├── .gitignore ├── LICENSE ├── README.md ├── assets ├── 1.png └── 2.png ├── configs ├── _base_ │ ├── datasets │ │ ├── .ipynb_checkpoints │ │ │ └── nus-3d-checkpoint.py │ │ ├── coco_instance.py │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.py │ │ ├── kitti-mono3d.py │ │ ├── lyft-3d.py │ │ ├── nuim_instance.py │ │ ├── nus-3d.py │ │ ├── nus-mono3d.py │ │ ├── range100_lyft-3d.py │ │ ├── s3dis-3d-5class.py │ │ ├── s3dis_seg-3d-13class.py │ │ ├── scannet-3d-18class.py │ │ ├── scannet_seg-3d-20class.py │ │ ├── sunrgbd-3d-10class.py │ │ ├── waymoD5-3d-3class.py │ │ └── waymoD5-3d-car.py │ ├── default_runtime.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 └── alocc │ ├── alocc_2d_mini_r50_256x704_bevdet_preatrain_16f.py │ ├── alocc_2d_mini_r50_256x704_bevdet_preatrain_16f_wo_mask.py │ ├── alocc_2d_r50_256x704_bevdet_preatrain_16f.py │ ├── alocc_2d_r50_256x704_bevdet_preatrain_16f_wo_mask.py │ ├── alocc_3d_r50_256x704_bevdet_preatrain_16f.py │ ├── alocc_3d_r50_256x704_bevdet_preatrain_16f_gt_depth.py │ ├── alocc_3d_r50_256x704_bevdet_preatrain_16f_wo_mask.py │ ├── alocc_3d_r50_900x1600_bevdet_preatrain_wo_his_surroundocc.py │ ├── aloccflow_2d_r50_256x704_bevdet_preatrain_16f.py │ └── aloccflow_3d_r50_256x704_bevdet_preatrain_16f.py ├── mmdet3d ├── .mim │ ├── configs │ └── tools ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ └── version.cpython-38.pyc ├── apis │ ├── .ipynb_checkpoints │ │ ├── test-checkpoint.py │ │ └── train-checkpoint.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── inference.cpython-38.pyc │ │ ├── test.cpython-38.pyc │ │ ├── test_kitti.cpython-38.pyc │ │ ├── train.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ ├── inference.py │ ├── test.py │ ├── test_kitti.py │ ├── train.py │ └── utils.py ├── core │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── builder.cpython-38.pyc │ ├── anchor │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── anchor_3d_generator.cpython-38.pyc │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── box_np_ops.cpython-38.pyc │ │ │ ├── transforms.cpython-38.pyc │ │ │ └── util.cpython-38.pyc │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── __pycache__ │ │ │ │ └── __init__.cpython-38.pyc │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── anchor_free_bbox_coder.cpython-38.pyc │ │ │ │ ├── centerpoint_bbox_coders.cpython-38.pyc │ │ │ │ ├── delta_xyzwhlr_bbox_coder.cpython-38.pyc │ │ │ │ ├── fcos3d_bbox_coder.cpython-38.pyc │ │ │ │ ├── groupfree3d_bbox_coder.cpython-38.pyc │ │ │ │ ├── monoflex_bbox_coder.cpython-38.pyc │ │ │ │ ├── partial_bin_based_bbox_coder.cpython-38.pyc │ │ │ │ ├── pgd_bbox_coder.cpython-38.pyc │ │ │ │ ├── point_xyzwhlr_bbox_coder.cpython-38.pyc │ │ │ │ └── smoke_bbox_coder.cpython-38.pyc │ │ │ ├── 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 │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── iou3d_calculator.cpython-38.pyc │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── iou_neg_piecewise_sampler.cpython-38.pyc │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── base_box3d.cpython-38.pyc │ │ │ │ ├── box_3d_mode.cpython-38.pyc │ │ │ │ ├── cam_box3d.cpython-38.pyc │ │ │ │ ├── coord_3d_mode.cpython-38.pyc │ │ │ │ ├── depth_box3d.cpython-38.pyc │ │ │ │ ├── lidar_box3d.cpython-38.pyc │ │ │ │ └── utils.cpython-38.pyc │ │ │ ├── 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 │ ├── builder.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── indoor_eval.cpython-38.pyc │ │ │ ├── instance_seg_eval.cpython-38.pyc │ │ │ ├── lyft_eval.cpython-38.pyc │ │ │ └── seg_eval.cpython-38.pyc │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── eval.cpython-38.pyc │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── evaluate_semantic_instance.cpython-38.pyc │ │ │ │ └── util_3d.cpython-38.pyc │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_kitti_to_waymo.py │ ├── hook │ │ ├── .ipynb_checkpoints │ │ │ ├── __init__-checkpoint.py │ │ │ ├── sequentialsontrol_multi-checkpoint.py │ │ │ └── weightcontrol-checkpoint.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── ema.cpython-38.pyc │ │ │ ├── fusionweightcontrol.cpython-38.pyc │ │ │ ├── fusionweightcontrol_depth.cpython-38.pyc │ │ │ ├── fusionweightcontrol_gumbel.cpython-38.pyc │ │ │ ├── fusionweightcontrol_pose.cpython-38.pyc │ │ │ ├── sequentials_random_split.cpython-38.pyc │ │ │ ├── sequentialsontrol.cpython-38.pyc │ │ │ ├── sequentialsontrol_flow.cpython-38.pyc │ │ │ ├── sequentialsontrol_multi.cpython-38.pyc │ │ │ ├── syncbncontrol.cpython-38.pyc │ │ │ ├── utils.cpython-38.pyc │ │ │ └── weightcontrol.cpython-38.pyc │ │ ├── ema.py │ │ ├── fusionweightcontrol.py │ │ ├── fusionweightcontrol_depth.py │ │ ├── fusionweightcontrol_pose.py │ │ ├── sequentialsontrol.py │ │ ├── sequentialsontrol_flow.py │ │ ├── syncbncontrol.py │ │ └── utils.py │ ├── optimizers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── custom_layer_decay_optimizer_constructor.cpython-38.pyc │ │ │ ├── layer_decay_optimizer_constructor.cpython-38.pyc │ │ │ └── layer_decay_optimizer_constructor_convnext.cpython-38.pyc │ │ ├── custom_layer_decay_optimizer_constructor.py │ │ ├── layer_decay_optimizer_constructor.py │ │ └── layer_decay_optimizer_constructor_convnext.py │ ├── points │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_points.cpython-38.pyc │ │ │ ├── cam_points.cpython-38.pyc │ │ │ ├── depth_points.cpython-38.pyc │ │ │ └── lidar_points.cpython-38.pyc │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── box3d_nms.cpython-38.pyc │ │ │ └── merge_augs.cpython-38.pyc │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── array_converter.cpython-38.pyc │ │ │ └── gaussian.cpython-38.pyc │ │ ├── array_converter.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── image_vis.cpython-38.pyc │ │ │ └── show_result.cpython-38.pyc │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-38.pyc │ │ └── voxel_generator.cpython-38.pyc │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── .ipynb_checkpoints │ │ ├── __init__-checkpoint.py │ │ ├── custom_3d_ori-checkpoint.py │ │ ├── nuscenes_dataset-checkpoint.py │ │ ├── nuscenes_dataset_occ-checkpoint.py │ │ ├── occ_metrics-checkpoint.py │ │ ├── occ_metrics_bevdet-checkpoint.py │ │ ├── ray_metrics-checkpoint.py │ │ ├── semantic_kitti_lss_dataset-checkpoint.py │ │ └── semantickitti_dataset-checkpoint.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── builder.cpython-38.pyc │ │ ├── custom_3d.cpython-38.pyc │ │ ├── custom_3d_ori.cpython-38.pyc │ │ ├── custom_3d_seg.cpython-38.pyc │ │ ├── dataset_wrappers.cpython-38.pyc │ │ ├── ego_pose_dataset.cpython-38.pyc │ │ ├── ego_pose_extractor.cpython-38.pyc │ │ ├── kitti_dataset.cpython-38.pyc │ │ ├── kitti_mono_dataset.cpython-38.pyc │ │ ├── lyft_dataset.cpython-38.pyc │ │ ├── nuscenes_dataset.cpython-38.pyc │ │ ├── nuscenes_dataset_BEVDet.cpython-38.pyc │ │ ├── nuscenes_dataset_occ.cpython-38.pyc │ │ ├── nuscenes_mono_dataset.cpython-38.pyc │ │ ├── nuscenes_occ.cpython-38.pyc │ │ ├── nuscenes_occ_bevformer.cpython-38.pyc │ │ ├── nuscenes_occ_dataset_sparseocc.cpython-38.pyc │ │ ├── occ_metrics.cpython-38.pyc │ │ ├── occ_metrics_bevdet.cpython-38.pyc │ │ ├── ray_metrics.cpython-38.pyc │ │ ├── rayiou_metrics.cpython-38.pyc │ │ ├── s3dis_dataset.cpython-38.pyc │ │ ├── scannet_dataset.cpython-38.pyc │ │ ├── semantic_kitti_lss_dataset.cpython-38.pyc │ │ ├── semantickitti_dataset.cpython-38.pyc │ │ ├── semkitti.cpython-38.pyc │ │ ├── sunrgbd_dataset.cpython-38.pyc │ │ ├── utils.cpython-38.pyc │ │ ├── waymo_dataset.cpython-38.pyc │ │ ├── waymo_occ.cpython-38.pyc │ │ ├── waymo_occ.cpython-38.pyc.140060580797776 │ │ └── zltwaymo.cpython-38.pyc │ ├── builder.py │ ├── custom_3d.py │ ├── custom_3d_ori.py │ ├── custom_3d_seg.py │ ├── dataset_wrappers.py │ ├── ego_pose_dataset.py │ ├── ego_pose_extractor.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── kitti_mono_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── nuscenes_ego_pose_loader.py │ ├── nuscenes_eval.py │ ├── nuscenes_mono_dataset.py │ ├── occ_metrics.py │ ├── occupancy_eval.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── compose.cpython-38.pyc │ │ │ ├── data_augment_utils.cpython-38.pyc │ │ │ ├── dbsampler.cpython-38.pyc │ │ │ ├── formating.cpython-38.pyc │ │ │ ├── lidar2depth.cpython-38.pyc │ │ │ ├── loading.cpython-38.pyc │ │ │ ├── loading_kitti_imgs.cpython-38.pyc │ │ │ ├── loading_kitti_occ.cpython-38.pyc │ │ │ ├── loading_nusc_imgs.cpython-38.pyc │ │ │ ├── loading_nusc_occ.cpython-38.pyc │ │ │ ├── loading_nusc_occ.nb_process_label-123.py38.1.nbc │ │ │ ├── loading_nusc_occ.nb_process_label-123.py38.2.nbc │ │ │ ├── loading_nusc_occ.nb_process_label-123.py38.nbi │ │ │ ├── loading_waymo.cpython-38.pyc │ │ │ ├── test_time_aug.cpython-38.pyc │ │ │ └── transforms_3d.cpython-38.pyc │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── gene_mask.py │ │ ├── lidar2depth.py │ │ ├── loading.py │ │ ├── loading_kitti_imgs.py │ │ ├── loading_kitti_occ.py │ │ ├── loading_nusc_imgs.py │ │ ├── loading_nusc_occ.py │ │ ├── loading_waymo.py │ │ ├── nuscenes.yaml │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── ray_metrics.py │ ├── rayiou_metrics.py │ ├── s3dis_dataset.py │ ├── samplers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── d_sampler.cpython-38.pyc │ │ │ └── infinite_group_each_sample_in_batch_sampler.cpython-38.pyc │ │ ├── d_sampler.py │ │ └── infinite_group_each_sample_in_batch_sampler.py │ ├── scannet_dataset.py │ ├── semantic_kitti_lss_dataset.py │ ├── semantickitti_dataset.py │ ├── semkitti.py │ ├── sunrgbd_dataset.py │ ├── utils.py │ ├── waymo_dataset.py │ ├── waymo_occ.py │ └── zltwaymo.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── builder.cpython-38.pyc │ ├── alocc │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── alocc.cpython-38.pyc │ │ │ └── alocc.py │ │ ├── heads │ │ │ ├── .ipynb_checkpoints │ │ │ │ ├── occupancy_head-checkpoint.py │ │ │ │ └── occupancy_head_gai-checkpoint.py │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── alocc_head.cpython-38.pyc │ │ │ │ ├── occupancy_head.cpython-38.pyc │ │ │ │ └── occupancy_head_gai.cpython-38.pyc │ │ │ ├── alocc_head.py │ │ │ ├── mask2former_utils │ │ │ │ ├── .ipynb_checkpoints │ │ │ │ │ └── mask2former_occ-checkpoint.py │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── mask2former_nusc_occ.cpython-38.pyc │ │ │ │ │ ├── mask2former_nusc_panoptic_occ.cpython-38.pyc │ │ │ │ │ ├── mask2former_occ.cpython-38.pyc │ │ │ │ │ └── mask2former_occ_rayformer.cpython-38.pyc │ │ │ │ ├── assigners │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ │ └── mask_hungarian_assigner.cpython-38.pyc │ │ │ │ │ ├── mask_hungarian_assigner.py │ │ │ │ │ └── match_costs │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ │ └── match_cost.cpython-38.pyc │ │ │ │ │ │ └── match_cost.py │ │ │ │ ├── base │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── anchor_free_head.cpython-38.pyc │ │ │ │ │ │ ├── base_dense_head.cpython-38.pyc │ │ │ │ │ │ ├── dense_test_mixins.cpython-38.pyc │ │ │ │ │ │ ├── maskformer_head.cpython-38.pyc │ │ │ │ │ │ └── mmdet_utils.cpython-38.pyc │ │ │ │ │ ├── anchor_free_head.py │ │ │ │ │ ├── base_dense_head.py │ │ │ │ │ ├── dense_test_mixins.py │ │ │ │ │ ├── maskformer_head.py │ │ │ │ │ └── mmdet_utils.py │ │ │ │ ├── flow_head.py │ │ │ │ ├── losses │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ │ ├── dice_loss.cpython-38.pyc │ │ │ │ │ │ └── sem_geo_loss.cpython-38.pyc │ │ │ │ │ ├── dice_loss.py │ │ │ │ │ └── sem_geo_loss.py │ │ │ │ ├── positional_encodings │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ │ └── positional_encoding.cpython-38.pyc │ │ │ │ │ └── positional_encoding.py │ │ │ │ └── samplers │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ └── mask_pseudo_sampler.cpython-38.pyc │ │ │ │ │ └── mask_pseudo_sampler.py │ │ │ ├── occ_loss_utils │ │ │ │ ├── .ipynb_checkpoints │ │ │ │ │ └── semkitti-checkpoint.py │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── focal_loss.cpython-38.pyc │ │ │ │ │ ├── lovasz_softmax.cpython-38.pyc │ │ │ │ │ ├── nusc_param.cpython-38.pyc │ │ │ │ │ ├── semkitti.cpython-38.pyc │ │ │ │ │ └── waymo_param.cpython-38.pyc │ │ │ │ ├── focal_loss.py │ │ │ │ ├── lovasz_softmax.py │ │ │ │ ├── nusc_param.py │ │ │ │ ├── semkitti.py │ │ │ │ └── waymo_param.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── formating.cpython-38.pyc │ │ │ │ ├── metric_util.cpython-38.pyc │ │ │ │ ├── panoptic_eval.cpython-38.pyc │ │ │ │ ├── point_generator.cpython-38.pyc │ │ │ │ ├── semkitti.cpython-38.pyc │ │ │ │ └── ssc_metric.cpython-38.pyc │ │ │ │ ├── formating.py │ │ │ │ ├── metric_util.py │ │ │ │ ├── panoptic_eval.py │ │ │ │ ├── point_generator.py │ │ │ │ ├── semkitti.py │ │ │ │ ├── semkitti_io.py │ │ │ │ └── ssc_metric.py │ │ └── view_transformation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── cal_depth2occ.cpython-38.pyc │ │ │ ├── depth_net.cpython-38.pyc │ │ │ └── view_transformer.cpython-38.pyc │ │ │ ├── cal_depth2occ.py │ │ │ ├── depth_net.py │ │ │ └── view_transformer.py │ ├── backbones │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_pointnet.cpython-38.pyc │ │ │ ├── convnext.cpython-38.pyc │ │ │ ├── dgcnn.cpython-38.pyc │ │ │ ├── dla.cpython-38.pyc │ │ │ ├── efficientnet.cpython-38.pyc │ │ │ ├── flash_intern_image.cpython-38.pyc │ │ │ ├── mink_resnet.cpython-38.pyc │ │ │ ├── multi_backbone.cpython-38.pyc │ │ │ ├── nostem_regnet.cpython-38.pyc │ │ │ ├── pointnet2_sa_msg.cpython-38.pyc │ │ │ ├── pointnet2_sa_ssg.cpython-38.pyc │ │ │ ├── resnet.cpython-38.pyc │ │ │ ├── second.cpython-38.pyc │ │ │ ├── swin.cpython-38.pyc │ │ │ └── swin_bev.cpython-38.pyc │ │ ├── base_pointnet.py │ │ ├── convnext.py │ │ ├── convnext2.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── efficientnet.py │ │ ├── flash_intern_image.py │ │ ├── load.py │ │ ├── mink_resnet.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── resnet.py │ │ ├── second.py │ │ ├── swin.py │ │ ├── swin_bev.py │ │ ├── vovnet.py │ │ └── vovnet2.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── decode_head.cpython-38.pyc │ │ │ ├── dgcnn_head.cpython-38.pyc │ │ │ ├── paconv_head.cpython-38.pyc │ │ │ └── pointnet2_head.cpython-38.pyc │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── anchor3d_head.cpython-38.pyc │ │ │ ├── anchor_free_mono3d_head.cpython-38.pyc │ │ │ ├── base_conv_bbox_head.cpython-38.pyc │ │ │ ├── base_mono3d_dense_head.cpython-38.pyc │ │ │ ├── centerpoint_head.cpython-38.pyc │ │ │ ├── fcaf3d_head.cpython-38.pyc │ │ │ ├── fcos_mono3d_head.cpython-38.pyc │ │ │ ├── free_anchor3d_head.cpython-38.pyc │ │ │ ├── groupfree3d_head.cpython-38.pyc │ │ │ ├── monoflex_head.cpython-38.pyc │ │ │ ├── occupancy_head_bevdet.cpython-38.pyc │ │ │ ├── parta2_rpn_head.cpython-38.pyc │ │ │ ├── pgd_head.cpython-38.pyc │ │ │ ├── point_rpn_head.cpython-38.pyc │ │ │ ├── shape_aware_head.cpython-38.pyc │ │ │ ├── smoke_mono3d_head.cpython-38.pyc │ │ │ ├── ssd_3d_head.cpython-38.pyc │ │ │ ├── train_mixins.cpython-38.pyc │ │ │ └── vote_head.cpython-38.pyc │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── centerpoint_head.py │ │ ├── fcaf3d_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── monoflex_head.py │ │ ├── occupancy_head_bevdet.py │ │ ├── parta2_rpn_head.py │ │ ├── pgd_head.py │ │ ├── point_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── smoke_mono3d_head.py │ │ ├── ssd_3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ ├── centerpoint.cpython-38.pyc │ │ │ ├── dynamic_voxelnet.cpython-38.pyc │ │ │ ├── fcos_mono3d.cpython-38.pyc │ │ │ ├── groupfree3dnet.cpython-38.pyc │ │ │ ├── h3dnet.cpython-38.pyc │ │ │ ├── imvotenet.cpython-38.pyc │ │ │ ├── imvoxelnet.cpython-38.pyc │ │ │ ├── mink_single_stage.cpython-38.pyc │ │ │ ├── mvx_faster_rcnn.cpython-38.pyc │ │ │ ├── mvx_two_stage.cpython-38.pyc │ │ │ ├── parta2.cpython-38.pyc │ │ │ ├── point_rcnn.cpython-38.pyc │ │ │ ├── sassd.cpython-38.pyc │ │ │ ├── single_stage.cpython-38.pyc │ │ │ ├── single_stage_mono3d.cpython-38.pyc │ │ │ ├── smoke_mono3d.cpython-38.pyc │ │ │ ├── ssd3dnet.cpython-38.pyc │ │ │ ├── two_stage.cpython-38.pyc │ │ │ ├── votenet.cpython-38.pyc │ │ │ └── voxelnet.cpython-38.pyc │ │ ├── base.py │ │ ├── centerpoint.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── point_rcnn.py │ │ ├── sassd.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── fbocc_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── backward_projection.cpython-38.pyc │ │ ├── backward_projection.py │ │ ├── bevformer_utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── bevformer.cpython-38.pyc │ │ │ │ ├── bevformer_encoder.cpython-38.pyc │ │ │ │ ├── custom_base_transformer_layer.cpython-38.pyc │ │ │ │ ├── multi_scale_deformable_attn_function.cpython-38.pyc │ │ │ │ ├── positional_encoding.cpython-38.pyc │ │ │ │ └── spatial_cross_attention_depth.cpython-38.pyc │ │ │ ├── bevformer.py │ │ │ ├── bevformer_encoder.py │ │ │ ├── custom_base_transformer_layer.py │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ ├── positional_encoding.py │ │ │ └── spatial_cross_attention_depth.py │ │ ├── heads │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── occupancy_head.cpython-38.pyc │ │ │ └── occupancy_head.py │ │ ├── modules │ │ │ ├── .ipynb_checkpoints │ │ │ │ ├── depth_net-checkpoint.py │ │ │ │ ├── fpn3d-checkpoint.py │ │ │ │ ├── frpn-checkpoint.py │ │ │ │ └── resnet3d-checkpoint.py │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── depth_net.cpython-38.pyc │ │ │ │ ├── fpn3d.cpython-38.pyc │ │ │ │ ├── frpn.cpython-38.pyc │ │ │ │ └── resnet3d.cpython-38.pyc │ │ │ ├── fpn3d.py │ │ │ ├── frpn.py │ │ │ └── resnet3d.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── bricks.cpython-38.pyc │ │ │ ├── draw_bbox.cpython-38.pyc │ │ │ ├── eval_hook.cpython-38.pyc │ │ │ └── wechat_logger.cpython-38.pyc │ │ │ ├── bricks.py │ │ │ ├── draw_bbox.py │ │ │ ├── eval_hook.py │ │ │ └── wechat_logger.py │ ├── fusion_layers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── coord_transform.cpython-38.pyc │ │ │ ├── point_fusion.cpython-38.pyc │ │ │ └── vote_fusion.cpython-38.pyc │ │ ├── coord_transform.py │ │ ├── point_fusion.py │ │ └── vote_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── axis_aligned_iou_loss.cpython-38.pyc │ │ │ ├── chamfer_distance.cpython-38.pyc │ │ │ ├── multibin_loss.cpython-38.pyc │ │ │ ├── paconv_regularization_loss.cpython-38.pyc │ │ │ ├── rotated_iou_loss.cpython-38.pyc │ │ │ ├── sigloss.cpython-38.pyc │ │ │ └── uncertain_smooth_l1_loss.cpython-38.pyc │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── multibin_loss.py │ │ ├── paconv_regularization_loss.py │ │ ├── rotated_iou_loss.py │ │ ├── sigloss.py │ │ └── uncertain_smooth_l1_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── pillar_scatter.cpython-38.pyc │ │ │ ├── sparse_encoder.cpython-38.pyc │ │ │ └── sparse_unet.cpython-38.pyc │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── edge_fusion_module.cpython-38.pyc │ │ │ ├── transformer.cpython-38.pyc │ │ │ └── vote_module.cpython-38.pyc │ │ ├── edge_fusion_module.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── necks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dla_neck.cpython-38.pyc │ │ │ ├── fpn.cpython-38.pyc │ │ │ ├── imvoxel_neck.cpython-38.pyc │ │ │ ├── lss_fpn.cpython-38.pyc │ │ │ ├── pointnet2_fp_neck.cpython-38.pyc │ │ │ ├── second_fpn.cpython-38.pyc │ │ │ └── soft_filling.cpython-38.pyc │ │ ├── dla_neck.py │ │ ├── fpn.py │ │ ├── imvoxel_neck.py │ │ ├── lss_fpn.py │ │ ├── pointnet2_fp_neck.py │ │ ├── second_fpn.py │ │ └── soft_filling.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base_3droi_head.cpython-38.pyc │ │ │ ├── h3d_roi_head.cpython-38.pyc │ │ │ ├── part_aggregation_roi_head.cpython-38.pyc │ │ │ └── point_rcnn_roi_head.cpython-38.pyc │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── h3d_bbox_head.cpython-38.pyc │ │ │ │ ├── parta2_bbox_head.cpython-38.pyc │ │ │ │ └── point_rcnn_bbox_head.cpython-38.pyc │ │ │ ├── h3d_bbox_head.py │ │ │ ├── parta2_bbox_head.py │ │ │ └── point_rcnn_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── pointwise_semantic_head.cpython-38.pyc │ │ │ │ └── primitive_head.cpython-38.pyc │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ ├── point_rcnn_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── single_roiaware_extractor.cpython-38.pyc │ │ │ └── single_roipoint_extractor.cpython-38.pyc │ │ │ ├── single_roiaware_extractor.py │ │ │ └── single_roipoint_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ └── encoder_decoder.cpython-38.pyc │ │ ├── base.py │ │ └── encoder_decoder.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── clip_sigmoid.cpython-38.pyc │ │ │ ├── edge_indices.cpython-38.pyc │ │ │ ├── gen_keypoints.cpython-38.pyc │ │ │ ├── handle_objs.cpython-38.pyc │ │ │ └── mlp.cpython-38.pyc │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── handle_objs.py │ │ └── mlp.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── pillar_encoder.cpython-38.pyc │ │ ├── utils.cpython-38.pyc │ │ └── voxel_encoder.cpython-38.pyc │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── ops │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── norm.cpython-38.pyc │ │ └── sparse_block.cpython-38.pyc │ ├── bev_pool_v2 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── bev_pool.cpython-38.pyc │ │ ├── bev_pool.py │ │ ├── bev_pool_v2_ext.cpython-38-x86_64-linux-gnu.so │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── dgcnn_modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dgcnn_fa_module.cpython-38.pyc │ │ │ ├── dgcnn_fp_module.cpython-38.pyc │ │ │ └── dgcnn_gf_module.cpython-38.pyc │ │ ├── dgcnn_fa_module.py │ │ ├── dgcnn_fp_module.py │ │ └── dgcnn_gf_module.py │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── paconv.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── paconv.py │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── builder.cpython-38.pyc │ │ │ ├── paconv_sa_module.cpython-38.pyc │ │ │ ├── point_fp_module.cpython-38.pyc │ │ │ └── point_sa_module.cpython-38.pyc │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── sparse_block.py │ └── spconv │ │ ├── __init__.py │ │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ │ └── overwrite_spconv │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── write_spconv2.cpython-38.pyc │ │ └── write_spconv2.py ├── utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── collect_env.cpython-38.pyc │ │ ├── compat_cfg.cpython-38.pyc │ │ ├── formating.cpython-38.pyc │ │ ├── logger.cpython-38.pyc │ │ ├── misc.cpython-38.pyc │ │ ├── semkitti_io.cpython-38.pyc │ │ ├── setup_env.cpython-38.pyc │ │ └── ssc_metric.cpython-38.pyc │ ├── collect_env.py │ ├── compat_cfg.py │ ├── formating.py │ ├── logger.py │ ├── misc.py │ ├── semkitti_io.py │ ├── setup_env.py │ └── ssc_metric.py └── version.py ├── requirements.txt ├── setup.cfg ├── setup.py ├── tools ├── analysis_tools │ ├── .ipynb_checkpoints │ │ └── benchmark-checkpoint.py │ ├── analyze_logs.py │ ├── benchmark.py │ ├── benchmark_trt.py │ ├── benchmark_view_transformer.py │ ├── create_video.py │ ├── generate_mask_based_on_lidar_points.py │ ├── get_flops.py │ ├── timing.py │ ├── vis.py │ ├── vis_occupancy.py │ └── visual.py ├── create_data.py ├── create_data.sh ├── create_data_bevdet.py ├── create_data_bevdet_test.py ├── data_converter │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── create_gt_database.cpython-38.pyc │ │ ├── indoor_converter.cpython-38.pyc │ │ ├── kitti_converter.cpython-38.pyc │ │ ├── kitti_data_utils.cpython-38.pyc │ │ ├── lyft_converter.cpython-38.pyc │ │ ├── nuscenes_converter.cpython-38.pyc │ │ ├── s3dis_data_utils.cpython-38.pyc │ │ ├── scannet_data_utils.cpython-38.pyc │ │ └── sunrgbd_data_utils.cpython-38.pyc │ ├── 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 ├── deployment │ ├── mmdet3d2torchserve.py │ ├── mmdet3d_handler.py │ └── test_torchserver.py ├── dist_test.sh ├── dist_test_kitti.sh ├── dist_test_ray.sh ├── dist_train.sh ├── kitti_process │ ├── __pycache__ │ │ └── io_data.cpython-38.pyc │ ├── io_data.py │ ├── semantic-kitti.yaml │ ├── semantic_kitti_downsample.py │ └── semantic_kitti_preprocess.py ├── misc │ ├── __pycache__ │ │ └── fuse_conv_bn.cpython-38.pyc │ ├── 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 ├── nusc_process │ └── extract_sem_point.py ├── ray_iou │ ├── __init__.py │ ├── __pycache__ │ │ ├── ego_pose_extractor.cpython-38.pyc │ │ └── gene_point.cpython-38.pyc │ ├── ego_pose_extractor.py │ ├── lib │ │ └── dvr │ │ │ ├── dvr.cpp │ │ │ └── dvr.cu │ ├── metric.py │ └── ray_casting.py ├── test.py ├── test_kitti.py ├── test_rayiou.py ├── train.py ├── update_data_coords.py ├── update_data_coords.sh ├── vis.py └── visual.py └── utils ├── __pycache__ └── freeze_model.cpython-38.pyc ├── cal_frequency.py ├── cal_frequency_dist.sh ├── freeze_model.py ├── merge_scene.py ├── scene_name_split.py ├── scene_token2name.py ├── select_frame.py ├── select_scene.py └── split_scene.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cdb342/ALOcc/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cdb342/ALOcc/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cdb342/ALOcc/HEAD/README.md -------------------------------------------------------------------------------- /assets/1.png: -------------------------------------------------------------------------------- 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