder.py │ └── focal_decoder.py │ ├── detectors │ ├── __init__.py │ ├── deepinteraction.py │ └── focalformer3d.py │ ├── necks │ ├── __init__.py │ ├── deepinteraction_encoder.py │ ├── focal_encoder.py │ └── lss.py │ └── utils │ ├── decoder_utils.py │ ├── encoder_utils.py │ ├── grid_mask.py │ ├── ip_basic │ └── depth_map_utils.py │ ├── open3d_utils.py │ ├── ops │ ├── bev_pool │ │ ├── __init__.py │ │ ├── bev_pool_op.py │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ └── locatt_ops │ │ ├── __init__.py │ │ ├── kernels.cuh │ │ ├── localAttention.cpp │ │ ├── localAttention.h │ │ ├── similar.cu │ │ ├── utils.cuh │ │ └── weighting.cu │ ├── time_utils.py │ ├── transformer.py │ └── utils.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── create_data.py ├── create_data.sh ├── data_converter ├── __init__.py ├── create_gt_database.py ├── indoor_converter.py ├── 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