├── CITATION.cff ├── LICENSE ├── MANIFEST.in ├── README.md ├── configs ├── 3dssd │ ├── 3dssd_4x4_kitti-3d-car.py │ ├── README.md │ └── metafile.yml ├── __init__.py ├── _base_ │ ├── datasets │ │ ├── coco_instance.py │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.py │ │ ├── kitti-mono3d.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 │ │ ├── dgcnn.py │ │ ├── fcaf3d.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 │ │ ├── pgd.py │ │ ├── point_rcnn.py │ │ ├── pointnet2_msg.py │ │ ├── pointnet2_ssg.py │ │ ├── smoke.py │ │ └── votenet.py │ └── schedules │ │ ├── cosine.py │ │ ├── cyclic_20e.py │ │ ├── cyclic_40e.py │ │ ├── mmdet_schedule_1x.py │ │ ├── schedule_2x.py │ │ ├── schedule_3x.py │ │ ├── seg_cosine_100e.py │ │ ├── seg_cosine_150e.py │ │ ├── seg_cosine_200e.py │ │ └── seg_cosine_50e.py ├── benchmark │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py ├── centerpoint │ ├── README.md │ ├── centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus_novelo.py │ ├── centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ └── metafile.yml ├── dgcnn │ ├── README.md │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area1.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area2.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area3.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area4.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area5.py │ ├── dgcnn_32x4_cosine_100e_s3dis_seg-3d-13class-area6.py │ └── metafile.yml ├── dynamic_voxelization │ ├── README.md │ ├── dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ ├── dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py │ ├── dv_second_secfpn_6x8_80e_kitti-3d-car.py │ └── metafile.yml ├── fcaf3d │ ├── README.md │ ├── fcaf3d_8x2_s3dis-3d-5class.py │ ├── fcaf3d_8x2_scannet-3d-18class.py │ ├── fcaf3d_8x2_sunrgbd-3d-10class.py │ └── metafile.yml ├── fcos3d │ ├── README.md │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune.py │ └── metafile.yml ├── free_anchor │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ └── metafile.yml ├── groupfree3d │ ├── README.md │ ├── groupfree3d_8x4_scannet-3d-18class-L12-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-L6-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O512.py │ └── metafile.yml ├── h3dnet │ ├── README.md │ ├── h3dnet_3x8_scannet-3d-18class.py │ └── metafile.yml ├── imvotenet │ ├── README.md │ ├── imvotenet_faster_rcnn_r50_fpn_2x4_sunrgbd-3d-10class.py │ ├── imvotenet_stage2_16x8_sunrgbd-3d-10class.py │ └── metafile.yml ├── imvoxelnet │ ├── README.md │ ├── imvoxelnet_4x2_sunrgbd-3d-10class.py │ ├── imvoxelnet_4x8_kitti-3d-car.py │ └── metafile.yml ├── monoflex │ ├── README.md │ └── metafile.yml ├── mvxnet │ ├── README.md │ ├── dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py │ └── metafile.yml ├── nuimages │ ├── README.md │ ├── cascade_mask_rcnn_r101_fpn_1x_nuim.py │ ├── cascade_mask_rcnn_r50_fpn_1x_nuim.py │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_1x_nuim.py │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim.py │ ├── cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ ├── htc_r50_fpn_1x_nuim.py │ ├── htc_r50_fpn_coco-20e_1x_nuim.py │ ├── htc_r50_fpn_coco-20e_20e_nuim.py │ ├── htc_without_semantic_r50_fpn_1x_nuim.py │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim.py │ ├── mask_rcnn_r101_fpn_1x_nuim.py │ ├── mask_rcnn_r50_caffe_fpn_1x_nuim.py │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ ├── mask_rcnn_r50_fpn_1x_nuim.py │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nuim.py │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ ├── mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ └── metafile.yml ├── paconv │ ├── README.md │ ├── metafile.yml │ ├── paconv_cuda_ssg_8x8_cosine_200e_s3dis_seg-3d-13class.py │ └── paconv_ssg_8x8_cosine_150e_s3dis_seg-3d-13class.py ├── parta2 │ ├── README.md │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py │ └── metafile.yml ├── pgd │ ├── README.md │ ├── metafile.yml │ ├── pgd_r101_caffe_fpn_gn-head_2x16_1x_nus-mono3d.py │ ├── pgd_r101_caffe_fpn_gn-head_2x16_1x_nus-mono3d_finetune.py │ ├── pgd_r101_caffe_fpn_gn-head_2x16_2x_nus-mono3d.py │ ├── pgd_r101_caffe_fpn_gn-head_2x16_2x_nus-mono3d_finetune.py │ └── pgd_r101_caffe_fpn_gn-head_3x4_4x_kitti-mono3d.py ├── point_rcnn │ ├── README.md │ ├── metafile.yml │ └── point_rcnn_2x8_kitti-3d-3classes.py ├── pointnet2 │ ├── README.md │ ├── metafile.yml │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py ├── pointpillars │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py │ └── metafile.yml ├── regnet │ ├── README.md │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ └── metafile.yml ├── sassd │ ├── README.md │ └── sassd_6x8_80e_kitti-3d-3class.py ├── second │ ├── README.md │ ├── hv_second_secfpn_6x8_80e_kitti-3d-3class.py │ ├── hv_second_secfpn_6x8_80e_kitti-3d-car.py │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py │ ├── hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ └── metafile.yml ├── smoke │ ├── README.md │ ├── metafile.yml │ └── smoke_dla34_pytorch_dlaneck_gn-all_8x4_6x_kitti-mono3d.py ├── ssn │ ├── README.md │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py │ └── metafile.yml └── votenet │ ├── README.md │ ├── metafile.yml │ ├── votenet_16x8_sunrgbd-3d-10class.py │ ├── votenet_8x8_scannet-3d-18class.py │ └── votenet_iouloss_8x8_scannet-3d-18class.py ├── data ├── lyft │ ├── test.txt │ ├── train.txt │ └── val.txt ├── s3dis │ ├── README.md │ ├── collect_indoor3d_data.py │ ├── indoor3d_util.py │ └── meta_data │ │ ├── anno_paths.txt │ │ └── class_names.txt ├── scannet │ ├── README.md │ ├── batch_load_scannet_data.py │ ├── extract_posed_images.py │ ├── load_scannet_data.py │ ├── meta_data │ │ ├── scannet_means.npz │ │ ├── scannet_train.txt │ │ ├── scannetv2-labels.combined.tsv │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ └── scannetv2_val.txt │ └── scannet_utils.py └── sunrgbd │ ├── README.md │ └── matlab │ ├── extract_rgbd_data_v1.m │ ├── extract_rgbd_data_v2.m │ └── extract_split.m ├── demo ├── data │ ├── kitti │ │ ├── kitti_000008.bin │ │ ├── kitti_000008.png │ │ └── kitti_000008_infos.pkl │ ├── nuscenes │ │ ├── n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402927637525.jpg │ │ └── n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402927637525_mono3d.coco.json │ ├── scannet │ │ └── scene0000_00.bin │ └── sunrgbd │ │ ├── sunrgbd_000017.bin │ │ ├── sunrgbd_000017.jpg │ │ └── sunrgbd_000017_infos.pkl ├── inference_demo.ipynb ├── mono_det_demo.py ├── multi_modality_demo.py ├── pc_seg_demo.py └── pcd_demo.py ├── docker ├── Dockerfile └── serve │ ├── Dockerfile │ ├── config.properties │ └── entrypoint.sh ├── docs ├── en │ ├── 1_exist_data_model.md │ ├── 2_new_data_model.md │ ├── Makefile │ ├── _static │ │ ├── css │ │ │ └── readthedocs.css │ │ └── image │ │ │ └── mmdet3d-logo.png │ ├── api.rst │ ├── benchmarks.md │ ├── changelog.md │ ├── compatibility.md │ ├── conf.py │ ├── data_preparation.md │ ├── datasets │ │ ├── index.rst │ │ ├── kitti_det.md │ │ ├── lyft_det.md │ │ ├── nuscenes_det.md │ │ ├── s3dis_sem_seg.md │ │ ├── scannet_det.md │ │ ├── scannet_sem_seg.md │ │ ├── sunrgbd_det.md │ │ └── waymo_det.md │ ├── demo.md │ ├── faq.md │ ├── getting_started.md │ ├── index.rst │ ├── make.bat │ ├── model_zoo.md │ ├── stat.py │ ├── supported_tasks │ │ ├── index.rst │ │ ├── lidar_det3d.md │ │ ├── lidar_sem_seg3d.md │ │ └── vision_det3d.md │ ├── switch_language.md │ ├── tutorials │ │ ├── backends_support.md │ │ ├── config.md │ │ ├── coord_sys_tutorial.md │ │ ├── customize_dataset.md │ │ ├── customize_models.md │ │ ├── customize_runtime.md │ │ ├── data_pipeline.md │ │ ├── index.rst │ │ ├── model_deployment.md │ │ └── pure_point_cloud_dataset.md │ └── useful_tools.md └── zh_cn │ ├── 1_exist_data_model.md │ ├── 2_new_data_model.md │ ├── Makefile │ ├── _static │ ├── css │ │ └── readthedocs.css │ └── image │ │ └── mmdet3d-logo.png │ ├── api.rst │ ├── benchmarks.md │ ├── changelog.md │ ├── compatibility.md │ ├── conf.py │ ├── data_preparation.md │ ├── datasets │ ├── index.rst │ ├── kitti_det.md │ ├── lyft_det.md │ ├── nuscenes_det.md │ ├── s3dis_sem_seg.md │ ├── scannet_det.md │ ├── scannet_sem_seg.md │ ├── sunrgbd_det.md │ └── waymo_det.md │ ├── demo.md │ ├── faq.md │ ├── getting_started.md │ ├── index.rst │ ├── make.bat │ ├── model_zoo.md │ ├── stat.py │ ├── supported_tasks │ ├── index.rst │ ├── lidar_det3d.md │ ├── lidar_sem_seg3d.md │ └── vision_det3d.md │ ├── switch_language.md │ ├── tutorials │ ├── backends_support.md │ ├── config.md │ ├── coord_sys_tutorial.md │ ├── customize_dataset.md │ ├── customize_models.md │ ├── customize_runtime.md │ ├── data_pipeline.md │ ├── index.rst │ └── model_deployment.md │ └── useful_tools.md ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── fcos3d_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── monoflex_bbox_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ ├── pgd_bbox_coder.py │ │ │ ├── point_xyzwhlr_bbox_coder.py │ │ │ └── smoke_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_kitti_to_waymo.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── array_converter.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── custom_3d_seg.py │ ├── dataset_wrappers.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── kitti_mono_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── nuscenes_mono_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── s3dis_dataset.py │ ├── scannet_dataset.py │ ├── semantickitti_dataset.py │ ├── sunrgbd_dataset.py │ ├── utils.py │ └── waymo_dataset.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── mink_resnet.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ └── second.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── centerpoint_head.py │ │ ├── fcaf3d_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── imvoxel_head.py │ │ ├── monoflex_head.py │ │ ├── parta2_rpn_head.py │ │ ├── pgd_head.py │ │ ├── point_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── smoke_mono3d_head.py │ │ ├── ssd_3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── centerpoint.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── point_rcnn.py │ │ ├── sassd.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── fusion_layers │ │ ├── __init__.py │ │ ├── coord_transform.py │ │ ├── point_fusion.py │ │ └── vote_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── multibin_loss.py │ │ ├── paconv_regularization_loss.py │ │ ├── rotated_iou_loss.py │ │ └── uncertain_smooth_l1_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── edge_fusion_module.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── necks │ │ ├── __init__.py │ │ ├── dla_neck.py │ │ ├── imvoxel_neck.py │ │ ├── pointnet2_fp_neck.py │ │ ├── second_fpn.py │ │ └── view_transformer.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── h3d_bbox_head.py │ │ │ ├── parta2_bbox_head.py │ │ │ └── point_rcnn_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ ├── point_rcnn_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── single_roiaware_extractor.py │ │ │ └── single_roipoint_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── base.py │ │ └── encoder_decoder.py │ ├── utils │ │ ├── __init__.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── handle_objs.py │ │ └── mlp.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── ops │ ├── __init__.py │ ├── dgcnn_modules │ │ ├── __init__.py │ │ ├── dgcnn_fa_module.py │ │ ├── dgcnn_fp_module.py │ │ └── dgcnn_gf_module.py │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── paconv.py │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── sparse_block.py │ └── spconv │ │ ├── __init__.py │ │ └── overwrite_spconv │ │ ├── __init__.py │ │ └── write_spconv2.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── logger.py │ ├── misc.py │ └── setup_env.py └── version.py ├── model-index.yml ├── plugin └── futr3d │ ├── __init__.py │ ├── configs │ ├── cam_radar │ │ └── cam_res101_radar.py │ ├── lidar_cam │ │ ├── lidar_0075v_cam_res101.py │ │ └── lidar_0075v_cam_vov.py │ └── lidar_only │ │ ├── lidar_0075v_900q.py │ │ ├── lidar_0075v_900q_1b.py │ │ └── lidar_0075v_900q_4b.py │ ├── core │ ├── __init__.py │ ├── assigners │ │ ├── __init__.py │ │ └── hungarian_assigner_3d.py │ ├── bbox │ │ └── utils.py │ ├── hooks │ │ ├── __init__.py │ │ └── fade_hook.py │ ├── match_costs │ │ ├── __init__.py │ │ └── match_cost.py │ └── points │ │ ├── __init__.py │ │ └── radar_points.py │ ├── datasets │ ├── __init__.py │ ├── loading.py │ └── transform_3d.py │ └── models │ ├── __init__.py │ ├── backbone │ ├── __init__.py │ ├── radar_encoder.py │ └── vovnet.py │ ├── detectors │ ├── __init__.py │ └── futr3d.py │ ├── head │ ├── __init__.py │ └── futr3d_head.py │ └── utils │ ├── __init__.py │ ├── futr3d_attention.py │ ├── futr3d_transformer.py │ └── grid_mask.py ├── projects └── example_project │ ├── README.md │ ├── configs │ └── fcos3d_dummy-resnet_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ └── dummy │ ├── __init__.py │ └── dummy_resnet.py ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── setup.cfg ├── setup.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── create_data.py ├── create_data.sh ├── data_converter ├── __init__.py ├── create_gt_database.py ├── 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