├── LICENSE.md ├── README.md ├── callbacks └── ema.py ├── dataset ├── nusc_mv_det_dataset.py └── src │ ├── aimotive_dataset.py │ ├── annotation.py │ ├── camera_params.py │ ├── data_loader.py │ ├── loaders │ ├── camera_loader.py │ ├── lidar_loader.py │ └── radar_loader.py │ ├── renderer.py │ ├── scripts │ └── openpcdet_transform.py │ └── sequence.py ├── evaluators └── det_mv_evaluators.py ├── exps ├── conf_aim.py ├── configs │ ├── eval_lidar_only.py │ ├── eval_lidar_radar.py │ ├── lidar_cam.py │ ├── lidar_cam_radar.py │ ├── lidar_only.py │ └── lidar_radar.py ├── eval.py ├── inference.py └── mm_training_aim.py ├── layers ├── __init__.py ├── backbones │ ├── __init__.py │ └── lss_fpn.py └── heads │ ├── __init__.py │ └── bev_depth_head.py ├── models └── bev_depth.py ├── ops └── voxel_pooling │ ├── __init__.py │ ├── src │ ├── voxel_pooling_forward.cpp │ └── voxel_pooling_forward_cuda.cu │ ├── voxel_pooling.py │ └── voxel_pooling_ext.cpython-38-x86_64-linux-gnu.so ├── requirements-dev.txt ├── requirements.txt ├── scripts ├── gen_depth_gt.py └── gen_info.py ├── setup.py ├── test ├── data │ └── nuscenes │ │ ├── infos.pkl │ │ └── samples │ │ ├── CAM_BACK │ │ └── n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883530437525.jpg │ │ ├── CAM_BACK_LEFT │ │ └── n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883530447423.jpg │ │ ├── CAM_BACK_RIGHT │ │ └── n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883530427893.jpg │ │ ├── CAM_FRONT │ │ └── n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883530412470.jpg │ │ ├── CAM_FRONT_LEFT │ │ └── n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883530404844.jpg │ │ └── CAM_FRONT_RIGHT │ │ └── n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883530420339.jpg ├── test_dataset │ └── test_nusc_mv_det_dataset.py ├── test_layers │ ├── test_backbone.py │ └── test_head.py └── test_ops │ └── test_voxel_pooling.py └── utils ├── eval.py ├── sensor_models ├── CameraBase.py ├── CameraEquirect.py ├── CameraMei.py ├── CameraPinhole.py ├── 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