├── README.md ├── assets └── vqmap_main_pipeline.jpg ├── vq_map_mono ├── config │ ├── data │ │ ├── argoverse.yaml │ │ ├── nuscenes.yaml │ │ ├── nuscenes_eval.yaml │ │ └── nuscenes_pretrain.yaml │ └── model │ │ ├── codebook.yaml │ │ ├── token_identity.yaml │ │ ├── tokenizer.yaml │ │ └── vq_map.yaml ├── data │ ├── nuscenes_infos_all_camera.pkl │ └── nuscenes_splits │ │ ├── train_roddick.txt │ │ └── val_roddick.txt ├── requirements.txt ├── src │ ├── data │ │ ├── argoverse │ │ │ ├── constant.py │ │ │ ├── data_factory.py │ │ │ └── dataset.py │ │ └── nuscenes │ │ │ ├── constant.py │ │ │ ├── data_factory.py │ │ │ └── dataset.py │ ├── model │ │ ├── cnn_vq.py │ │ ├── decoder.py │ │ ├── deformable_detr │ │ │ ├── __init__.py │ │ │ ├── backbone.py │ │ │ ├── deformable_transformer.py │ │ │ ├── misc.py │ │ │ └── position_encoding.py │ │ ├── encoder.py │ │ ├── img2token.py │ │ ├── img_backbone.py │ │ ├── loss_factory.py │ │ ├── model_factory.py │ │ ├── neck.py │ │ ├── norm_ema_quantizer.py │ │ ├── ops │ │ │ ├── functions │ │ │ │ ├── __init__.py │ │ │ │ └── ms_deform_attn_func.py │ │ │ ├── make.sh │ │ │ ├── modules │ │ │ │ ├── __init__.py │ │ │ │ └── ms_deform_attn.py │ │ │ ├── setup.py │ │ │ ├── src │ │ │ │ ├── cpu │ │ │ │ │ ├── ms_deform_attn_cpu.cpp │ │ │ │ │ └── ms_deform_attn_cpu.h │ │ │ │ ├── cuda │ │ │ │ │ ├── ms_deform_attn_cuda.cu │ │ │ │ │ ├── ms_deform_attn_cuda.h │ │ │ │ │ └── ms_deform_im2col_cuda.cuh │ │ │ │ ├── ms_deform_attn.h │ │ │ │ └── vision.cpp │ │ │ └── test.py │ │ ├── pos_emb.py │ │ ├── token_encoder.py │ │ └── vq_bev_seg.py │ └── utils │ │ ├── checkpoints.py │ │ ├── config.py │ │ ├── confusion.py │ │ ├── iou.py │ │ └── optimizer.py ├── test.py ├── train_cnn_vq.py └── train_vq_map.py └── vq_map_sur ├── LICENSE ├── configs ├── default.yaml └── nuscenes │ ├── default.yaml │ ├── seg │ └── vq-map-512d8l.yaml │ └── vqvae │ └── codebook128x256.yaml ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── hungarian_assigner.py │ │ │ └── hungarian_assigner_3d.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── nms_free_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ └── transfusion_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.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 │ │ └── util.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ └── box3d_nms.py │ ├── utils │ │ ├── __init__.py │ │ ├── gaussian.py │ │ └── visualize.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── dataset_wrappers.py │ ├── nuscenes_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── loading_utils.py │ │ ├── transforms_3d.py │ │ └── utils.py │ └── utils.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── dla.py │ │ ├── pillar_encoder.py │ │ ├── resnet.py │ │ ├── second.py │ │ ├── sparse_encoder.py │ │ └── vovnet.py │ ├── builder.py │ ├── codebook │ │ ├── __init__.py │ │ └── norm_eam_quantizer.py │ ├── decoder │ │ ├── __init__.py │ │ └── cnn_decoder.py │ ├── encoder │ │ ├── __init__.py │ │ └── cnn_encoder.py │ ├── fusers │ │ ├── __init__.py │ │ ├── add.py │ │ ├── cat.py │ │ └── conv.py │ ├── fusion_models │ │ ├── __init__.py │ │ ├── base.py │ │ ├── bevfusion.py │ │ └── vqbev.py │ ├── heads │ │ ├── __init__.py │ │ ├── bbox │ │ │ ├── __init__.py │ │ │ ├── centerpoint.py │ │ │ └── transfusion.py │ │ ├── segm │ │ │ ├── __init__.py │ │ │ └── vanilla.py │ │ └── token │ │ │ ├── __init__.py │ │ │ ├── mlp.py │ │ │ └── token_loss.py │ ├── losses │ │ └── __init__.py │ ├── necks │ │ ├── __init__.py │ │ ├── detectron_fpn.py │ │ ├── generalized_lss.py │ │ ├── lss.py │ │ └── second.py │ ├── token_encoder │ │ ├── __init__.py │ │ ├── token_encoder.py │ │ └── token_transformer.py │ ├── utils │ │ ├── __init__.py │ │ ├── flops_counter.py │ │ ├── transform.py │ │ ├── transformer.py │ │ └── utils_cnn.py │ ├── vqdae │ │ ├── __init__.py │ │ ├── base.py │ │ └── token_dae.py │ ├── vqvae │ │ ├── __init__.py │ │ └── cnn_vqvae.py │ └── vtransforms │ │ ├── __init__.py │ │ ├── base.py │ │ ├── deformable_decoder_v2.py │ │ ├── depth_lss.py │ │ └── lss.py ├── ops │ ├── __init__.py │ ├── ball_query │ │ ├── __init__.py │ │ ├── ball_query.py │ │ ├── ball_query_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ └── ball_query_cuda.cu │ ├── bev_pool │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ ├── bev_pool_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── furthest_point_sample │ │ ├── __init__.py │ │ ├── furthest_point_sample.py │ │ ├── furthest_point_sample_ext.cpython-38-x86_64-linux-gnu.so │ │ ├── points_sampler.py │ │ ├── src │ │ │ ├── furthest_point_sample.cpp │ │ │ └── furthest_point_sample_cuda.cu │ │ └── utils.py │ ├── gather_points │ │ ├── __init__.py │ │ ├── gather_points.py │ │ ├── gather_points_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── gather_points.cpp │ │ │ └── gather_points_cuda.cu │ ├── group_points │ │ ├── __init__.py │ │ ├── group_points.py │ │ ├── group_points_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── group_points.cpp │ │ │ └── group_points_cuda.cu │ ├── interpolate │ │ ├── __init__.py │ │ ├── interpolate_ext.cpython-38-x86_64-linux-gnu.so │ │ ├── src │ │ │ ├── interpolate.cpp │ │ │ ├── three_interpolate_cuda.cu │ │ │ └── three_nn_cuda.cu │ │ ├── three_interpolate.py │ │ └── three_nn.py │ ├── iou3d │ │ ├── __init__.py │ │ ├── iou3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── iou3d_utils.py │ │ └── src │ │ │ ├── iou3d.cpp │ │ │ └── iou3d_kernel.cu │ ├── knn │ │ ├── __init__.py │ │ ├── knn.py │ │ ├── knn_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── knn.cpp │ │ │ └── knn_cuda.cu │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── assign_score.py │ │ ├── assign_score_withk_ext.cpython-38-x86_64-linux-gnu.so │ │ ├── paconv.py │ │ ├── src │ │ │ ├── assign_score_withk.cpp │ │ │ └── assign_score_withk_cuda.cu │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── points_in_boxes.py │ │ ├── roiaware_pool3d.py │ │ ├── roiaware_pool3d_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── points_in_boxes_cpu.cpp │ │ │ ├── points_in_boxes_cuda.cu │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ ├── sparse_block.py │ ├── spconv │ │ ├── __init__.py │ │ ├── conv.py │ │ ├── functional.py │ │ ├── include │ │ │ ├── paramsgrid.h │ │ │ ├── prettyprint.h │ │ │ ├── pybind11_utils.h │ │ │ ├── spconv │ │ │ │ ├── fused_spconv_ops.h │ │ │ │ ├── geometry.h │ │ │ │ ├── indice.cu.h │ │ │ │ ├── indice.h │ │ │ │ ├── maxpool.h │ │ │ │ ├── mp_helper.h │ │ │ │ ├── point2voxel.h │ │ │ │ ├── pool_ops.h │ │ │ │ ├── reordering.cu.h │ │ │ │ ├── reordering.h │ │ │ │ └── spconv_ops.h │ │ │ ├── tensorview │ │ │ │ ├── helper_kernel.cu.h │ │ │ │ ├── helper_launch.h │ │ │ │ └── tensorview.h │ │ │ ├── torch_utils.h │ │ │ └── utility │ │ │ │ └── timer.h │ │ ├── modules.py │ │ ├── ops.py │ │ ├── pool.py │ │ ├── sparse_conv_ext.cpython-38-x86_64-linux-gnu.so │ │ ├── src │ │ │ ├── all.cc │ │ │ ├── indice.cc │ │ │ ├── indice_cuda.cu │ │ │ ├── maxpool.cc │ │ │ ├── maxpool_cuda.cu │ │ │ ├── reordering.cc │ │ │ └── reordering_cuda.cu │ │ ├── structure.py │ │ └── test_utils.py │ └── voxel │ │ ├── __init__.py │ │ ├── scatter_points.py │ │ ├── src │ │ ├── scatter_points_cpu.cpp │ │ ├── scatter_points_cuda.cu │ │ ├── voxelization.cpp │ │ ├── voxelization.h │ │ ├── voxelization_cpu.cpp │ │ └── voxelization_cuda.cu │ │ ├── voxel_layer.cpython-38-x86_64-linux-gnu.so │ │ └── voxelize.py ├── runner │ ├── __init__.py │ └── epoch_based_runner.py └── utils │ ├── __init__.py │ ├── config.py │ ├── logger.py │ └── syncbn.py ├── other └── ops │ ├── functions │ ├── __init__.py │ └── ms_deform_attn_func.py │ ├── make.sh │ ├── modules │ ├── __init__.py │ └── ms_deform_attn.py │ ├── setup.py │ ├── src │ ├── cpu │ │ ├── ms_deform_attn_cpu.cpp │ │ └── ms_deform_attn_cpu.h │ ├── cuda │ │ ├── ms_deform_attn_cuda.cu │ │ 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