├── .gitignore ├── README.md ├── assets ├── flow_loss_curve.png ├── framework.png ├── logo.png ├── occ_loss_curve.png ├── performance.png ├── render1.jpg └── render2.jpg ├── docs ├── install.md ├── prepare_datasets.md └── start.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 │ │ └── util.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 │ ├── hook │ │ ├── __init__.py │ │ ├── ema.py │ │ ├── sequentialsontrol.py │ │ └── utils.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 │ ├── dataset_wrappers.py │ ├── nuscenes_dataset.py │ ├── nuscenes_occ_dataset.py │ ├── occ_metrics.py │ ├── occupancy_eval.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── samplers │ │ ├── __init__.py │ │ ├── d_sampler.py │ │ └── infinite_group_each_sample_in_batch_sampler.py │ └── utils.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── convnext.py │ │ ├── eva_vit.py │ │ ├── internv2_impl16.py │ │ ├── load.py │ │ └── resnet.py │ ├── builder.py │ ├── fbbev │ │ ├── __init__.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ └── fbocc.py │ │ ├── gaussian │ │ │ ├── __init__.py │ │ │ ├── gaussian_head.py │ │ │ ├── gaussian_head_gsplat.py │ │ │ └── ops.py │ │ ├── heads │ │ │ ├── __init__.py │ │ │ ├── occ_flow_head.py │ │ │ └── occupancy_head.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── depth_net.py │ │ │ ├── fpn3d.py │ │ │ ├── frpn.py │ │ │ ├── occ_loss_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── focal_loss.py │ │ │ │ ├── lovasz_softmax.py │ │ │ │ ├── nusc_param.py │ │ │ │ └── semkitti.py │ │ │ └── resnet3d.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── bricks.py │ │ │ ├── draw_bbox.py │ │ │ ├── eval_hook.py │ │ │ └── wechat_logger.py │ │ └── view_transformation │ │ │ ├── __init__.py │ │ │ ├── backward_projection │ │ │ ├── __init__.py │ │ │ ├── backward_projection.py │ │ │ └── bevformer_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── bevformer.py │ │ │ │ ├── bevformer_encoder.py │ │ │ │ ├── custom_base_transformer_layer.py │ │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ │ ├── positional_encoding.py │ │ │ │ └── spatial_cross_attention_depth.py │ │ │ └── forward_projection │ │ │ ├── __init__.py │ │ │ └── view_transformer.py │ ├── necks │ │ ├── __init__.py │ │ ├── fpn.py │ │ ├── lss_fpn.py │ │ └── view_transformer.py │ └── utils │ │ ├── __init__.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── handle_objs.py │ │ ├── layer_decay_optimizer_constructor.py │ │ └── mlp.py ├── ops │ ├── __init__.py │ └── bev_pool_v2 │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ ├── bev_pool.cpp │ │ └── bev_pool_cuda.cu ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── layer_decay_optimizer_constructor.py │ ├── logger.py │ ├── misc.py │ └── setup_env.py └── version.py ├── occupancy_configs ├── _base_ │ ├── datasets │ │ └── nus-3d.py │ ├── default_runtime.py │ ├── init.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 └── voxelsplat │ ├── fbocc-flow.py │ ├── voxelsplat-eva.py │ ├── voxelsplat-intern.py │ └── voxelsplat-r50.py ├── ops ├── functions │ ├── __init__.py │ └── ms_deform_attn_func.py ├── modules │ ├── __init__.py │ └── ms_deform_attn_zq.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 ├── ray_iou ├── __init__.py ├── ego_pose_extractor.py ├── metric.py ├── metric2.py ├── metric_iou.py ├── ray.py └── ray_casting.py ├── requirements.txt ├── setup.cfg ├── setup.py ├── shell ├── evaluate.sh ├── test.sh └── train.sh └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py ├── benchmark_sequential.py ├── benchmark_trt.py ├── benchmark_view_transformer.py ├── create_video.py ├── generate_mask_based_on_lidar_points.py ├── get_flops.py ├── occupancy_cbgs.py ├── vis.py ├── vis_occupancy.py └── visual.py ├── create_data.py ├── create_data.sh ├── create_data_bevdet.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 ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py └── waymo_converter.py ├── dist_test.sh ├── dist_train.sh ├── misc ├── browse_dataset.py ├── download.sh ├── fuse_conv_bn.py ├── print_config.py ├── tmp.txt └── visualize_results.py ├── model_converters ├── convert_h3dnet_checkpoints.py ├── convert_votenet_checkpoints.py ├── publish_model.py └── regnet2mmdet.py ├── slurm_test.sh ├── slurm_train.sh ├── test.py ├── train.py ├── update_data_coords.py └── update_data_coords.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZZY816/VoxelSplat/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: 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