├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── VERSION ├── app ├── anim │ ├── __init__.py │ ├── anim.py │ ├── file_anim.py │ └── reverse_ego_anim.py ├── loss │ ├── __init__.py │ ├── clearance.py │ ├── color_lipshitz.py │ ├── conditional.py │ ├── eikonal.py │ ├── flow.py │ ├── lidar.py │ ├── mahattan.py │ ├── mask.py │ ├── mask_entropy.py │ ├── mono.py │ ├── perceptual.py │ ├── photometric.py │ ├── ray_vw_entropy.py │ ├── sdf_curvature.py │ ├── sparsity.py │ └── weight_reg.py ├── models │ ├── __init__.py │ ├── asset_base.py │ ├── env │ │ ├── __init__.py │ │ └── sky.py │ ├── large │ │ ├── __init__.py │ │ └── neus.py │ ├── misc │ │ ├── __init__.py │ │ └── color_transform.py │ ├── scene │ │ ├── __init__.py │ │ ├── image_embeddings.py │ │ └── learnable_params.py │ ├── shared │ │ ├── __init__.py │ │ ├── batched_dynamic_neus.py │ │ ├── batched_neus.py │ │ └── utils.py │ └── single │ │ ├── __init__.py │ │ ├── dynamic_nerf.py │ │ ├── dynamic_neus.py │ │ ├── nerf.py │ │ └── neus.py ├── renderers │ ├── __init__.py │ ├── buffer_compose_renderer.py │ ├── render_parallel.py │ ├── repr_compose_renderer.py │ ├── single_volume_renderer.py │ └── utils.py ├── resources │ ├── __init__.py │ ├── asset_bank.py │ ├── nodes.py │ ├── observers │ │ ├── __init__.py │ │ ├── cameras.py │ │ ├── fisheye.py │ │ ├── lidars.py │ │ ├── orth_camera.py │ │ └── panaroma.py │ ├── scene_bank.py │ ├── scenes.py │ └── utils.py ├── space_builder │ ├── __init__.py │ └── grid_space_builder.py ├── visible_grid.py └── visualizer │ ├── gui_runner_forest.py │ ├── gui_runner_single_cuboid.py │ ├── utils.py │ ├── visualize_scene.py │ └── visualize_visible_grid.py ├── code_multi ├── README.md ├── configs │ ├── exps │ │ ├── bg_neus=multi_block │ │ │ ├── fg=hyperlotd_no_occ.221224.yaml │ │ │ └── fg=permuto_occ.240212.yaml │ │ ├── fg_emernerf │ │ │ ├── no_gtbox_no_flow.240208.yaml │ │ │ └── no_gtbox_with_flow.240208.yaml │ │ ├── fg_neus=hyper_lotd │ │ │ └── no_fg_occ.221218.yaml │ │ ├── fg_neus=permuto │ │ │ ├── all_occ.240201.yaml │ │ │ └── all_occ.with_normals.240201.yaml │ │ └── fg_neus=permuto_emernerf │ │ │ └── with_gtbox.240212.yaml │ └── waymo │ │ └── dataset_dynamic_81.yaml └── tools │ ├── demo_category.py │ ├── demo_lidar_sim.sh │ ├── demo_lidar_sim_anim.sh │ ├── demo_manipulate.sh │ ├── eval.py │ ├── eval_directory.py │ ├── extract_mesh.py │ ├── extract_visible_grid.py │ ├── manipulate.py │ ├── manipulate_directory.py │ ├── nvs.py │ ├── render.py │ ├── render_anim.py │ ├── render_topdown.py │ ├── render_waymo_top_lidar.sh │ ├── run.py │ ├── train.py │ ├── utils.py │ └── vis_anno.py ├── code_single ├── README.md ├── configs │ ├── indoor │ │ └── lotd_neus.replica.230814.yaml │ ├── object_centric │ │ ├── lotd_neus.bmvs.230814.yaml │ │ ├── lotd_neus.dtu.230814.yaml │ │ └── permuto_neus.bmvs.230814.yaml │ └── waymo │ │ ├── dataset_static_new8.yaml │ │ ├── ngp_withlidar.230814.yaml │ │ ├── streetsurf.230814 │ │ ├── lidaronly_filterobj.230814.yaml │ │ ├── nomask_withlidar.230814.yaml │ │ ├── withmask_nolidar.230814.yaml │ │ ├── withmask_withlidar.230814.yaml │ │ └── withmask_withlidar_withnormal.230814.yaml │ │ └── streetsurf │ │ ├── lidaronly_filterobj.240219.yaml │ │ ├── nomask_withlidar_joint.240219.yaml │ │ ├── withmask_nolidar.240219.yaml │ │ ├── withmask_withlidar_joint.240219.yaml │ │ └── withmask_withlidar_withnormal.240219.yaml └── tools │ ├── assets │ ├── dashAgGridFunctions.js │ └── dashAgGridStyle.css │ ├── demo_lidar_sim.sh │ ├── eval.py │ ├── eval_directory.py │ ├── eval_lidar.py │ ├── eval_lidar_directory.py │ ├── extract_mesh.py │ ├── extract_mesh_directory.sh │ ├── extract_occgrid.py │ ├── extract_occgrid_directory.sh │ ├── inspect_rendering.py │ ├── render.py │ ├── render_directory.sh │ ├── render_lidar_directory.sh │ ├── run.py │ ├── train.py │ └── visualize_slice.py ├── dataio ├── __init__.py ├── autonomous_driving │ ├── __init__.py │ ├── custom │ │ ├── README.md │ │ ├── custom_autodrive_dataset.py │ │ └── filter_dynamic.py │ ├── kitti │ │ └── kitti_dataset.py │ ├── nuscenes │ │ └── nuscenes_dataset.py │ ├── pandaset │ │ ├── extract_masks.py │ │ ├── pandaset_dataset.py │ │ └── preprocess.py │ ├── waymo │ │ ├── README.md │ │ ├── __init__.py │ │ ├── build_asset_dataset_v1_panoptic.py │ │ ├── build_asset_dataset_v2_asset.py │ │ ├── copy_selected_seqs.py │ │ ├── download_waymo.sh │ │ ├── download_waymo_v2.sh │ │ ├── env_backup.yml │ │ ├── experimental │ │ │ ├── make_vid_asset_v1.py │ │ │ ├── make_vid_asset_v2.py │ │ │ ├── make_vid_camera_box_v1.py │ │ │ ├── make_vid_camera_box_v2.py │ │ │ ├── make_vid_camera_box_v2_try1.py │ │ │ ├── make_vid_camera_box_v2_try2.py │ │ │ ├── make_vid_camera_seg_v1.py │ │ │ └── unit_test.py │ │ ├── extract_masks.py │ │ ├── extract_masks_vit_adapter.py │ │ ├── extract_mono_cues.py │ │ ├── filter_demo.py │ │ ├── filter_dynamic.py │ │ ├── generate_multiseq_config.py │ │ ├── preprocess.py │ │ ├── train_and_eval_multiple.py │ │ ├── train_multi_and_eval_multiple.py │ │ ├── waymo_dataset.py │ │ ├── waymo_dynamic_81.lst │ │ ├── waymo_dynamic_81_dbg.lst │ │ ├── waymo_filereader.py │ │ ├── waymo_static_32.lst │ │ ├── waymo_static_new8.lst │ │ ├── waymo_unanno.lst │ │ └── zip_selected_seqs.py │ └── zod │ │ └── zod_dataset.py ├── block_nerf │ ├── README.md │ ├── __init__.py │ └── block_nerf_dataset.py ├── bmvs │ ├── README.md │ ├── __init__.py │ ├── bmvs_dataset.py │ ├── normalize_bmvs.py │ └── normalized.lst ├── colmap │ ├── README.md │ ├── __init__.py │ ├── colmap_dataset.py │ ├── colmap_loader.py │ └── extract_mono_cues.py ├── custom_old │ ├── __init__.py │ └── custom_dataset.py ├── data_loader │ ├── __init__.py │ ├── base_loader.py │ ├── image_loader.py │ ├── lidar_loader.py │ ├── patch_sampler.py │ ├── pixel_loader.py │ ├── sampler.py │ ├── unit_test.py │ └── view_loader.py ├── dtu │ ├── README.md │ ├── __init__.py │ └── dtu_dataset.py ├── gtav_nerf │ └── gtav_nerf_dataset.py ├── mega_nerf │ ├── __init__.py │ └── mega_nerf_dataset.py ├── monosdf │ ├── README.md │ ├── __init__.py │ └── monosdf_dataset.py ├── nerf │ └── nerf_dataset.py ├── ners │ ├── __init__.py │ ├── instance_dataset.py │ └── instance_dataset_cropped.py ├── neural_recon_w │ ├── neural_recon_w_dataset.py │ └── preprocess.py ├── scannet │ └── download.py ├── scene_dataset.py └── utils.py ├── docs ├── data │ ├── autonomous_driving.md │ └── autonomous_driving_cn.md ├── exps │ ├── exp_lipshitz_3d.py │ ├── exp_lipshitz_3d_modulated.py │ ├── exp_permuto_2d_modulated.py │ ├── exp_permuto_3d_modulated.py │ ├── exp_sky_oneframe.py │ ├── mll_enc_videos.py │ └── permuto_enc_video.py ├── methods │ ├── neuralsim.md │ ├── neus_in_10_minutes.md │ ├── ngp_lidar.md │ ├── street_gaussian.md │ ├── streetsurf.md │ ├── streetsurf │ │ ├── cuboid_space_sdf.png │ │ ├── raymarching_with_eikonal_on_occ.png │ │ ├── raymarching_without_eikonal_on_occ.png │ │ ├── sdf_nablas_norm_relu.png │ │ ├── sdf_slice_with_eikonal_on_occ.png │ │ └── sdf_slice_without_eikonal_on_occ.png │ └── streetsurf_unisim.md └── tutorials │ ├── appearace_factorization.md │ ├── compare_pcl_mesh.py │ └── semantic_field.md ├── media ├── github_assets.txt ├── logo_blue.png ├── logo_blue.svg ├── multi_object_volume_render.png ├── occ_grid_batched.jpg ├── occ_grid_batched_dynamic.jpg ├── occ_grid_dynamic.jpg ├── scene_graph.png ├── vis_frustum_culling.jpeg └── vis_scene_graph.jpeg └── set_env.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PJLab-ADG/neuralsim/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PJLab-ADG/neuralsim/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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