├── .gitignore ├── README.md ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── dataset.py │ ├── kitti │ │ ├── __init__.py │ │ ├── kitti_dataset.py │ │ └── kitti_object_eval_python │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ └── height_compression.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── vfe │ │ │ ├── __init__.py │ │ │ ├── mean_vfe.py │ │ │ └── vfe_template.py │ │ ├── votr_backbone.py │ │ └── votr_new_backbone.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── point_head_box.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_head_votr.py │ │ ├── point_intra_part_head.py │ │ └── target_assigner │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── __init__.py │ │ ├── detector3d_template.py │ │ ├── votr_ssd_net.py │ │ └── votr_tsd_net.py │ ├── model_utils │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ └── target_assigner │ │ └── proposal_target_layer.py ├── ops │ ├── 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 │ └── votr_ops │ │ ├── src │ │ ├── build_attention_indices.cpp │ │ ├── build_attention_indices_gpu.cu │ │ ├── build_attention_indices_gpu.h │ │ ├── build_mapping.cpp │ │ ├── build_mapping_gpu.cu │ │ ├── build_mapping_gpu.h │ │ ├── group_features.cpp │ │ ├── group_features_gpu.cu │ │ ├── group_features_gpu.h │ │ ├── votr_api.cpp │ │ └── votr_cuda_utils.h │ │ └── votr_utils.py ├── 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 │ ├── kitti_dataset.yaml │ 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