├── LICENSE ├── README.md ├── docs ├── install.md └── prepare_dataset.md ├── projects ├── __init__.py ├── configs │ ├── SSR │ │ └── SSR_e2e.py │ ├── _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 │ └── datasets │ │ ├── custom_lyft-3d.py │ │ ├── custom_nus-3d.py │ │ └── custom_waymo-3d.py └── mmdet3d_plugin │ ├── SSR │ ├── SSR.py │ ├── SSR_head.py │ ├── SSR_transformer.py │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── mmdet_train.py │ │ ├── test.py │ │ └── train.py │ ├── hooks │ │ ├── __init__.py │ │ ├── custom_hooks.py │ │ ├── ema.py │ │ └── utils.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 │ ├── planner │ │ └── metric_stp3.py │ ├── runner │ │ ├── __init__.py │ │ └── epoch_based_runner.py │ ├── tokenlearner.py │ └── utils │ │ ├── CD_loss.py │ │ ├── __init__.py │ │ ├── map_utils.py │ │ ├── plan_loss.py │ │ └── traj_lr_warmup.py │ ├── __init__.py │ ├── bevformer │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── mmdet_train.py │ │ ├── test.py │ │ └── train.py │ ├── dense_heads │ │ ├── __init__.py │ │ └── bevformer_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── bevformer.py │ │ └── bevformer_fp16.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 │ │ │ └── map_hungarian_assigner_3d.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── fut_nms_free_coder.py │ │ │ ├── map_nms_free_coder.py │ │ │ └── nms_free_coder.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── lidar_box3d.py │ │ │ └── nuscenes_box.py │ │ └── util.py │ └── evaluation │ │ ├── __init__.py │ │ ├── eval_hooks.py │ │ ├── kitti2waymo.py │ │ └── metric_motion.py │ ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── detection_cvpr_2019.json │ ├── map_utils │ │ ├── mean_ap.py │ │ ├── tpfp.py │ │ └── tpfp_chamfer.py │ ├── nuscenes_eval.py │ ├── nuscenes_vad_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formating.py │ │ ├── loading.py │ │ └── transform_3d.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ ├── vad_custom_nuscenes_eval.py │ └── vad_nusc_detection_cvpr_2019.json │ └── models │ ├── backbones │ ├── __init__.py │ └── vovnet.py │ ├── hooks │ ├── __init__.py │ └── hooks.py │ ├── opt │ ├── __init__.py │ └── adamw.py │ └── utils │ ├── __init__.py │ ├── bricks.py │ ├── embed.py │ ├── grid_mask.py │ ├── position_embedding.py │ └── visual.py ├── requirements.txt ├── resources ├── SSR.png ├── coords.png └── vis.png └── tools ├── analysis_tools ├── __init__.py ├── analyze_logs.py ├── benchmark.py ├── get_flops.py ├── get_params.py └── visualization.py ├── create_data.py ├── data_converter ├── __init__.py ├── create_gt_database.py └── vad_nuscenes_converter.py ├── dist_test.sh ├── dist_train.sh ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── print_config.py └── visualize_results.py ├── model_converters ├── convert_votenet_checkpoints.py ├── 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