├── .github └── FUNDING.yml ├── .gitignore ├── .gitmodules ├── CITATION.cff ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── bev_toolbox ├── README.md ├── __init__.py ├── data_aug │ ├── __init__.py │ ├── functional.py │ └── transforms.py ├── init_toolbox.py └── wrapper_mmdet3d │ ├── __init__.py │ └── data_aug_mmdet3d.py ├── docs ├── data_preparation.md ├── installation.md ├── paper_list │ ├── academia.md │ ├── bev_camera.md │ ├── bev_fusion.md │ ├── bev_lidar.md │ ├── camera_detection.md │ ├── dataset.md │ ├── industry.md │ ├── lidar_detection.md │ ├── lidar_segmentation.md │ └── sensor_fusion.md └── waymo_setup.md ├── example ├── cam0_img.jpg ├── cam1_img.jpg ├── cam2_img.jpg ├── cam3_img.jpg ├── cam4_img.jpg ├── example.md └── flip.png ├── figs ├── cam_ablation.jpg ├── cam_pipeline_v2.jpg ├── dataset_table.jpg ├── general_overview.png ├── important_methods.jpg ├── important_methods_leaderboard.jpg ├── industrial_pipeline.jpg ├── lidar_ablation.jpg ├── lidar_pipeline.jpg └── waymo_coordinate.png ├── nuScenes_playground ├── FocalDistiller │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── figs │ │ └── FD3D.png │ ├── projects │ │ ├── __init__.py │ │ ├── configs │ │ │ ├── _base_ │ │ │ │ ├── datasets │ │ │ │ │ ├── coco_instance.py │ │ │ │ │ ├── kitti-3d-3class.py │ │ │ │ │ ├── kitti-3d-car.py │ │ │ │ │ ├── lyft-3d.py │ │ │ │ │ ├── nuim_instance.py │ │ │ │ │ ├── nus-3d.py │ │ │ │ │ ├── nus-mono3d.py │ │ │ │ │ ├── range100_lyft-3d.py │ │ │ │ │ ├── s3dis-3d-5class.py │ │ │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ │ │ ├── scannet-3d-18class.py │ │ │ │ │ ├── scannet_seg-3d-20class.py │ │ │ │ │ ├── sunrgbd-3d-10class.py │ │ │ │ │ ├── waymoD5-3d-3class.py │ │ │ │ │ └── waymoD5-3d-car.py │ │ │ │ ├── default_runtime.py │ │ │ │ ├── models │ │ │ │ │ ├── 3dssd.py │ │ │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ │ │ ├── fcos3d.py │ │ │ │ │ ├── groupfree3d.py │ │ │ │ │ ├── h3dnet.py │ │ │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ │ │ ├── imvotenet_image.py │ │ │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ │ │ ├── paconv_cuda_ssg.py │ │ │ │ │ ├── paconv_ssg.py │ │ │ │ │ ├── parta2.py │ │ │ │ │ ├── pointnet2_msg.py │ │ │ │ │ ├── pointnet2_ssg.py │ │ │ │ │ └── votenet.py │ │ │ │ └── schedules │ │ │ │ │ ├── cosine.py │ │ │ │ │ ├── cyclic_20e.py │ │ │ │ │ ├── cyclic_40e.py │ │ │ │ │ ├── mmdet_schedule_1x.py │ │ │ │ │ ├── schedule_2x.py │ │ │ │ │ ├── schedule_3x.py │ │ │ │ │ ├── seg_cosine_150e.py │ │ │ │ │ ├── seg_cosine_200e.py │ │ │ │ │ └── seg_cosine_50e.py │ │ │ ├── bevformer │ │ │ │ ├── bevformer_base.py │ │ │ │ └── bevformer_small.py │ │ │ ├── bevformer_fp16 │ │ │ │ └── bevformer_tiny_fp16.py │ │ │ ├── datasets │ │ │ │ ├── custom_lyft-3d.py │ │ │ │ ├── custom_nus-3d.py │ │ │ │ └── custom_waymo-3d.py │ │ │ └── distiller │ │ │ │ └── base_distill_small_with_pv-cwd_bev-l2-heatmap.py │ │ └── mmdet3d_plugin │ │ │ ├── __init__.py │ │ │ ├── bevformer │ │ │ ├── __init__.py │ │ │ ├── apis │ │ │ │ ├── __init__.py │ │ │ │ ├── mmdet_train.py │ │ │ │ ├── test.py │ │ │ │ └── train.py │ │ │ ├── dense_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── bevformer_distiller.py │ │ │ │ └── bevformer_head.py │ │ │ ├── detectors │ │ │ │ ├── __init__.py │ │ │ │ ├── bevformer.py │ │ │ │ └── bevformer_fp16.py │ │ │ ├── distill_branch │ │ │ │ ├── __init__.py │ │ │ │ ├── decoderDistiller.py │ │ │ │ └── transformerDistiller.py │ │ │ ├── hooks │ │ │ │ ├── __init__.py │ │ │ │ └── custom_hooks.py │ │ │ ├── modules │ │ │ │ ├── __init__.py │ │ │ │ ├── custom_base_transformer_layer.py │ │ │ │ ├── decoder.py │ │ │ │ ├── encoder.py │ │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ │ ├── spatial_cross_attention.py │ │ │ │ ├── temporal_self_attention.py │ │ │ │ └── transformer.py │ │ │ └── runner │ │ │ │ ├── __init__.py │ │ │ │ └── epoch_based_runner.py │ │ │ ├── core │ │ │ ├── bbox │ │ │ │ ├── assigners │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── hungarian_assigner_3d.py │ │ │ │ ├── coders │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── nms_free_coder.py │ │ │ │ ├── match_costs │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── match_cost.py │ │ │ │ └── util.py │ │ │ ├── evaluation │ │ │ │ ├── __init__.py │ │ │ │ ├── eval_hooks.py │ │ │ │ └── kitti2waymo.py │ │ │ └── heatmap │ │ │ │ ├── __init__.py │ │ │ │ └── gaussian.py │ │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── nuscenes_dataset.py │ │ │ ├── nuscenes_mono_dataset.py │ │ │ ├── nuscnes_eval.py │ │ │ ├── pipelines │ │ │ │ ├── __init__.py │ │ │ │ ├── formating.py │ │ │ │ └── transform_3d.py │ │ │ └── samplers │ │ │ │ ├── __init__.py │ │ │ │ ├── distributed_sampler.py │ │ │ │ ├── group_sampler.py │ │ │ │ └── sampler.py │ │ │ ├── kd │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── distillers │ │ │ │ ├── __init__.py │ │ │ │ └── heatmap_detection_distiller.py │ │ │ └── losses │ │ │ │ ├── __init__.py │ │ │ │ ├── cwd.py │ │ │ │ └── l2loss.py │ │ │ └── models │ │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ └── vovnet.py │ │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ └── hooks.py │ │ │ ├── opt │ │ │ ├── __init__.py │ │ │ └── adamw.py │ │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── bricks.py │ │ │ ├── grid_mask.py │ │ │ ├── position_embedding.py │ │ │ └── visual.py │ ├── scripts │ │ ├── base_distill_small_with_pv-cwd_bev-l2-heatmap.sh │ │ ├── testStu_base_distill_small_with_pv-cwd_bev-l2-heatmap.sh │ │ ├── test_bevformer_base.sh │ │ ├── test_bevformer_small.sh │ │ ├── train_bevformer_base.sh │ │ └── train_bevformer_small.sh │ └── tools │ │ ├── analysis_tools │ │ ├── __init__.py │ │ ├── analyze_logs.py │ │ ├── benchmark.py │ │ ├── evaluate_from_json.py │ │ ├── get_flops.py │ │ ├── get_params.py │ │ └── visual.py │ │ ├── create_data.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 │ │ ├── dist_distill.sh │ │ ├── dist_test.sh │ │ ├── dist_train.sh │ │ ├── distillation.py │ │ ├── fp16 │ │ ├── dist_train.sh │ │ └── train.py │ │ ├── misc │ │ ├── browse_dataset.py │ │ ├── fuse_conv_bn.py │ │ ├── print_config.py │ │ └── visualize_results.py │ │ ├── model_converters │ │ ├── convert_votenet_checkpoints.py │ │ ├── publish_model.py │ │ └── regnet2mmdet.py │ │ ├── test.py │ │ ├── testStu.py │ │ └── train.py ├── GAPretrain.md └── VCD │ ├── README.md │ ├── configs │ ├── 3dssd │ │ ├── 3dssd_4x4_kitti-3d-car.py │ │ ├── README.md │ │ └── metafile.yml │ ├── _base_ │ │ ├── datasets │ │ │ ├── coco_instance.py │ │ │ ├── kitti-3d-3class.py │ │ │ ├── kitti-3d-car.py │ │ │ ├── kitti-mono3d.py │ │ │ ├── lyft-3d.py │ │ │ ├── nuim_instance.py │ │ │ ├── nus-3d.py │ │ │ ├── nus-mono3d.py │ │ │ ├── range100_lyft-3d.py │ │ │ ├── s3dis-3d-5class.py │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ ├── scannet-3d-18class.py │ │ │ ├── scannet_seg-3d-20class.py │ │ │ ├── sunrgbd-3d-10class.py │ │ │ ├── waymoD5-3d-3class.py │ │ │ └── waymoD5-3d-car.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ ├── 3dssd.py │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ ├── dgcnn.py │ │ │ ├── fcaf3d.py │ │ │ ├── fcos3d.py │ │ │ ├── groupfree3d.py │ │ │ ├── h3dnet.py │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ ├── imvotenet_image.py │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ ├── paconv_cuda_ssg.py │ │ │ ├── paconv_ssg.py │ │ │ ├── parta2.py │ │ │ ├── pgd.py │ │ │ ├── point_rcnn.py │ │ │ ├── pointnet2_msg.py │ │ │ ├── pointnet2_ssg.py │ │ │ ├── smoke.py │ │ │ └── votenet.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 │ ├── benchmark │ │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ ├── bevdet │ │ ├── bevdet-r50-cbgs.py │ │ ├── bevdet-r50.py │ │ └── bevdet4d-r50-cbgs.py │ ├── centerpoint │ │ ├── README.md │ │ ├── centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py │ │ ├── centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus_novelo.py │ │ ├── centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ ├── centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ └── metafile.yml │ ├── custom_model │ │ └── centerpoint.py │ ├── dgcnn │ │ ├── README.md │ │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area1.py │ │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area2.py │ │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area3.py │ │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area4.py │ │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area5.py │ │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area6.py │ │ └── metafile.yml │ ├── dynamic_voxelization │ │ ├── README.md │ │ ├── dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ │ ├── dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py │ │ ├── dv_second_secfpn_6x8_80e_kitti-3d-car.py │ │ └── metafile.yml │ ├── fcaf3d │ │ ├── README.md │ │ ├── fcaf3d_8x2_s3dis-3d-5class.py │ │ ├── fcaf3d_8x2_scannet-3d-18class.py │ │ ├── fcaf3d_8x2_sunrgbd-3d-10class.py │ │ └── metafile.yml │ ├── fcos3d │ │ ├── README.md │ │ ├── fcos3d_convnext-b_fpn_gn-head_2x8_1x_nus-mono3d.py │ │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune.py │ │ └── metafile.yml │ ├── free_anchor │ │ ├── README.md │ │ ├── hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ └── metafile.yml │ ├── groupfree3d │ │ ├── README.md │ │ ├── groupfree3d_8x4_scannet-3d-18class-L12-O256.py │ │ ├── groupfree3d_8x4_scannet-3d-18class-L6-O256.py │ │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O256.py │ │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O512.py │ │ └── metafile.yml │ ├── h3dnet │ │ ├── README.md │ │ ├── h3dnet_3x8_scannet-3d-18class.py │ │ └── metafile.yml │ ├── imvotenet │ │ ├── README.md │ │ ├── imvotenet_faster_rcnn_r50_fpn_2x4_sunrgbd-3d-10class.py │ │ ├── imvotenet_stage2_16x8_sunrgbd-3d-10class.py │ │ └── metafile.yml │ ├── imvoxelnet │ │ ├── README.md │ │ ├── imvoxelnet_4x8_kitti-3d-car.py │ │ └── metafile.yml │ ├── monoflex │ │ ├── README.md │ │ └── metafile.yml │ ├── mvxnet │ │ ├── README.md │ │ ├── dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py │ │ └── metafile.yml │ ├── nuimages │ │ ├── README.md │ │ ├── cascade_mask_rcnn_r101_fpn_1x_nuim.py │ │ ├── cascade_mask_rcnn_r50_fpn_1x_nuim.py │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_1x_nuim.py │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim.py │ │ ├── cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ ├── htc_r50_fpn_1x_nuim.py │ │ ├── htc_r50_fpn_coco-20e_1x_nuim.py │ │ ├── htc_r50_fpn_coco-20e_20e_nuim.py │ │ ├── htc_without_semantic_r50_fpn_1x_nuim.py │ │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim.py │ │ ├── mask_rcnn_r101_fpn_1x_nuim.py │ │ ├── mask_rcnn_r50_caffe_fpn_1x_nuim.py │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ │ ├── mask_rcnn_r50_fpn_1x_nuim.py │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nuim.py │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ │ ├── mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ └── metafile.yml │ ├── paconv │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── paconv_cuda_ssg_8x8_cosine_200e_s3dis_seg-3d-13class.py │ │ └── paconv_ssg_8x8_cosine_150e_s3dis_seg-3d-13class.py │ ├── parta2 │ │ ├── README.md │ │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py │ │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py │ │ └── metafile.yml │ ├── pgd │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pgd_r101_caffe_fpn_gn-head_2x16_1x_nus-mono3d.py │ │ ├── pgd_r101_caffe_fpn_gn-head_2x16_1x_nus-mono3d_finetune.py │ │ ├── pgd_r101_caffe_fpn_gn-head_2x16_2x_nus-mono3d.py │ │ ├── pgd_r101_caffe_fpn_gn-head_2x16_2x_nus-mono3d_finetune.py │ │ └── pgd_r101_caffe_fpn_gn-head_3x4_4x_kitti-mono3d.py │ ├── point_rcnn │ │ ├── README.md │ │ ├── metafile.yml │ │ └── point_rcnn_2x8_kitti-3d-3classes.py │ ├── pointnet2 │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py │ ├── pointpillars │ │ ├── README.md │ │ ├── hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ ├── hv_pointpillars_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py │ │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ │ ├── hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ ├── hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py │ │ └── metafile.yml │ ├── regnet │ │ ├── README.md │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ └── metafile.yml │ ├── sassd │ │ ├── README.md │ │ └── sassd_6x8_80e_kitti-3d-3class.py │ ├── second │ │ ├── README.md │ │ ├── hv_second_secfpn_6x8_80e_kitti-3d-3class.py │ │ ├── hv_second_secfpn_6x8_80e_kitti-3d-car.py │ │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py │ │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py │ │ ├── hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ │ └── metafile.yml │ ├── smoke │ │ ├── README.md │ │ ├── metafile.yml │ │ └── smoke_dla34_pytorch_dlaneck_gn-all_8x4_6x_kitti-mono3d.py │ ├── ssn │ │ ├── README.md │ │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py │ │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py │ │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py │ │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py │ │ └── metafile.yml │ ├── vcd │ │ ├── Combine_convnext-r50.py │ │ ├── MotionDistiller_convnext-r50-4motion.py │ │ ├── vcd-convnext-base.py │ │ └── vcd-r50.py │ └── votenet │ │ ├── README.md │ │ ├── metafile.yml │ │ ├── votenet_16x8_sunrgbd-3d-10class.py │ │ ├── votenet_8x8_scannet-3d-18class.py │ │ └── votenet_iouloss_8x8_scannet-3d-18class.py │ ├── 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 │ │ │ ├── eval_hook.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 │ │ │ ├── depth_gt.py │ │ │ ├── ema.py │ │ │ ├── sequentialsontrol.py │ │ │ ├── sequentialsontroldistill.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 │ │ ├── custom_3d_seg.py │ │ ├── dataset_wrappers.py │ │ ├── kitti2d_dataset.py │ │ ├── kitti_dataset.py │ │ ├── kitti_mono_dataset.py │ │ ├── lyft_dataset.py │ │ ├── nuscenes_dataset.py │ │ ├── nuscenes_mono_dataset.py │ │ ├── pipelines │ │ │ ├── __init__.py │ │ │ ├── compose.py │ │ │ ├── data_augment_utils.py │ │ │ ├── dbsampler.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ ├── loading_distill.py │ │ │ ├── test_time_aug.py │ │ │ └── transforms_3d.py │ │ ├── s3dis_dataset.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── d_sampler.py │ │ │ └── infinite_group_each_sample_in_batch_sampler.py │ │ ├── scannet_dataset.py │ │ ├── semantickitti_dataset.py │ │ ├── sunrgbd_dataset.py │ │ ├── utils.py │ │ └── waymo_dataset.py │ ├── distiller │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── distillers │ │ │ ├── __init__.py │ │ │ ├── combine_distiller.py │ │ │ └── motion_distiller.py │ │ └── losses │ │ │ ├── __init__.py │ │ │ ├── bceloss.py │ │ │ ├── cwd.py │ │ │ ├── klloss.py │ │ │ ├── l1loss.py │ │ │ ├── l2loss.py │ │ │ ├── maskedbceloss.py │ │ │ └── norml2loss.py │ ├── models │ │ ├── __init__.py │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── base_pointnet.py │ │ │ ├── common.py │ │ │ ├── dgcnn.py │ │ │ ├── dla.py │ │ │ ├── image_encoder.py │ │ │ ├── mink_resnet.py │ │ │ ├── multi_backbone.py │ │ │ ├── nostem_regnet.py │ │ │ ├── pointnet2_sa_msg.py │ │ │ ├── pointnet2_sa_ssg.py │ │ │ ├── resnet.py │ │ │ └── second.py │ │ ├── builder.py │ │ ├── decode_heads │ │ │ ├── __init__.py │ │ │ ├── decode_head.py │ │ │ ├── dgcnn_head.py │ │ │ ├── paconv_head.py │ │ │ └── pointnet2_head.py │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ ├── anchor3d_head.py │ │ │ ├── anchor_free_mono3d_head.py │ │ │ ├── base_conv_bbox_head.py │ │ │ ├── base_mono3d_dense_head.py │ │ │ ├── centerpoint_head.py │ │ │ ├── fcaf3d_head.py │ │ │ ├── fcos_mono3d_head.py │ │ │ ├── free_anchor3d_head.py │ │ │ ├── groupfree3d_head.py │ │ │ ├── monoflex_head.py │ │ │ ├── parta2_rpn_head.py │ │ │ ├── pgd_head.py │ │ │ ├── point_rpn_head.py │ │ │ ├── shape_aware_head.py │ │ │ ├── smoke_mono3d_head.py │ │ │ ├── ssd_3d_head.py │ │ │ ├── train_mixins.py │ │ │ └── vote_head.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── bevdet.py │ │ │ ├── bevstereo.py │ │ │ ├── centerpoint.py │ │ │ ├── custom_center.py │ │ │ ├── dynamic_voxelnet.py │ │ │ ├── fcos_mono3d.py │ │ │ ├── groupfree3dnet.py │ │ │ ├── h3dnet.py │ │ │ ├── imvotenet.py │ │ │ ├── imvoxelnet.py │ │ │ ├── mink_single_stage.py │ │ │ ├── mvx_faster_rcnn.py │ │ │ ├── mvx_two_stage.py │ │ │ ├── parta2.py │ │ │ ├── point_rcnn.py │ │ │ ├── sassd.py │ │ │ ├── single_stage.py │ │ │ ├── single_stage_mono3d.py │ │ │ ├── smoke_mono3d.py │ │ │ ├── ssd3dnet.py │ │ │ ├── two_stage.py │ │ │ ├── vcd.py │ │ │ ├── votenet.py │ │ │ └── voxelnet.py │ │ ├── fusion_layers │ │ │ ├── __init__.py │ │ │ ├── coord_transform.py │ │ │ ├── point_fusion.py │ │ │ └── vote_fusion.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ ├── axis_aligned_iou_loss.py │ │ │ ├── chamfer_distance.py │ │ │ ├── multibin_loss.py │ │ │ ├── paconv_regularization_loss.py │ │ │ ├── rotated_iou_loss.py │ │ │ └── uncertain_smooth_l1_loss.py │ │ ├── middle_encoders │ │ │ ├── __init__.py │ │ │ ├── pillar_scatter.py │ │ │ ├── sparse_encoder.py │ │ │ └── sparse_unet.py │ │ ├── model_utils │ │ │ ├── __init__.py │ │ │ ├── edge_fusion_module.py │ │ │ ├── transformer.py │ │ │ └── vote_module.py │ │ ├── necks │ │ │ ├── __init__.py │ │ │ ├── dla_neck.py │ │ │ ├── fpn.py │ │ │ ├── imvoxel_neck.py │ │ │ ├── lss_fpn.py │ │ │ ├── pointnet2_fp_neck.py │ │ │ ├── second_fpn.py │ │ │ ├── stereo_transform.py │ │ │ └── view_transformer.py │ │ ├── roi_heads │ │ │ ├── __init__.py │ │ │ ├── base_3droi_head.py │ │ │ ├── bbox_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── h3d_bbox_head.py │ │ │ │ ├── parta2_bbox_head.py │ │ │ │ └── point_rcnn_bbox_head.py │ │ │ ├── h3d_roi_head.py │ │ │ ├── mask_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── pointwise_semantic_head.py │ │ │ │ └── primitive_head.py │ │ │ ├── part_aggregation_roi_head.py │ │ │ ├── point_rcnn_roi_head.py │ │ │ └── roi_extractors │ │ │ │ ├── __init__.py │ │ │ │ ├── single_roiaware_extractor.py │ │ │ │ └── single_roipoint_extractor.py │ │ ├── segmentors │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ └── encoder_decoder.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── clip_sigmoid.py │ │ │ ├── edge_indices.py │ │ │ ├── gen_keypoints.py │ │ │ ├── handle_objs.py │ │ │ └── mlp.py │ │ └── voxel_encoders │ │ │ ├── __init__.py │ │ │ ├── pillar_encoder.py │ │ │ ├── utils.py │ │ │ └── voxel_encoder.py │ ├── ops │ │ ├── __init__.py │ │ ├── bev_pool_v2 │ │ │ ├── __init__.py │ │ │ ├── bev_pool.py │ │ │ ├── bev_pool_v2_ext.cpython-37m-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 │ │ ├── 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 │ │ ├── ceph_client.py │ │ ├── collect_env.py │ │ ├── compat_cfg.py │ │ ├── logger.py │ │ ├── misc.py │ │ └── setup_env.py │ └── version.py │ ├── setup.cfg │ ├── 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 │ ├── create_data.py │ ├── create_data.sh │ ├── 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_distill.sh │ ├── dist_test.sh │ ├── dist_test_stu.sh │ ├── dist_train.sh │ ├── distill.py │ ├── misc │ ├── browse_dataset.py │ ├── fuse_conv_bn.py │ ├── print_config.py │ └── visualize_results.py │ ├── model_converters │ ├── publish_model.py │ └── regnet2mmdet.py │ ├── stat_occ.py │ ├── test.py │ ├── test_stu.py │ ├── test_tch.py │ ├── train.py │ ├── update_data_coords.py │ ├── update_data_coords.sh │ └── visual_fig1_occ.py ├── setup.cfg ├── setup.py └── waymo_playground ├── projects ├── __init__.py ├── configs │ ├── __init__.py │ ├── _base_ │ │ ├── datasets │ │ │ ├── custom_lyft-3d.py │ │ │ ├── custom_nus-3d.py │ │ │ └── custom_waymo-3d.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ └── bevformer.py │ │ └── schedules │ │ │ ├── cosine.py │ │ │ ├── cyclic_20e.py │ │ │ ├── cyclic_40e.py │ │ │ ├── mmdet_schedule_1x.py │ │ │ ├── schedule_2x.py │ │ │ ├── schedule_3x.py │ │ │ ├── seg_cosine_150e.py │ │ │ ├── seg_cosine_200e.py │ │ │ └── seg_cosine_50e.py │ └── bevformer │ │ ├── data_aug │ │ ├── README.md │ │ └── waymo_mini_r101_ms_flip.py │ │ └── waymo_mini_r101_baseline.py └── mmdet3d_plugin │ ├── __init__.py │ ├── apis │ ├── __init__.py │ ├── test.py │ └── train.py │ ├── core │ ├── bbox │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner_3d.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── nms_coder.py │ │ │ └── nms_free_coder.py │ │ ├── iou_calculator │ │ │ ├── __init__.py │ │ │ └── iou_calculator.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ └── util.py │ └── evaluation │ │ ├── __init__.py │ │ ├── eval_hooks.py │ │ ├── kitti2waymo.py │ │ └── lyft_eval.py │ ├── datasets │ ├── HDmap.py │ ├── __init__.py │ ├── bbox_mask.py │ ├── builder.py │ ├── dasetset_wrappers.py │ ├── eval_waymo.py │ ├── iou_3d.py │ ├── kitti_dataset.py │ ├── lidar_waymo.py │ ├── lyft_dataset.py │ ├── metrics_ops.so │ ├── nuscenes_dataset.py │ ├── nuscenes_mono_dataset.py │ ├── nuscnes_eval.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── formating.py │ │ ├── loading.py │ │ └── transform_3d.py │ ├── raw_nuscene_dataset.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ ├── waymo2d.py │ ├── waymo_dataset.py │ └── waymo_datasetV2.py │ ├── models │ ├── attns │ │ ├── __init__.py │ │ ├── bev_cross_deformable_atten.py │ │ ├── detr3d_cross_attention.py │ │ ├── multi_scale_deformable_attn.py │ │ ├── multi_scale_deformable_attn_3d.py │ │ ├── multi_scale_deformable_attn_V2.py │ │ ├── multi_scale_deformable_attn_V4.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── spatial_cross_attention.py │ │ ├── temporal_self_attention.py │ │ └── temporal_self_attention_v2.py │ ├── backbones │ │ ├── __init__.py │ │ ├── efficientnet.py │ │ ├── resnet.py │ │ ├── swin.py │ │ ├── timm_backbone.py │ │ └── vovnet.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── bevformer_anchor_head.py │ │ ├── bevformer_centerpoint_head.py │ │ ├── bevformer_detr_head.py │ │ ├── bevformer_detr_head2.py │ │ └── bevformer_detr_head_corner_pooling.py │ ├── detectors │ │ ├── __init__.py │ │ ├── bevformer.py │ │ └── bevformer_2d_aux.py │ ├── hooks │ │ ├── __init__.py │ │ ├── hooks.py │ │ ├── load.py │ │ └── sync_norm.py │ ├── layers │ │ ├── __init__.py │ │ ├── base_transformer_layer.py │ │ ├── bev_encoder_layer.py │ │ ├── bev_encoder_layer_v2.py │ │ └── dcn.py │ ├── loss │ │ ├── __init__.py │ │ ├── cwd.py │ │ ├── dice_loss.py │ │ └── fl_loss_w_lable_smoothing.py │ ├── modules │ │ ├── __init__.py │ │ ├── bev_transformer.py │ │ ├── bev_transformer_feat.py │ │ ├── bev_transformer_only_encoder.py │ │ ├── bev_transformer_only_encoder2.py │ │ ├── decoder.py │ │ ├── detr3d_transformer.py │ │ ├── encoder.py │ │ └── encoderV2.py │ ├── opt │ │ ├── __init__.py │ │ └── adamw.py │ └── utils │ │ ├── __init__.py │ │ ├── bricks.py │ │ ├── draw_bbox.py │ │ ├── dummy_metas.py │ │ ├── grid_mask.py │ │ ├── ipm.py │ │ ├── point_sampling.py │ │ └── visual.py │ └── runner │ ├── __init__.py │ └── epoch_based_runner.py └── tools ├── __init__.py ├── analysis_tools ├── __init__.py ├── ana_can_bus.py ├── analyze_logs.py ├── analyze_results.py ├── benchmark.py ├── create_video.py ├── get_flops.py ├── get_params.py ├── nms.py ├── visual.py ├── visual_lyft.py ├── visual_mask.py ├── visual_mask_gt.py ├── visual_raw.py └── visual_waymo.py ├── create_data.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 ├── mv_waymo_converter.py ├── nuimage_converter.py ├── nuscenes_converter.py ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py └── waymo_converter.py ├── dist_test_video.sh ├── dist_train_video.sh ├── jupyter └── waymo.ipynb ├── misc ├── 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