├── README.md ├── ckpts └── download.txt ├── projects ├── configs │ ├── petr │ │ ├── petr_r50dcn_gridmask_c5.py │ │ ├── petr_r50dcn_gridmask_p4.py │ │ ├── petr_vovnet_gridmask_p4_1600x640.py │ │ ├── petr_vovnet_gridmask_p4_1600x640_train_cbgs.py │ │ ├── petr_vovnet_gridmask_p4_1600x640_trainval_cbgs.py │ │ └── petr_vovnet_gridmask_p4_800x320.py │ └── petrv2 │ │ ├── petrv2_BEVseg.py │ │ ├── petrv2_vovnet_gridmask_mbev_p4_800x320.py │ │ ├── petrv2_vovnet_gridmask_p4_1600x640_trainval_cbgs.py │ │ └── petrv2_vovnet_gridmask_p4_800x320.py └── mmdet3d_plugin │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ └── __init__.cpython-39.pyc │ ├── core │ └── bbox │ │ ├── __pycache__ │ │ ├── array_converter.cpython-36.pyc │ │ ├── array_converter.cpython-37.pyc │ │ ├── array_converter.cpython-39.pyc │ │ ├── util.cpython-36.pyc │ │ ├── util.cpython-37.pyc │ │ └── util.cpython-39.pyc │ │ ├── array_converter.py │ │ ├── assigners │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── hungarian_assigner_3d.cpython-36.pyc │ │ │ ├── hungarian_assigner_3d.cpython-37.pyc │ │ │ └── hungarian_assigner_3d.cpython-39.pyc │ │ └── hungarian_assigner_3d.py │ │ ├── coders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── nms_free_coder.cpython-36.pyc │ │ │ ├── nms_free_coder.cpython-37.pyc │ │ │ └── nms_free_coder.cpython-39.pyc │ │ └── nms_free_coder.py │ │ ├── iou_calculators │ │ ├── __init__.py │ │ └── iou3d_calculator.py │ │ ├── match_costs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── match_cost.cpython-36.pyc │ │ │ ├── match_cost.cpython-37.pyc │ │ │ └── match_cost.cpython-39.pyc │ │ └── match_cost.py │ │ └── util.py │ ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── multi_nuscenes_dataset.cpython-37.pyc │ │ ├── multi_nuscenes_dataset.cpython-39.pyc │ │ ├── nuscenes_dataset.cpython-36.pyc │ │ ├── nuscenes_dataset.cpython-37.pyc │ │ └── nuscenes_dataset.cpython-39.pyc │ ├── multi_nuscenes_dataset.py │ ├── nuscenes_dataset.py │ └── pipelines │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── loading.cpython-37.pyc │ │ ├── loading.cpython-39.pyc │ │ ├── transform_3d.cpython-36.pyc │ │ ├── transform_3d.cpython-37.pyc │ │ └── transform_3d.cpython-39.pyc │ │ ├── loading.py │ │ └── transform_3d.py │ └── models │ ├── backbones │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── vovnet.cpython-36.pyc │ │ ├── vovnet.cpython-37.pyc │ │ ├── vovnet.cpython-39.pyc │ │ ├── vovnetcp.cpython-37.pyc │ │ └── vovnetcp.cpython-39.pyc │ ├── vovnet.py │ └── vovnetcp.py │ ├── dense_heads │ ├── MAE_.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── MAE_.cpython-37.pyc │ │ ├── MAE_.cpython-39.pyc │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── detr3d_head.cpython-36.pyc │ │ ├── detr3d_head.cpython-37.pyc │ │ ├── detr3d_head.cpython-39.pyc │ │ ├── dgcnn3d_head.cpython-36.pyc │ │ ├── dgcnn3d_head.cpython-37.pyc │ │ ├── dgcnn3d_head.cpython-39.pyc │ │ ├── petr_head.cpython-36.pyc │ │ ├── petr_head.cpython-37.pyc │ │ ├── petr_head.cpython-39.pyc │ │ ├── petr_head_seg.cpython-37.pyc │ │ ├── petr_head_seg.cpython-39.pyc │ │ ├── petr_mae.cpython-37.pyc │ │ ├── petr_mae.cpython-39.pyc │ │ ├── petrv2_head.cpython-37.pyc │ │ └── petrv2_head.cpython-39.pyc │ ├── detr3d_head.py │ ├── dgcnn3d_head.py │ ├── petr_head.py │ ├── petr_head_seg.py │ ├── petr_mae.py │ └── petrv2_head.py │ ├── detectors │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── detr3d.cpython-36.pyc │ │ ├── detr3d.cpython-37.pyc │ │ ├── detr3d.cpython-39.pyc │ │ ├── obj_dgcnn.cpython-36.pyc │ │ ├── obj_dgcnn.cpython-37.pyc │ │ ├── obj_dgcnn.cpython-39.pyc │ │ ├── petr3d.cpython-36.pyc │ │ ├── petr3d.cpython-37.pyc │ │ ├── petr3d.cpython-39.pyc │ │ ├── petr3d_mae.cpython-37.pyc │ │ ├── petr3d_mae.cpython-39.pyc │ │ ├── petr3d_seg.cpython-37.pyc │ │ └── petr3d_seg.cpython-39.pyc │ ├── detr3d.py │ ├── obj_dgcnn.py │ ├── petr3d.py │ ├── petr3d_mae.py │ └── petr3d_seg.py │ ├── losses │ ├── Sigmoid_ce_loss.py │ ├── __init__.py │ └── __pycache__ │ │ ├── Sigmoid_ce_loss.cpython-37.pyc │ │ ├── Sigmoid_ce_loss.cpython-39.pyc │ │ ├── __init__.cpython-37.pyc │ │ └── __init__.cpython-39.pyc │ ├── necks │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── cp_fpn.cpython-36.pyc │ │ ├── cp_fpn.cpython-37.pyc │ │ └── cp_fpn.cpython-39.pyc │ └── cp_fpn.py │ └── utils │ ├── MAE_.py │ ├── __init__.py │ ├── __pycache__ │ ├── MAE_.cpython-37.pyc │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-39.pyc │ ├── detr.cpython-36.pyc │ ├── detr.cpython-37.pyc │ ├── detr.cpython-39.pyc │ ├── detr3d_transformer.cpython-36.pyc │ ├── detr3d_transformer.cpython-37.pyc │ ├── detr3d_transformer.cpython-39.pyc │ ├── dgcnn_attn.cpython-36.pyc │ ├── dgcnn_attn.cpython-37.pyc │ ├── dgcnn_attn.cpython-39.pyc │ ├── grid_mask.cpython-36.pyc │ ├── grid_mask.cpython-37.pyc │ ├── grid_mask.cpython-39.pyc │ ├── petr_transformer.cpython-36.pyc │ ├── petr_transformer.cpython-37.pyc │ ├── petr_transformer.cpython-39.pyc │ ├── positional_encoding.cpython-36.pyc │ ├── positional_encoding.cpython-37.pyc │ └── positional_encoding.cpython-39.pyc │ ├── detr.py │ ├── detr3d_transformer.py │ ├── dgcnn_attn.py │ ├── grid_mask.py │ ├── petr_transformer.py │ └── positional_encoding.py ├── tools ├── analysis_tools │ ├── analyze_logs.py │ ├── benchmark.py │ └── get_flops.py ├── build-dataset.py ├── create_data.py ├── create_data.sh ├── data_converter │ ├── __init__.py │ ├── create_gt_database.py │ ├── indoor_converter.py │ ├── kitti_converter.py │ ├── kitti_data_utils.py │ ├── lyft_converter.py │ ├── lyft_data_fixer.py │ ├── map_api.py │ ├── nuimage_converter.py │ ├── nuscenes_converter.py │ ├── nuscenes_converter_seg.py │ ├── s3dis_data_utils.py │ ├── scannet_data_utils.py │ ├── sunrgbd_data_utils.py │ └── waymo_converter.py ├── dist_test.sh ├── dist_train.sh ├── generate_sweep_pkl.py ├── misc │ ├── browse_dataset.py │ ├── fuse_conv_bn.py │ ├── print_config.py │ └── visualize_results.py ├── model_converters │ ├── convert_votenet_checkpoints.py │ ├── publish_model.py │ └── regnet2mmdet.py ├── slurm_test.sh ├── slurm_train.sh ├── test.py └── train.py └── work_dirs └── example /README.md: 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