├── .gitignore ├── LICENSE ├── README.md ├── baselines ├── README.md ├── configs │ ├── argoverse.yaml │ └── lyft.yaml ├── data │ ├── apolloscape.py │ ├── argoverse.py │ └── lyft.py ├── eval.py ├── models │ ├── __init__.py │ ├── conv2d.py │ ├── conv3d.py │ └── conv_lstm.py ├── run_eval.sh ├── run_eval_slurm.sh ├── run_train.sh ├── run_train_slurm.sh └── train.py ├── data_processing ├── apolloscape │ ├── convert_apollo.py │ ├── convert_apollo_batch.py │ ├── dataset.py │ ├── geometry_utils.py │ ├── requirements.txt │ ├── run_convert.sh │ └── run_convert_slurm.sh ├── argoverse │ ├── readme.md │ ├── run_transform.sh │ ├── run_transform_slurm.sh │ ├── transform.py │ └── transform_batch.py ├── lyft │ ├── README.md │ ├── config │ │ └── class_map.yaml │ ├── convert_lyft.py │ ├── convert_lyft_batch.py │ ├── requirements.txt │ ├── run_convert_lyft.sh │ ├── run_convert_lyft_slurm.sh │ └── utils │ │ ├── convert_utils.py │ │ ├── count_fc.py │ │ └── geometry_utils.py ├── nuscenes │ ├── README.md │ ├── config │ │ └── class_map.yaml │ ├── convert_nuscenes.py │ ├── requirements.txt │ ├── run_convert_nusc.sh │ ├── run_convert_nusc_slurm.sh │ └── utils │ │ ├── convert_utils.py │ │ ├── count_fc.py │ │ └── geometry_utils.py ├── raymodel │ ├── ray_model.py │ ├── run_ray_model.sh │ ├── run_ray_model_slurm.sh │ └── utils │ │ └── ray_traversal.py ├── visualization │ ├── README.md │ ├── auxiliary │ │ ├── SSCDataset.py │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── eval_np.py │ │ ├── filelist2files.py │ │ ├── glow.py │ │ ├── laserscan.py │ │ ├── laserscanvis.py │ │ ├── np_ioueval.py │ │ ├── shaders │ │ │ ├── check_uniforms.vert │ │ │ ├── draw_pose.geom │ │ │ ├── draw_voxels.frag │ │ │ ├── draw_voxels.vert │ │ │ ├── empty.frag │ │ │ ├── empty.vert │ │ │ └── passthrough.frag │ │ └── torch_ioueval.py │ ├── occ4d.yaml │ └── visualize_voxels.py └── waymo │ ├── README.md │ └── waymo_class_map.yaml ├── requirements.txt └── src └── teaser.gif /.gitignore: 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