├── .github └── ISSUE_TEMPLATE │ └── bug_report.md ├── CarlaScripts ├── new_static_cam_2veh_sem.py └── new_static_cam_2veh_sem_go.py ├── HabitatScripts ├── README.md ├── sim_automated_center.py └── sim_automated_selfsup_randspawn.py ├── LDLS ├── LICENSE ├── README.md ├── data │ └── kitti_demo │ │ ├── calib │ │ └── 000571.txt │ │ ├── image_2 │ │ └── 000571.png │ │ └── velodyne │ │ └── 000571.bin ├── demo.ipynb ├── environment.yml ├── lidar_segmentation │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── detections.cpython-36.pyc │ │ ├── detections.cpython-37.pyc │ │ ├── evaluation.cpython-36.pyc │ │ ├── kitti_utils.cpython-36.pyc │ │ ├── kitti_utils.cpython-37.pyc │ │ ├── kitti_utils_custom.cpython-37.pyc │ │ ├── segmentation.cpython-36.pyc │ │ ├── segmentation.cpython-37.pyc │ │ ├── utils.cpython-36.pyc │ │ ├── utils.cpython-37.pyc │ │ ├── utils_ap.cpython-36.pyc │ │ ├── utils_basic.cpython-36.pyc │ │ ├── utils_box.cpython-36.pyc │ │ ├── utils_eval.cpython-36.pyc │ │ ├── utils_geom.cpython-36.pyc │ │ ├── utils_improc.cpython-36.pyc │ │ ├── utils_misc.cpython-36.pyc │ │ ├── utils_py.cpython-36.pyc │ │ ├── utils_samp.cpython-36.pyc │ │ └── utils_vox.cpython-36.pyc │ ├── detections.py │ ├── evaluation.py │ ├── kitti_object_custom.py │ ├── kitti_utils.py │ ├── kitti_utils_custom.py │ ├── plotting.py │ ├── segmentation.py │ ├── utils.py │ ├── utils_ap.py │ ├── utils_basic.py │ ├── utils_box.py │ ├── utils_eval.py │ ├── utils_geom.py │ ├── utils_improc.py │ ├── utils_misc.py │ ├── utils_py.py │ ├── utils_samp.py │ ├── utils_track.py │ ├── utils_vox.py │ └── visualization.py ├── main.py ├── mask_rcnn │ ├── coco.py │ └── mask_rcnn.py ├── readme_assets │ ├── kitti_example.pdf │ └── kitti_example.png └── requirements.txt ├── LICENSE ├── README.md ├── Visualisation └── voxel_to_mesh.py ├── docs ├── _config.yml ├── index.html ├── paper.png ├── teaser.jpg └── w3.css ├── frustum_pointnet ├── README.md ├── cfgs │ ├── fconvnet │ │ ├── fconvnet_v1_kitti.yaml │ │ └── k2n │ │ │ ├── fconvnet_v1_k2k.yaml │ │ │ └── fconvnet_v1_k2n.yaml │ ├── fconvnet_fusion │ │ ├── exp │ │ │ ├── fconvnet_densefusion_rgbonly.yaml │ │ │ └── fconvnet_paintfusion_v1_kitti.yaml │ │ ├── fconvnet_densefusion_v1_kitti.yaml │ │ ├── fconvnet_densefusion_wo_resize_v1_kitti.yaml │ │ ├── fconvnet_globalfusion_v1_kitti.yaml │ │ └── fconvnet_paintfusion_v1_kitti.yaml │ └── fpointnet │ │ └── fpointnet_v1_kitti.yaml ├── configs │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── collections.cpython-36.pyc │ │ ├── collections.cpython-37.pyc │ │ ├── config.cpython-36.pyc │ │ └── config.cpython-37.pyc │ ├── collections.py │ └── config.py ├── doc │ ├── exp1 │ │ ├── after.png │ │ ├── before.png │ │ ├── from_gt_3d_after.png │ │ ├── from_gt_3d_before.png │ │ └── from_rgb_3d.png │ └── results │ │ ├── car_detection_3d_from_gt.eps │ │ ├── car_detection_3d_fromgt.png │ │ ├── car_detection_3d_fromrgb_maxscore.png │ │ └── car_detection_3d_fromrgb_rgbscore.png ├── kitti │ ├── kitti_object.py │ ├── kitti_util.py │ ├── prepare_data.py │ ├── utils_ap.py │ ├── utils_basic.py │ ├── utils_box.py │ ├── utils_eval.py │ ├── utils_geom.py │ ├── utils_improc.py │ ├── utils_misc.py │ ├── utils_py.py │ ├── utils_samp.py │ ├── utils_track.py │ └── utils_vox.py ├── mayavi │ ├── __pycache__ │ │ └── viz_util.cpython-36.pyc │ ├── kitti_sample_scan.txt │ ├── mayavi_install.sh │ ├── test_drawline.py │ └── viz_util.py ├── models │ ├── __pycache__ │ │ ├── frustum_pointnets_v1_old.cpython-36.pyc │ │ ├── frustum_pointnets_v1_old.cpython-37.pyc │ │ ├── model_util.cpython-36.pyc │ │ ├── model_util.cpython-37.pyc │ │ ├── model_util_old.cpython-36.pyc │ │ └── model_util_old.cpython-37.pyc │ ├── extractors.py │ ├── frustum_convnet_densefusion_v1.py │ ├── frustum_convnet_globalfusion_v1.py │ ├── frustum_convnet_paintfusion_v1.py │ ├── frustum_convnet_v1.py │ ├── frustum_pointnets_v1.py │ ├── frustum_pointnets_v1_old.py │ ├── model_util.py │ ├── model_util_old.py │ └── pspnet.py ├── nuscenes │ └── prepare_data.py ├── ops │ ├── clean.sh │ ├── make.sh │ ├── pybind11 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── rbbox_iou.cpython-37.pyc │ │ ├── box_ops.cc │ │ ├── box_ops.h │ │ ├── box_ops_cc.so │ │ ├── compile.sh │ │ ├── rbbox_iou.py │ │ └── rbbox_iou_torch.py │ └── query_depth_point │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── query_depth_point.cpython-36.pyc │ │ └── query_depth_point.cpython-37.pyc │ │ ├── build │ │ ├── lib.linux-x86_64-3.6 │ │ │ └── query_depth_point_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── lib.linux-x86_64-3.7 │ │ │ └── query_depth_point_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── temp.linux-x86_64-3.6 │ │ │ ├── query_depth_point_cuda.o │ │ │ └── query_depth_point_cuda_kernel.o │ │ └── temp.linux-x86_64-3.7 │ │ │ ├── query_depth_point_cuda.o │ │ │ └── query_depth_point_cuda_kernel.o │ │ ├── query_depth_point.py │ │ ├── query_depth_point_cuda.cpp │ │ ├── query_depth_point_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── query_depth_point_cuda_kernel.cu │ │ ├── setup.py │ │ └── test.py └── train │ ├── box_util.py │ ├── kitti_eval │ ├── README.md │ ├── compile.sh │ ├── evaluate_object_3d_offline │ ├── evaluate_object_3d_offline.cpp │ └── mail.h │ ├── provider.py │ ├── provider_fpointnet.py │ ├── provider_fusion.py │ ├── provider_fusion_wo_resize.py │ ├── provider_paintfusion.py │ ├── test.py │ ├── test_fpointnets.py │ ├── train.py │ ├── train_fpointnets.py │ ├── utils.py │ └── vis.py ├── models ├── carla │ ├── README.md │ ├── archs │ │ ├── decoder2d.py │ │ ├── encoder2d.py │ │ ├── encoder3D2D.py │ │ └── encoder3d.py │ ├── backend │ │ ├── __init__.py │ │ ├── double_pool.py │ │ ├── inputs.py │ │ ├── readers.py │ │ └── saverloader.py │ ├── carla_eval_go.sh │ ├── carla_gt_go.sh │ ├── carla_semisup_go.py │ ├── carla_semisup_go.sh │ ├── carla_viewmine_go.sh │ ├── cross_corr.py │ ├── cuda_ops │ │ └── corr3d │ │ │ ├── Correlation_Module │ │ │ ├── correlation_cuda_kernel.cu │ │ │ ├── correlation_sampler.cpp │ │ │ ├── spatial_correlation_sampler.egg-info │ │ │ │ ├── PKG-INFO │ │ │ │ ├── SOURCES.txt │ │ │ │ ├── dependency_links.txt │ │ │ │ ├── requires.txt │ │ │ │ └── top_level.txt │ │ │ └── spatial_correlation_sampler │ │ │ │ ├── __init__.py │ │ │ │ └── spatial_correlation_sampler.py │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── benchmark.py │ │ │ ├── build │ │ │ └── lib.linux-x86_64-3.6 │ │ │ │ └── spatial_correlation_sampler │ │ │ │ ├── __init__.py │ │ │ │ └── spatial_correlation_sampler.py │ │ │ ├── check-example.py │ │ │ ├── requirements.txt │ │ │ ├── setup.py │ │ │ └── upload.sh │ ├── dev.py │ ├── exp_base.py │ ├── exp_carla_eval.py │ ├── exp_carla_gt.py │ ├── exp_carla_viewmine.py │ ├── exp_carla_viewmine_semisup.py │ ├── hyperparams.py │ ├── main.py │ ├── model_base.py │ ├── model_carla_eval.py │ ├── model_carla_gt.py │ ├── model_carla_viewmine.py │ ├── model_carla_viewmine_semisup.py │ ├── nets │ │ ├── correlation │ │ │ ├── README.md │ │ │ └── correlation.py │ │ ├── crfnet.py │ │ ├── feat2dnet.py │ │ ├── feat3dnet.py │ │ ├── featnet3D.py │ │ ├── occnet.py │ │ ├── rgbnet.py │ │ └── upnet3D.py │ ├── tb.sh │ ├── tunnel.sh │ └── utils │ │ ├── __init__.py │ │ ├── ap.py │ │ ├── basic.py │ │ ├── box.py │ │ ├── eval.py │ │ ├── finetune_detectron2_carla.py │ │ ├── finetune_detectron2_gt_carla.py │ │ ├── geom.py │ │ ├── improc.py │ │ ├── misc.py │ │ ├── py.py │ │ ├── samp.py │ │ ├── sparse_to_contour.py │ │ ├── sparse_to_contour_mult.py │ │ ├── track.py │ │ └── vox.py └── replica │ ├── README.md │ ├── archs │ ├── decoder2d.py │ ├── encoder2d.py │ ├── encoder3D2D.py │ └── encoder3d.py │ ├── backend │ ├── __init__.py │ ├── double_pool.py │ ├── inputs.py │ ├── readers.py │ └── saverloader.py │ ├── carla_eval_go.sh │ ├── carla_go_viewmine_gt.sh │ ├── carla_semi_go.sh │ ├── carla_viewmine_go.sh │ ├── cuda_ops │ └── corr3d │ │ ├── Correlation_Module │ │ ├── correlation_cuda_kernel.cu │ │ ├── correlation_sampler.cpp │ │ ├── spatial_correlation_sampler.egg-info │ │ │ ├── PKG-INFO │ │ │ ├── SOURCES.txt │ │ │ ├── dependency_links.txt │ │ │ ├── requires.txt │ │ │ └── top_level.txt │ │ └── spatial_correlation_sampler │ │ │ ├── __init__.py │ │ │ └── spatial_correlation_sampler.py │ │ ├── LICENSE │ │ ├── README.md │ │ ├── benchmark.py │ │ ├── build │ │ └── lib.linux-x86_64-3.6 │ │ │ └── spatial_correlation_sampler │ │ │ ├── __init__.py │ │ │ └── spatial_correlation_sampler.py │ │ ├── check-example.py │ │ ├── requirements.txt │ │ ├── setup.py │ │ └── upload.sh │ ├── dataset_path.py │ ├── exp_base.py │ ├── exp_carla_eval.py │ ├── exp_carla_gt.py │ ├── exp_carla_semi.py │ ├── exp_carla_viewmine.py │ ├── hyperparams.py │ ├── main.py │ ├── model_base.py │ ├── model_carla_eval.py │ ├── model_carla_semi.py │ ├── model_carla_viewmine.py │ ├── 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