├── README.md ├── docs ├── GETTING_STARTED.md ├── INSTALL.md ├── overview.jpg └── small_demo.gif ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ ├── ssl_data_augmentor.py │ │ └── ssl_database_sampler.py │ ├── dataset.py │ ├── once │ │ ├── __init__.py │ │ ├── once_dataset.py │ │ ├── once_eval │ │ │ ├── eval_utils.py │ │ │ ├── evaluation.py │ │ │ └── iou_utils.py │ │ ├── once_semi_dataset.py │ │ ├── once_target_dataset.py │ │ └── once_toolkits.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── semi_dataset.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── centernet_backbone.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_unet.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_semi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.py │ │ ├── point_head_box.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_intra_part_head.py │ │ └── target_assigner │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ ├── axis_aligned_target_assigner.py │ │ │ └── center_assigner.py │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── center_points.py │ │ ├── detector3d_template.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── second_net.py │ │ └── semi_second.py │ ├── model_utils │ │ ├── centernet_box_utils.py │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ ├── semi_second_head.py │ │ └── target_assigner │ │ └── proposal_target_layer.py ├── ops │ ├── center_ops │ │ └── src │ │ │ ├── center_ops_api.cpp │ │ │ ├── center_rotate_nms.cpp │ │ │ ├── center_rotate_nms_kernel.cu │ │ │ ├── draw_center.cpp │ │ │ └── draw_center_kernel.cu │ ├── dcn │ │ ├── __init__.py │ │ ├── deform_conv.py │ │ ├── setup.py │ │ └── src │ │ │ ├── deform_conv_cuda.cpp │ │ │ ├── deform_conv_cuda_kernel.cu │ │ │ ├── deform_pool_cuda.cpp │ │ │ └── deform_pool_cuda_kernel.cu │ ├── iou3d_nms │ │ ├── iou3d_nms_utils.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── pointnet2 │ │ ├── pointnet2_batch │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ └── pointnet2_stack │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_bin.cpp │ │ │ ├── ball_query_bin_gpu.cu │ │ │ ├── ball_query_bin_gpu.h │ │ │ ├── ball_query_deform.cpp │ │ │ ├── ball_query_deform_gpu.cu │ │ │ ├── ball_query_deform_gpu.h │ │ │ ├── ball_query_gpu.cu │ │ │ ├── ball_query_gpu.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── group_points_gpu.h │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── interpolate_gpu.h │ │ │ ├── pointnet2_api.cpp │ │ │ ├── sampling.cpp │ │ │ ├── sampling_gpu.cu │ │ │ └── sampling_gpu.h │ ├── roiaware_pool3d │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu ├── utils │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── loss_utils.py │ └── object3d_kitti.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── cfgs ├── dataset_configs │ ├── da_once_dataset.yaml │ ├── once_dataset.yaml │ └── once_semi_dataset.yaml └── once_models │ ├── semi_learning_models │ ├── ioumatch3d_second_large.yaml │ ├── ioumatch3d_second_medium.yaml │ ├── ioumatch3d_second_small.yaml │ ├── mean_teacher_second_large.yaml │ ├── mean_teacher_second_medium.yaml │ ├── mean_teacher_second_small.yaml │ ├── noisy_student_second_large.yaml │ ├── noisy_student_second_medium.yaml │ ├── noisy_student_second_small.yaml │ ├── pseudo_label_second_large.yaml │ ├── pseudo_label_second_medium.yaml │ ├── pseudo_label_second_small.yaml │ ├── sess_second_large.yaml │ ├── sess_second_medium.yaml │ └── sess_second_small.yaml │ ├── sup_models │ ├── centerpoints.yaml │ ├── pointpainting.yaml │ ├── pointpillar.yaml │ ├── pointrcnn.yaml │ ├── pv_rcnn.yaml │ └── second.yaml │ └── uda_models │ ├── nuscenes_to_once │ ├── secondiou_nuscenes_origin.yaml │ ├── secondiou_nuscenes_ros.yaml │ ├── secondiou_nuscenes_sn.yaml │ ├── secondiou_nuscenes_st3d.yaml │ └── secondiou_oracle.yaml │ ├── once_to_kitti │ ├── secondiou_kitti_origin.yaml │ ├── secondiou_kitti_ros.yaml │ ├── secondiou_kitti_sn.yaml │ └── secondiou_kitti_st3d.yaml │ ├── secondiou_oracle_new.yaml │ └── waymo_to_once │ ├── secondiou_waymo_origin.yaml │ ├── secondiou_waymo_ros.yaml │ ├── secondiou_waymo_sn.yaml │ └── secondiou_waymo_st3d.yaml ├── eval_utils └── eval_utils.py ├── scripts ├── dist_test.sh └── dist_train.sh ├── semi_train.py ├── ssl_utils ├── iou_match_3d.py ├── pseudo_label.py ├── 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