├── .github └── workflows │ └── publish-conda.yml ├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json └── launch.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── ROADMAP.md ├── conda ├── build_linux_cpu.dockerfile ├── cpu │ ├── conda_build_config.yaml │ └── meta.yaml └── cuda │ ├── conda_build_config.yaml │ └── meta.yaml ├── d3d ├── CMakeLists.txt ├── __init__.pxd ├── __init__.py ├── abstraction.pxd ├── abstraction.pyi ├── abstraction.pyx ├── benchmarks.pyi ├── benchmarks.pyx ├── box │ ├── CMakeLists.txt │ ├── __init__.py │ ├── common.h │ ├── dist.cpp │ ├── dist.h │ ├── dist_cuda.cu │ ├── impl.cpp │ ├── iou.cpp │ ├── iou.h │ ├── iou_cuda.cu │ ├── nms.cpp │ ├── nms.h │ ├── nms_cuda.cu │ ├── utils.cpp │ ├── utils.cuh │ └── utils.h ├── common.h ├── dataset │ ├── README.md │ ├── __init__.py │ ├── base.py │ ├── cadc │ │ ├── __init__.py │ │ ├── loader.py │ │ └── utils.py │ ├── kitti │ │ ├── __init__.py │ │ ├── object.py │ │ ├── odometry.py │ │ ├── raw.py │ │ ├── tracking.py │ │ └── utils.py │ ├── kitti360 │ │ ├── __init__.py │ │ ├── loader.py │ │ └── utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── constants.py │ │ ├── converter.py │ │ └── loader.py │ ├── waymo │ │ ├── __init__.py │ │ ├── converter.py │ │ └── loader.py │ └── zip.py ├── dgal.pxd ├── dgal_wrap.h ├── io │ ├── __init__.py │ ├── hdf5.py │ ├── lmdb.py │ └── ros.py ├── math │ ├── CMakeLists.txt │ ├── __init__.pxd │ ├── __init__.py │ ├── bessel.h │ ├── impl.cpp │ ├── math.cpp │ ├── math.h │ └── math_cuda.cu ├── point │ ├── CMakeLists.txt │ ├── __init__.py │ ├── atomics.cuh │ ├── impl.cpp │ ├── scatter.cpp │ ├── scatter.h │ └── scatter_cuda.cu ├── profiler.py ├── tracking │ ├── CMakeLists.txt │ ├── __init__.pxd │ ├── __init__.py │ ├── filter.py │ ├── matcher.pxd │ ├── matcher.pyi │ ├── matcher.pyx │ └── tracker.py ├── vis │ ├── __init__.py │ ├── image.py │ ├── pcl.py │ ├── serve_xviz.py │ └── xviz.py └── voxel │ ├── CMakeLists.txt │ ├── __init__.py │ ├── impl.cpp │ ├── voxelize.cpp │ └── voxelize.h ├── docs ├── Makefile ├── abstraction.md ├── apis │ ├── abstraction.rst │ ├── benchmarks.rst │ ├── box.rst │ ├── dataset-kitti.rst │ ├── dataset-kitti360.rst │ ├── dataset-nuscenes.rst │ ├── dataset-waymo.rst │ ├── dataset.rst │ ├── math.rst │ ├── point.rst │ ├── tracking.rst │ ├── vis.rst │ └── voxel.rst ├── conf.py ├── datasets.md ├── get_started.md ├── index.rst ├── make.bat ├── operators.md ├── requirements.txt ├── tracking.md └── utils.md ├── examples ├── dataset_viewer.py └── requirements.txt ├── pylintrc ├── readthedocs.yaml ├── requirements.txt ├── setup.py └── test ├── compare ├── benchmark_riou.py └── plot_riou.py ├── dump └── README.md ├── test_abstraction.py ├── test_benchmark.py ├── test_box.py ├── test_dataset.py ├── test_math.py ├── test_point.py ├── test_tracking.py ├── test_voxel.py └── voxel_data.npz /.github/workflows/publish-conda.yml: -------------------------------------------------------------------------------- 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