├── .gitignore ├── .gitmodules ├── README.md ├── docs ├── dataset.md ├── figs │ └── network.png ├── install.md └── trainval.md ├── environment.yaml ├── environment_wo_solofusion.yaml ├── projects ├── __init__.py ├── configs │ ├── __init__.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 │ ├── cvtocc │ │ ├── bevformer_nuscenes.py │ │ ├── bevformer_waymo.py │ │ ├── bevformer_wotsa_nuscenes.py │ │ ├── bevformer_wotsa_waymo.py │ │ ├── bevformer_wrapconcat_waymo.py │ │ ├── cvtocc_nuscenes.py │ │ ├── cvtocc_waymo.py │ │ └── solofusion_waymo.py │ └── datasets │ │ ├── custom_lyft-3d.py │ │ ├── custom_nus-3d.py │ │ └── custom_waymo-3d.py └── mmdet3d_plugin │ ├── __init__.py │ ├── bevformer │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── mmdet_train.py │ │ ├── test.py │ │ ├── test_occ.py │ │ └── train.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── occformer_head.py │ │ ├── occformer_head_waymo.py │ │ └── solo_head_occ_waymo.py │ ├── detectors │ │ ├── __init__.py │ │ ├── bevdet_solo.py │ │ ├── centerpoint_solo.py │ │ ├── occformer.py │ │ ├── occformer_waymo.py │ │ └── solofusion.py │ ├── hooks │ │ ├── __init__.py │ │ └── custom_hooks.py │ ├── loss │ │ ├── __init__.py │ │ ├── lovasz_losses.py │ │ └── ohem.py │ ├── modules │ │ ├── __init__.py │ │ ├── concat_conv_module.py │ │ ├── cost_volume_module.py │ │ ├── custom_base_transformer_layer.py │ │ ├── decode_head.py │ │ ├── decoder.py │ │ ├── dts_transformer.py │ │ ├── encoder.py │ │ ├── encoder_3d.py │ │ ├── encoder_3d_conv.py │ │ ├── encoder_waymo.py │ │ ├── hybrid_transformer.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── occ_conv_decoder.py │ │ ├── occ_conv_decoder_3d.py │ │ ├── occ_transformer.py │ │ ├── occ_transformer_waymo.py │ │ ├── pyramid_transformer.py │ │ ├── residual_block_3d.py │ │ ├── resnet.py │ │ ├── spatial_cross_attention.py │ │ ├── spatial_cross_attention_3d.py │ │ ├── temporal_self_attention.py │ │ ├── temporal_self_attention_3d.py │ │ ├── transformer.py │ │ ├── unet.py │ │ ├── view_transformer.py │ │ ├── view_transformer_solo.py │ │ ├── vol_encoder.py │ │ └── voxel_encoder.py │ └── runner │ │ ├── __init__.py │ │ └── epoch_based_runner.py │ ├── core │ ├── bbox │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner_3d.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ └── nms_free_coder.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ └── util.py │ └── evaluation │ │ ├── __init__.py │ │ ├── eval_hooks.py │ │ └── kitti2waymo.py │ ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── cdist.py │ ├── nuscenes_dataset.py │ ├── nuscenes_eval.py │ ├── nuscenes_mono_dataset.py │ ├── nuscenes_occ.py │ ├── occ_metrics.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formating.py │ │ ├── loading.py │ │ └── transform_3d.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ ├── my_group_batch_sampler.py │ │ ├── nuscene_dataset_detail.py │ │ ├── sampler.py │ │ └── waymo_dataset_detail.py │ ├── waymo_temporal_zlt.py │ └── zltwaymo.py │ └── models │ ├── backbones │ ├── __init__.py │ ├── bevdetresnet.py │ └── vovnet.py │ ├── hooks │ ├── __init__.py │ └── hooks.py │ ├── necks │ ├── __init__.py │ ├── fpn.py │ ├── second_fpn.py │ └── view_transformer.py │ ├── opt │ ├── __init__.py │ └── adamw.py │ └── utils │ ├── __init__.py │ ├── bricks.py │ ├── grid_mask.py │ ├── position_embedding.py │ ├── positional_encoding.py │ └── visual.py ├── requirements.txt └── tools ├── README.md ├── __init__.py ├── analysis_tools ├── __init__.py ├── analyze_logs.py ├── benchmark.py ├── get_params.py └── visual.py ├── condition_benchmark.py ├── create_data.py ├── 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 ├── nuimage_converter.py ├── nuscenes_converter.py ├── nuscenes_occ_converter.py ├── nuscenes_occ_converter_own.py ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py ├── test_nus.py └── waymo_converter.py ├── dist_test.sh ├── dist_train.sh ├── fp16 ├── dist_train.sh └── train.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 ├── test_data_pipeline.py ├── train.py └── vis_tools ├── README.md ├── __init__.py ├── utils.py ├── vis_occ.py ├── vis_pose.py ├── vis_ref.py ├── vis_ref_dataloader.py └── 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