├── LICENSE ├── README.md ├── docker ├── Dockerfile ├── README.md └── cu116.Dockerfile ├── docs ├── CUSTOM_DATASET_TUTORIAL.md ├── DEMO.md ├── GETTING_STARTED.md ├── INSTALL.md ├── changelog.md ├── dataset_vs_model.png ├── demo.png ├── guidelines_of_approaches │ ├── bevfusion.md │ └── mppnet.md ├── model_framework.png ├── multiple_models_demo.png └── open_mmlab.png ├── pcdet ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── config.cpython-38.pyc │ ├── version.cpython-37.pyc │ └── version.cpython-38.pyc ├── config.py ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ └── dataset.cpython-38.pyc │ ├── argo2 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── argo2_dataset.cpython-38.pyc │ │ ├── argo2_dataset.py │ │ └── argo2_utils │ │ │ ├── __pycache__ │ │ │ ├── constants.cpython-38.pyc │ │ │ └── so3.cpython-38.pyc │ │ │ ├── constants.py │ │ │ └── so3.py │ ├── augmentor │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── augmentor_utils.cpython-38.pyc │ │ │ ├── data_augmentor.cpython-38.pyc │ │ │ └── database_sampler.cpython-38.pyc │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── custom │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── custom_dataset.cpython-38.pyc │ │ └── custom_dataset.py │ ├── dataset.py │ ├── dense │ │ ├── __pycache__ │ │ │ └── dense_dataset.cpython-38.pyc │ │ └── dense_dataset.py │ ├── kitti │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── kitti_dataset.cpython-38.pyc │ │ │ └── kitti_utils.cpython-38.pyc │ │ ├── kitti_dataset.py │ │ ├── kitti_dataset_new.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── eval.cpython-38.pyc │ │ │ │ ├── kitti_common.cpython-38.pyc │ │ │ │ └── rotate_iou.cpython-38.pyc │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ └── kitti_utils.py │ ├── lyft │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── lyft_dataset.cpython-38.pyc │ │ ├── lyft_dataset.py │ │ ├── lyft_mAP_eval │ │ │ ├── __init__.py │ │ │ └── lyft_eval.py │ │ └── lyft_utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── nuscenes_dataset.cpython-38.pyc │ │ │ └── nuscenes_utils.cpython-38.pyc │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── once │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── once_dataset.cpython-38.pyc │ │ │ └── once_toolkits.cpython-38.pyc │ │ ├── once_dataset.py │ │ ├── once_eval │ │ │ ├── eval_utils.py │ │ │ ├── evaluation.py │ │ │ └── iou_utils.py │ │ └── once_toolkits.py │ ├── pandaset │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── pandaset_dataset.cpython-38.pyc │ │ └── pandaset_dataset.py │ ├── processor │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── data_processor.cpython-38.pyc │ │ │ └── point_feature_encoder.cpython-38.pyc │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── waymo_dataset.cpython-38.pyc │ │ ├── waymo_dataset_mm.cpython-38.pyc │ │ └── waymo_eval.cpython-38.pyc │ │ ├── waymo_dataset.py │ │ ├── waymo_dataset_mm.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── base_bev_backbone.cpython-38.pyc │ │ ├── base_bev_backbone.py │ │ ├── fuser │ │ │ ├── SSLFusion.py │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── DSubmAFusion_Depth.cpython-38.pyc │ │ │ │ ├── SADUFusion.cpython-38.pyc │ │ │ │ ├── SAFusion.cpython-38.pyc │ │ │ │ ├── SAFusion_Depth.cpython-38.pyc │ │ │ │ ├── SAFusion_Depth_Dropout_pei.cpython-38.pyc │ │ │ │ ├── SDAFusion.cpython-38.pyc │ │ │ │ ├── SDAFusionv3.cpython-38.pyc │ │ │ │ ├── SDAFusionv4.cpython-38.pyc │ │ │ │ ├── SDAFusionv5.cpython-38.pyc │ │ │ │ ├── SGDUFusion.cpython-38.pyc │ │ │ │ ├── SSDUFusion.cpython-38.pyc │ │ │ │ ├── SSLFusion.cpython-38.pyc │ │ │ │ ├── SSLFusion_QKV.cpython-38.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── convfuser.cpython-38.pyc │ │ │ │ ├── simplefusion.cpython-38.pyc │ │ │ │ ├── voxelfusion.cpython-38.pyc │ │ │ │ └── xfusion.cpython-38.pyc │ │ │ └── convfuser.py │ │ ├── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── conv2d_collapse.cpython-38.pyc │ │ │ │ ├── height_compression.cpython-38.pyc │ │ │ │ └── pointpillar_scatter.cpython-38.pyc │ │ │ ├── conv2d_collapse.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ │ └── utils │ │ │ ├── __pycache__ │ │ │ ├── array_converter.cpython-38.pyc │ │ │ ├── coord_transform.cpython-38.pyc │ │ │ └── structures.cpython-38.pyc │ │ │ ├── array_converter.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── coord_transform.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ ├── points │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── base_points.cpython-37.pyc │ │ │ │ ├── base_points.cpython-38.pyc │ │ │ │ ├── cam_points.cpython-37.pyc │ │ │ │ ├── cam_points.cpython-38.pyc │ │ │ │ ├── depth_points.cpython-37.pyc │ │ │ │ ├── depth_points.cpython-38.pyc │ │ │ │ ├── lidar_points.cpython-37.pyc │ │ │ │ └── lidar_points.cpython-38.pyc │ │ │ ├── base_points.py │ │ │ ├── cam_points.py │ │ │ ├── depth_points.py │ │ │ └── lidar_points.py │ │ │ └── structures.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dsvt.cpython-38.pyc │ │ │ ├── pointnet2_backbone.cpython-38.pyc │ │ │ ├── qkv_backbone.cpython-38.pyc │ │ │ ├── spconv_backbone.cpython-38.pyc │ │ │ ├── spconv_backbone_2d.cpython-38.pyc │ │ │ ├── spconv_backbone_c2bg.cpython-38.pyc │ │ │ ├── spconv_backbone_focal.cpython-38.pyc │ │ │ ├── spconv_backbone_voxelnext.cpython-38.pyc │ │ │ ├── spconv_backbone_voxelnext2d.cpython-38.pyc │ │ │ ├── spconv_unet.cpython-38.pyc │ │ │ ├── sslfusion_backbone.cpython-38.pyc │ │ │ ├── sslfusion_resbackbone8x.cpython-38.pyc │ │ │ └── voxelresbackbone_c2bg.cpython-38.pyc │ │ ├── dsvt.py │ │ ├── focal_sparse_conv │ │ │ ├── SemanticSeg │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── basic_blocks.cpython-38.pyc │ │ │ │ │ ├── pyramid_ffn.cpython-38.pyc │ │ │ │ │ └── sem_deeplabv3.cpython-38.pyc │ │ │ │ ├── basic_blocks.py │ │ │ │ ├── pyramid_ffn.py │ │ │ │ └── sem_deeplabv3.py │ │ │ ├── __pycache__ │ │ │ │ ├── focal_sparse_conv.cpython-38.pyc │ │ │ │ └── focal_sparse_utils.cpython-38.pyc │ │ │ ├── focal_sparse_conv.py │ │ │ └── focal_sparse_utils.py │ │ ├── fusion │ │ │ ├── __pycache__ │ │ │ │ └── c2bfusion_spconv_backbone.cpython-38.pyc │ │ │ ├── c2bfusion_spconv_backbone.py │ │ │ └── c2bfusion_spconv_backbone_backup.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── voxel_set_abstraction.cpython-38.pyc │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_unet.py │ │ ├── sslfusion_backbone.py │ │ └── vfe │ │ │ ├── C2BFusion.py │ │ │ ├── CMFusion.py │ │ │ ├── CSFusion.py │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── C2BFusion.cpython-38.pyc │ │ │ ├── CMFusion.cpython-38.pyc │ │ │ ├── CSFusion.cpython-38.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── c2bg_utils.cpython-38.pyc │ │ │ ├── c2bg_vae.cpython-38.pyc │ │ │ ├── dynamic_mean_vfe.cpython-38.pyc │ │ │ ├── dynamic_pillar_vfe.cpython-38.pyc │ │ │ ├── dynamic_voxel_vfe.cpython-38.pyc │ │ │ ├── image_vfe.cpython-38.pyc │ │ │ ├── mean_vfe.cpython-38.pyc │ │ │ ├── pillar_vfe.cpython-38.pyc │ │ │ ├── vae.cpython-38.pyc │ │ │ ├── vae_2.cpython-38.pyc │ │ │ └── vfe_template.cpython-38.pyc │ │ │ ├── c2bg_utils.py │ │ │ ├── c2bg_vae.py │ │ │ ├── dynamic_mean_vfe.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── dynamic_voxel_vfe.py │ │ │ ├── image_vfe.py │ │ │ ├── image_vfe_modules │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ └── __init__.cpython-38.pyc │ │ │ ├── f2v │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── frustum_grid_generator.cpython-38.pyc │ │ │ │ │ ├── frustum_to_voxel.cpython-38.pyc │ │ │ │ │ └── sampler.cpython-38.pyc │ │ │ │ ├── frustum_grid_generator.py │ │ │ │ ├── frustum_to_voxel.py │ │ │ │ └── sampler.py │ │ │ └── ffn │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── depth_ffn.cpython-38.pyc │ │ │ │ ├── ddn │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── ddn_deeplabv3.cpython-38.pyc │ │ │ │ │ └── ddn_template.cpython-38.pyc │ │ │ │ ├── ddn_deeplabv3.py │ │ │ │ └── ddn_template.py │ │ │ │ ├── ddn_loss │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── balancer.cpython-38.pyc │ │ │ │ │ └── ddn_loss.cpython-38.pyc │ │ │ │ ├── balancer.py │ │ │ │ └── ddn_loss.py │ │ │ │ └── depth_ffn.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ ├── vae.py │ │ │ ├── vae_2.py │ │ │ └── vfe_template.py │ ├── backbones_image │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── resnet.cpython-38.pyc │ │ │ └── swin.cpython-38.pyc │ │ ├── img_neck │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── fpn.cpython-38.pyc │ │ │ │ └── generalized_lss.cpython-38.pyc │ │ │ ├── fpn.py │ │ │ └── generalized_lss.py │ │ ├── resnet.py │ │ ├── swin.py │ │ └── utils │ │ │ ├── __pycache__ │ │ │ └── reslayer.cpython-38.pyc │ │ │ └── reslayer.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── anchor_head_multi.cpython-38.pyc │ │ │ ├── anchor_head_single.cpython-38.pyc │ │ │ ├── anchor_head_template.cpython-38.pyc │ │ │ ├── center_head.cpython-38.pyc │ │ │ ├── point_head_box.cpython-38.pyc │ │ │ ├── point_head_simple.cpython-38.pyc │ │ │ ├── point_head_template.cpython-38.pyc │ │ │ ├── point_intra_part_head.cpython-38.pyc │ │ │ ├── transfusion_head.cpython-38.pyc │ │ │ └── voxelnext_head.cpython-38.pyc │ │ ├── anchor_head_multi.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 │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── anchor_generator.cpython-38.pyc │ │ │ │ ├── atss_target_assigner.cpython-38.pyc │ │ │ │ ├── axis_aligned_target_assigner.cpython-38.pyc │ │ │ │ └── hungarian_assigner.cpython-38.pyc │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ ├── axis_aligned_target_assigner.py │ │ │ └── hungarian_assigner.py │ │ ├── transfusion_head.py │ │ └── voxelnext_head.py │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── PartA2_net.cpython-38.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── bevfusion.cpython-38.pyc │ │ │ ├── caddn.cpython-38.pyc │ │ │ ├── centerpoint.cpython-38.pyc │ │ │ ├── detector3d_template.cpython-38.pyc │ │ │ ├── mppnet.cpython-38.pyc │ │ │ ├── mppnet_e2e.cpython-38.pyc │ │ │ ├── pillarnet.cpython-38.pyc │ │ │ ├── point_rcnn.cpython-38.pyc │ │ │ ├── pointpillar.cpython-38.pyc │ │ │ ├── pv_rcnn.cpython-38.pyc │ │ │ ├── pv_rcnn_multi_modal.cpython-38.pyc │ │ │ ├── pv_rcnn_plusplus.cpython-38.pyc │ │ │ ├── second_net.cpython-38.pyc │ │ │ ├── second_net_iou.cpython-38.pyc │ │ │ ├── second_net_iou_mm.cpython-38.pyc │ │ │ ├── second_net_mm.cpython-38.pyc │ │ │ ├── sgdfusion_nus.cpython-38.pyc │ │ │ ├── sslfusion_transhead.cpython-38.pyc │ │ │ ├── transfusion.cpython-38.pyc │ │ │ ├── voxel_rcnn.cpython-38.pyc │ │ │ ├── voxel_rcnn_multi_modal.cpython-38.pyc │ │ │ ├── voxelnext.cpython-38.pyc │ │ │ └── voxelnext_multi_modal.cpython-38.pyc │ │ ├── bevfusion.py │ │ ├── caddn.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── mppnet.py │ │ ├── mppnet_e2e.py │ │ ├── pillarnet.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── pv_rcnn_plusplus.py │ │ ├── second_net.py │ │ ├── second_net_iou.py │ │ ├── transfusion.py │ │ ├── voxel_rcnn.py │ │ ├── voxel_rcnn_multi_modal.py │ │ ├── voxelnext.py │ │ └── voxelnext_multi_modal.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── basic_block_2d.cpython-38.pyc │ │ │ ├── centernet_utils.cpython-38.pyc │ │ │ ├── dsvt_utils.cpython-38.pyc │ │ │ ├── model_nms_utils.cpython-38.pyc │ │ │ ├── mppnet_utils.cpython-38.pyc │ │ │ ├── swin_utils.cpython-38.pyc │ │ │ └── transfusion_utils.cpython-38.pyc │ │ ├── basic_block_2d.py │ │ ├── centernet_utils.py │ │ ├── dsvt_utils.py │ │ ├── model_nms_utils.py │ │ ├── mppnet_utils.py │ │ ├── swin_utils.py │ │ └── transfusion_utils.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── mppnet_head.cpython-38.pyc │ │ │ ├── mppnet_memory_bank_e2e.cpython-38.pyc │ │ │ ├── partA2_head.cpython-38.pyc │ │ │ ├── pointrcnn_head.cpython-38.pyc │ │ │ ├── pvrcnn_head.cpython-38.pyc │ │ │ ├── roi_head_template.cpython-38.pyc │ │ │ ├── second_head.cpython-38.pyc │ │ │ └── voxelrcnn_head.cpython-38.pyc │ │ ├── mppnet_head.py │ │ ├── mppnet_memory_bank_e2e.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ ├── second_head.py │ │ ├── target_assigner │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── proposal_target_layer.cpython-38.pyc │ │ │ └── proposal_target_layer.py │ │ └── voxelrcnn_head.py │ └── view_transforms │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── depth_lss.cpython-38.pyc │ │ └── depth_lss.py ├── ops │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ ├── bev_pool │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── bev_pool.cpython-38.pyc │ │ ├── bev_pool.py │ │ ├── bev_pool_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── ingroup_inds │ │ ├── __pycache__ │ │ │ └── ingroup_inds_op.cpython-38.pyc │ │ ├── ingroup_inds_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── ingroup_inds_op.py │ │ └── src │ │ │ ├── error.cuh │ │ │ ├── ingroup_inds.cpp │ │ │ └── ingroup_inds_kernel.cu │ ├── iou3d_nms │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── iou3d_nms_utils.cpython-38.pyc │ │ ├── iou3d_nms_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── 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 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── pointnet2_batch │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── pointnet2_modules.cpython-38.pyc │ │ │ │ └── pointnet2_utils.cpython-38.pyc │ │ │ ├── pointnet2_batch_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── 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 │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── pointnet2_modules.cpython-38.pyc │ │ │ ├── pointnet2_utils.cpython-38.pyc │ │ │ ├── voxel_pool_modules.cpython-38.pyc │ │ │ └── voxel_query_utils.cpython-38.pyc │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_stack_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── 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 │ │ │ ├── vector_pool.cpp │ │ │ ├── vector_pool_gpu.cu │ │ │ ├── vector_pool_gpu.h │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ │ │ ├── voxel_pool_modules.py │ │ │ └── voxel_query_utils.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── roiaware_pool3d_utils.cpython-38.pyc │ │ ├── roiaware_pool3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── roipoint_pool3d_utils.cpython-38.pyc │ │ ├── roipoint_pool3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu ├── utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── box_coder_utils.cpython-38.pyc │ │ ├── box_utils.cpython-38.pyc │ │ ├── calibration_kitti.cpython-38.pyc │ │ ├── common_utils.cpython-37.pyc │ │ ├── common_utils.cpython-38.pyc │ │ ├── commu_utils.cpython-38.pyc │ │ ├── loss_utils.cpython-38.pyc │ │ ├── object3d_kitti.cpython-38.pyc │ │ ├── spconv_utils.cpython-38.pyc │ │ └── transform_utils.cpython-38.pyc │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── loss_utils.py │ ├── object3d_custom.py │ ├── object3d_kitti.py │ ├── object3d_kitti_backup.py │ ├── spconv_utils.py │ └── transform_utils.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── __pycache__ ├── _init_path.cpython-311.pyc ├── _init_path.cpython-37.pyc ├── _init_path.cpython-38.pyc ├── test.cpython-37.pyc └── test.cpython-38.pyc ├── cfgs ├── argo2_models │ └── cbgs_voxel01_voxelnext.yaml ├── custom_models │ ├── pv_rcnn.yaml │ └── second.yaml ├── dataset_configs │ ├── argo2_dataset.yaml │ ├── custom_dataset.yaml │ ├── dense_dataset.yaml │ ├── kitti_dataset.yaml │ ├── lyft_dataset.yaml │ ├── once_dataset.yaml │ └── pandaset_dataset.yaml ├── dense │ └── voxel_rcnn_car_SSLFusion_4card_bs2_stf.yaml └── kitti │ └── voxel_rcnn_3class_SSLFusion.yaml ├── demo.py ├── eval_utils ├── __pycache__ │ └── eval_utils.cpython-38.pyc └── eval_utils.py ├── images └── Overview.png ├── process_tools └── create_integrated_database.py ├── scripts ├── build │ └── temp.linux-x86_64-3.8 │ │ └── build.ninja ├── dist_test.sh ├── dist_train.sh ├── nus_dbinfo_gen.sh ├── pcdet.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ ├── requires.txt │ └── top_level.txt ├── slurm_test_mgpu.sh ├── slurm_test_single.sh ├── slurm_train.sh ├── slurm_train_v2.sh └── torch_train.sh ├── test.py ├── train.py ├── train_utils ├── __pycache__ │ └── train_utils.cpython-38.pyc ├── optimization │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── fastai_optim.cpython-38.pyc │ │ └── learning_schedules_fastai.cpython-38.pyc │ ├── fastai_optim.py │ └── 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