├── .gitignore ├── .gitmodules ├── Dockerfile ├── Makefile ├── PointPillars ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── README_zh-CN.md ├── bootstrap.yaml ├── docs │ └── demo.png ├── pointpillars │ ├── CMakeLists.txt │ ├── cfgs │ │ └── cbgs_pp_multihead.yaml │ ├── common.h │ ├── nms.cu │ ├── nms.h │ ├── pointpillars.cpp │ ├── pointpillars.h │ ├── postprocess.cu │ ├── postprocess.h │ ├── preprocess.cu │ ├── preprocess.h │ ├── scatter.cu │ └── scatter.h ├── test │ ├── CMakeLists.txt │ ├── gtest │ │ ├── .clang-format │ │ ├── .github │ │ │ └── ISSUE_TEMPLATE │ │ │ │ ├── 00-bug_report.md │ │ │ │ └── config.yml │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── BUILD.bazel │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── CONTRIBUTORS │ │ ├── LICENSE │ │ ├── README.md │ │ ├── WORKSPACE │ │ ├── ci │ │ │ ├── linux-presubmit.sh │ │ │ └── macos-presubmit.sh │ │ ├── docs │ │ │ ├── _config.yml │ │ │ ├── _data │ │ │ │ └── navigation.yml │ │ │ ├── _layouts │ │ │ │ └── default.html │ │ │ ├── _sass │ │ │ │ └── main.scss │ │ │ ├── advanced.md │ │ │ ├── assets │ │ │ │ └── css │ │ │ │ │ └── style.scss │ │ │ ├── community_created_documentation.md │ │ │ ├── faq.md │ │ │ ├── gmock_cheat_sheet.md │ │ │ ├── gmock_cook_book.md │ │ │ ├── gmock_faq.md │ │ │ ├── gmock_for_dummies.md │ │ │ ├── index.md │ │ │ ├── pkgconfig.md │ │ │ ├── platforms.md │ │ │ ├── primer.md │ │ │ ├── quickstart-bazel.md │ │ │ ├── quickstart-cmake.md │ │ │ ├── reference │ │ │ │ └── matchers.md │ │ │ └── samples.md │ │ ├── googlemock │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── cmake │ │ │ │ ├── gmock.pc.in │ │ │ │ └── gmock_main.pc.in │ │ │ ├── docs │ │ │ │ └── README.md │ │ │ ├── include │ │ │ │ └── gmock │ │ │ │ │ ├── gmock-actions.h │ │ │ │ │ ├── gmock-cardinalities.h │ │ │ │ │ ├── gmock-function-mocker.h │ │ │ │ │ ├── gmock-matchers.h │ │ │ │ │ ├── gmock-more-actions.h │ │ │ │ │ ├── gmock-more-matchers.h │ │ │ │ │ ├── gmock-nice-strict.h │ │ │ │ │ ├── gmock-spec-builders.h │ │ │ │ │ ├── gmock.h │ │ │ │ │ └── internal │ │ │ │ │ ├── custom │ │ │ │ │ ├── README.md │ │ │ │ │ ├── gmock-generated-actions.h │ │ │ │ │ ├── gmock-matchers.h │ │ │ │ │ └── gmock-port.h │ │ │ │ │ ├── gmock-internal-utils.h │ │ │ │ │ ├── gmock-port.h │ │ │ │ │ └── gmock-pp.h │ │ │ ├── scripts │ │ │ │ ├── README.md │ │ │ │ ├── fuse_gmock_files.py │ │ │ │ └── generator │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README │ │ │ │ │ ├── README.cppclean │ │ │ │ │ ├── cpp │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ast.py │ │ │ │ │ ├── gmock_class.py │ │ │ │ │ ├── gmock_class_test.py │ │ │ │ │ ├── keywords.py │ │ │ │ │ ├── tokenize.py │ │ │ │ │ └── utils.py │ │ │ │ │ └── gmock_gen.py │ │ │ ├── src │ │ │ │ ├── gmock-all.cc │ │ │ │ ├── gmock-cardinalities.cc │ │ │ │ ├── gmock-internal-utils.cc │ │ │ │ ├── gmock-matchers.cc │ │ │ │ ├── gmock-spec-builders.cc │ │ │ │ ├── gmock.cc │ │ │ │ └── gmock_main.cc │ │ │ └── test │ │ │ │ ├── BUILD.bazel │ │ │ │ ├── gmock-actions_test.cc │ │ │ │ ├── gmock-cardinalities_test.cc │ │ │ │ ├── gmock-function-mocker_test.cc │ │ │ │ ├── gmock-internal-utils_test.cc │ │ │ │ ├── gmock-matchers_test.cc │ │ │ │ ├── gmock-more-actions_test.cc │ │ │ │ ├── gmock-nice-strict_test.cc │ │ │ │ ├── gmock-port_test.cc │ │ │ │ ├── gmock-pp-string_test.cc │ │ │ │ ├── gmock-pp_test.cc │ │ │ │ ├── gmock-spec-builders_test.cc │ │ │ │ ├── gmock_all_test.cc │ │ │ │ ├── gmock_ex_test.cc │ │ │ │ ├── gmock_leak_test.py │ │ │ │ ├── gmock_leak_test_.cc │ │ │ │ ├── gmock_link2_test.cc │ │ │ │ ├── gmock_link_test.cc │ │ │ │ ├── gmock_link_test.h │ │ │ │ ├── gmock_output_test.py │ │ │ │ ├── gmock_output_test_.cc │ │ │ │ ├── gmock_output_test_golden.txt │ │ │ │ ├── gmock_stress_test.cc │ │ │ │ ├── gmock_test.cc │ │ │ │ └── gmock_test_utils.py │ │ ├── googletest │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── cmake │ │ │ │ ├── Config.cmake.in │ │ │ │ ├── gtest.pc.in │ │ │ │ ├── gtest_main.pc.in │ │ │ │ ├── internal_utils.cmake │ │ │ │ └── libgtest.la.in │ │ │ ├── docs │ │ │ │ └── README.md │ │ │ ├── include │ │ │ │ └── gtest │ │ │ │ │ ├── gtest-death-test.h │ │ │ │ │ ├── gtest-matchers.h │ │ │ │ │ ├── gtest-message.h │ │ │ │ │ ├── gtest-param-test.h │ │ │ │ │ ├── gtest-printers.h │ │ │ │ │ ├── gtest-spi.h │ │ │ │ │ ├── gtest-test-part.h │ │ │ │ │ ├── gtest-typed-test.h │ │ │ │ │ ├── gtest.h │ │ │ │ │ ├── gtest_pred_impl.h │ │ │ │ │ ├── gtest_prod.h │ │ │ │ │ └── internal │ │ │ │ │ ├── custom │ │ │ │ │ ├── README.md │ │ │ │ │ ├── gtest-port.h │ │ │ │ │ ├── gtest-printers.h │ │ │ │ │ └── gtest.h │ │ │ │ │ ├── gtest-death-test-internal.h │ │ │ │ │ ├── gtest-filepath.h │ │ │ │ │ ├── gtest-internal.h │ │ │ │ │ ├── gtest-param-util.h │ │ │ │ │ ├── gtest-port-arch.h │ │ │ │ │ ├── gtest-port.h │ │ │ │ │ ├── gtest-string.h │ │ │ │ │ └── gtest-type-util.h │ │ │ ├── samples │ │ │ │ ├── prime_tables.h │ │ │ │ ├── sample1.cc │ │ │ │ ├── sample1.h │ │ │ │ ├── sample10_unittest.cc │ │ │ │ ├── sample1_unittest.cc │ │ │ │ ├── sample2.cc │ │ │ │ ├── sample2.h │ │ │ │ ├── sample2_unittest.cc │ │ │ │ ├── sample3-inl.h │ │ │ │ ├── sample3_unittest.cc │ │ │ │ ├── sample4.cc │ │ │ │ ├── sample4.h │ │ │ │ ├── sample4_unittest.cc │ │ │ │ ├── sample5_unittest.cc │ │ │ │ ├── sample6_unittest.cc │ │ │ │ ├── sample7_unittest.cc │ │ │ │ ├── sample8_unittest.cc │ │ │ │ └── sample9_unittest.cc │ │ │ ├── scripts │ │ │ │ ├── README.md │ │ │ │ ├── common.py │ │ │ │ ├── fuse_gtest_files.py │ │ │ │ ├── gen_gtest_pred_impl.py │ │ │ │ ├── gtest-config.in │ │ │ │ ├── release_docs.py │ │ │ │ ├── run_with_path.py │ │ │ │ ├── upload.py │ │ │ │ └── upload_gtest.py │ │ │ ├── src │ │ │ │ ├── gtest-all.cc │ │ │ │ ├── gtest-death-test.cc │ │ │ │ ├── gtest-filepath.cc │ │ │ │ ├── gtest-internal-inl.h │ │ │ │ ├── gtest-matchers.cc │ │ │ │ ├── gtest-port.cc │ │ │ │ ├── gtest-printers.cc │ │ │ │ ├── gtest-test-part.cc │ │ │ │ ├── gtest-typed-test.cc │ │ │ │ ├── gtest.cc │ │ │ │ └── gtest_main.cc │ │ │ └── test │ │ │ │ ├── BUILD.bazel │ │ │ │ ├── googletest-break-on-failure-unittest.py │ │ │ │ ├── googletest-break-on-failure-unittest_.cc │ │ │ │ ├── googletest-catch-exceptions-test.py │ │ │ │ ├── googletest-catch-exceptions-test_.cc │ │ │ │ ├── googletest-color-test.py │ │ │ │ ├── googletest-color-test_.cc │ │ │ │ ├── googletest-death-test-test.cc │ │ │ │ ├── googletest-death-test_ex_test.cc │ │ │ │ ├── googletest-env-var-test.py │ │ │ │ ├── googletest-env-var-test_.cc │ │ │ │ ├── googletest-failfast-unittest.py │ │ │ │ ├── googletest-failfast-unittest_.cc │ │ │ │ ├── googletest-filepath-test.cc │ │ │ │ ├── googletest-filter-unittest.py │ │ │ │ ├── googletest-filter-unittest_.cc │ │ │ │ ├── googletest-global-environment-unittest.py │ │ │ │ ├── googletest-global-environment-unittest_.cc │ │ │ │ ├── googletest-json-outfiles-test.py │ │ │ │ ├── googletest-json-output-unittest.py │ │ │ │ ├── googletest-list-tests-unittest.py │ │ │ │ ├── googletest-list-tests-unittest_.cc │ │ │ │ ├── googletest-listener-test.cc │ │ │ │ ├── googletest-message-test.cc │ │ │ │ ├── googletest-options-test.cc │ │ │ │ ├── googletest-output-test-golden-lin.txt │ │ │ │ ├── googletest-output-test.py │ │ │ │ ├── googletest-output-test_.cc │ │ │ │ ├── googletest-param-test-invalid-name1-test.py │ │ │ │ ├── googletest-param-test-invalid-name1-test_.cc │ │ │ │ ├── googletest-param-test-invalid-name2-test.py │ │ │ │ ├── googletest-param-test-invalid-name2-test_.cc │ │ │ │ ├── googletest-param-test-test.cc │ │ │ │ ├── googletest-param-test-test.h │ │ │ │ ├── googletest-param-test2-test.cc │ │ │ │ ├── googletest-port-test.cc │ │ │ │ ├── googletest-printers-test.cc │ │ │ │ ├── googletest-setuptestsuite-test.py │ │ │ │ ├── googletest-setuptestsuite-test_.cc │ │ │ │ ├── googletest-shuffle-test.py │ │ │ │ ├── googletest-shuffle-test_.cc │ │ │ │ ├── googletest-test-part-test.cc │ │ │ │ ├── googletest-throw-on-failure-test.py │ │ │ │ ├── googletest-throw-on-failure-test_.cc │ │ │ │ ├── googletest-uninitialized-test.py │ │ │ │ ├── googletest-uninitialized-test_.cc │ │ │ │ ├── gtest-typed-test2_test.cc │ │ │ │ ├── gtest-typed-test_test.cc │ │ │ │ ├── gtest-typed-test_test.h │ │ │ │ ├── gtest-unittest-api_test.cc │ │ │ │ ├── gtest_all_test.cc │ │ │ │ ├── gtest_assert_by_exception_test.cc │ │ │ │ ├── gtest_environment_test.cc │ │ │ │ ├── gtest_help_test.py │ │ │ │ ├── gtest_help_test_.cc │ │ │ │ ├── gtest_json_test_utils.py │ │ │ │ ├── gtest_list_output_unittest.py │ │ │ │ ├── gtest_list_output_unittest_.cc │ │ │ │ ├── gtest_main_unittest.cc │ │ │ │ ├── gtest_no_test_unittest.cc │ │ │ │ ├── gtest_pred_impl_unittest.cc │ │ │ │ ├── gtest_premature_exit_test.cc │ │ │ │ ├── gtest_prod_test.cc │ │ │ │ ├── gtest_repeat_test.cc │ │ │ │ ├── gtest_skip_check_output_test.py │ │ │ │ ├── gtest_skip_environment_check_output_test.py │ │ │ │ ├── gtest_skip_in_environment_setup_test.cc │ │ │ │ ├── gtest_skip_test.cc │ │ │ │ ├── gtest_sole_header_test.cc │ │ │ │ ├── gtest_stress_test.cc │ │ │ │ ├── gtest_test_macro_stack_footprint_test.cc │ │ │ │ ├── gtest_test_utils.py │ │ │ │ ├── gtest_testbridge_test.py │ │ │ │ ├── gtest_testbridge_test_.cc │ │ │ │ ├── gtest_throw_on_failure_ex_test.cc │ │ │ │ ├── gtest_unittest.cc │ │ │ │ ├── gtest_xml_outfile1_test_.cc │ │ │ │ ├── gtest_xml_outfile2_test_.cc │ │ │ │ ├── gtest_xml_outfiles_test.py │ │ │ │ ├── gtest_xml_output_unittest.py │ │ │ │ ├── gtest_xml_output_unittest_.cc │ │ │ │ ├── gtest_xml_test_utils.py │ │ │ │ ├── production.cc │ │ │ │ └── production.h │ │ └── library.json │ ├── pointpillars_test.cc │ ├── run_all.cc │ └── testdata │ │ └── demo_boxes.txt └── tools │ ├── viewer.py │ └── visual_tools │ ├── __init__.py │ ├── open3d_arrow.py │ ├── open3d_box.py │ └── open3d_coordinate.py ├── README.md ├── config ├── bootstrap.yaml ├── cbgs_pp_multihead.yaml └── lidar_node.launch ├── images └── detections.gif ├── requirements.txt ├── src └── lidar_detector │ ├── CMakeLists.txt │ ├── bootstrap.yaml │ ├── launch │ ├── lidar_node.launch │ └── lidar_node.test │ ├── lidar_node.cc │ ├── lidar_node.hpp │ ├── main.cc │ 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