├── .gitignore ├── ArgoverseDataset ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── agent.cpython-36.pyc │ ├── agent.cpython-37.pyc │ ├── loader.cpython-36.pyc │ ├── loader.cpython-37.pyc │ ├── loader_typeA.cpython-36.pyc │ ├── loader_typeA.cpython-37.pyc │ ├── loader_typeC.cpython-36.pyc │ ├── loader_typeCps.cpython-37.pyc │ ├── map.cpython-36.pyc │ ├── map.cpython-37.pyc │ ├── preprocess.cpython-36.pyc │ ├── preprocess.cpython-37.pyc │ ├── scene.cpython-36.pyc │ ├── scene.cpython-37.pyc │ ├── visualization.cpython-36.pyc │ └── visualization.cpython-37.pyc ├── agent.py ├── argoverse │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ └── __init__.cpython-37.pyc │ ├── data_loading │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── argoverse_forecasting_loader.cpython-37.pyc │ │ │ ├── argoverse_tracking_loader.cpython-36.pyc │ │ │ ├── argoverse_tracking_loader.cpython-37.pyc │ │ │ ├── frame_label_accumulator.cpython-36.pyc │ │ │ ├── frame_record.cpython-36.pyc │ │ │ ├── object_classes.cpython-36.pyc │ │ │ ├── object_label_record.cpython-36.pyc │ │ │ ├── object_label_record.cpython-37.pyc │ │ │ ├── pose_loader.cpython-36.pyc │ │ │ ├── pose_loader.cpython-37.pyc │ │ │ ├── simple_track_dataloader.cpython-36.pyc │ │ │ ├── synchronization_database.cpython-36.pyc │ │ │ ├── synchronization_database.cpython-37.pyc │ │ │ ├── trajectory_loader.cpython-36.pyc │ │ │ ├── vector_map_loader.cpython-36.pyc │ │ │ └── vector_map_loader.cpython-37.pyc │ │ ├── argoverse_forecasting_loader.py │ │ ├── argoverse_tracking_loader.py │ │ ├── frame_label_accumulator.py │ │ ├── frame_record.py │ │ ├── object_classes.py │ │ ├── object_label_record.py │ │ ├── pose_loader.py │ │ ├── simple_track_dataloader.py │ │ ├── synchronization_database.py │ │ ├── trajectory_loader.py │ │ └── vector_map_loader.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── competition_util.py │ │ ├── detection │ │ │ ├── constants.py │ │ │ ├── eval.py │ │ │ └── utils.py │ │ ├── dict_att_all.pkl │ │ ├── eval_forecasting.py │ │ ├── eval_tracking.py │ │ └── eval_utils.py │ ├── map_files │ │ ├── Argoverse-Terms_of_Use_v1.0.txt │ │ ├── MIA_10316_driveable_area_mat_2019_05_28.npy │ │ ├── MIA_10316_ground_height_mat_2019_05_28.npy │ │ ├── MIA_10316_halluc_bbox_table.npy │ │ ├── MIA_10316_npyimage_to_city_se2_2019_05_28.npy │ │ ├── MIA_10316_tableidx_to_laneid_map.json │ │ ├── PIT_10314_driveable_area_mat_2019_05_28.npy │ │ ├── PIT_10314_ground_height_mat_2019_05_28.npy │ │ ├── PIT_10314_halluc_bbox_table.npy │ │ ├── PIT_10314_npyimage_to_city_se2_2019_05_28.npy │ │ ├── PIT_10314_tableidx_to_laneid_map.json │ │ ├── pruned_argoverse_MIA_10316_vector_map.xml │ │ └── pruned_argoverse_PIT_10314_vector_map.xml │ ├── map_representation │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── lane_segment.cpython-36.pyc │ │ │ ├── lane_segment.cpython-37.pyc │ │ │ ├── map_api.cpython-36.pyc │ │ │ ├── map_api.cpython-37.pyc │ │ │ ├── map_viz_helper.cpython-36.pyc │ │ │ └── map_viz_helper.cpython-37.pyc │ │ ├── lane_segment.py │ │ ├── map_api.py │ │ └── map_viz_helper.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── calibration.cpython-36.pyc │ │ │ ├── calibration.cpython-37.pyc │ │ │ ├── camera_stats.cpython-36.pyc │ │ │ ├── camera_stats.cpython-37.pyc │ │ │ ├── centerline_utils.cpython-36.pyc │ │ │ ├── centerline_utils.cpython-37.pyc │ │ │ ├── city_visibility_utils.cpython-36.pyc │ │ │ ├── cuboid_interior.cpython-36.pyc │ │ │ ├── cv2_plotting_utils.cpython-36.pyc │ │ │ ├── cv2_plotting_utils.cpython-37.pyc │ │ │ ├── datetime_utils.cpython-36.pyc │ │ │ ├── datetime_utils.cpython-37.pyc │ │ │ ├── dilation_utils.cpython-36.pyc │ │ │ ├── dilation_utils.cpython-37.pyc │ │ │ ├── ffmpeg_utils.cpython-36.pyc │ │ │ ├── frustum_clipping.cpython-36.pyc │ │ │ ├── frustum_clipping.cpython-37.pyc │ │ │ ├── geometry.cpython-36.pyc │ │ │ ├── geometry.cpython-37.pyc │ │ │ ├── helpers.cpython-36.pyc │ │ │ ├── helpers.cpython-37.pyc │ │ │ ├── interpolate.cpython-36.pyc │ │ │ ├── interpolate.cpython-37.pyc │ │ │ ├── json_utils.cpython-36.pyc │ │ │ ├── json_utils.cpython-37.pyc │ │ │ ├── manhattan_search.cpython-36.pyc │ │ │ ├── manhattan_search.cpython-37.pyc │ │ │ ├── mesh_grid.cpython-36.pyc │ │ │ ├── mesh_grid.cpython-37.pyc │ │ │ ├── mpl_plotting_utils.cpython-36.pyc │ │ │ ├── mpl_plotting_utils.cpython-37.pyc │ │ │ ├── pkl_utils.cpython-36.pyc │ │ │ ├── pkl_utils.cpython-37.pyc │ │ │ ├── ply_loader.cpython-36.pyc │ │ │ ├── ply_loader.cpython-37.pyc │ │ │ ├── se2.cpython-36.pyc │ │ │ ├── se2.cpython-37.pyc │ │ │ ├── se3.cpython-36.pyc │ │ │ ├── se3.cpython-37.pyc │ │ │ ├── subprocess_utils.cpython-36.pyc │ │ │ ├── transform.cpython-36.pyc │ │ │ └── transform.cpython-37.pyc │ │ ├── bfs.py │ │ ├── calibration.py │ │ ├── camera_stats.py │ │ ├── centerline_utils.py │ │ ├── city_visibility_utils.py │ │ ├── cuboid_interior.py │ │ ├── cv2_plotting_utils.py │ │ ├── datetime_utils.py │ │ ├── dilation_utils.py │ │ ├── ffmpeg_utils.py │ │ ├── forecasting_evaluation.py │ │ ├── frustum_clipping.py │ │ ├── geometry.py │ │ ├── grid_interpolation.py │ │ ├── helpers.py │ │ ├── heuristic_ground_removal.py │ │ ├── interpolate.py │ │ ├── json_utils.py │ │ ├── line_projection.py │ │ ├── make_att_files.py │ │ ├── make_track_label_folders.py │ │ ├── manhattan_search.py │ │ ├── mayavi_wrapper.py │ │ ├── mesh_grid.py │ │ ├── mpl_plotting_utils.py │ │ ├── pkl_utils.py │ │ ├── plane_visualization_utils.py │ │ ├── ply_loader.py │ │ ├── polyline_density.py │ │ ├── se2.py │ │ ├── se3.py │ │ ├── subprocess_utils.py │ │ └── transform.py │ └── visualization │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── colormap.cpython-36.pyc │ │ ├── colormap.cpython-37.pyc │ │ ├── ground_visualization.cpython-36.pyc │ │ ├── mpl_point_cloud_vis.cpython-36.pyc │ │ ├── vis_mask.cpython-36.pyc │ │ ├── vis_mask.cpython-37.pyc │ │ ├── visualization_utils.cpython-36.pyc │ │ └── visualize_sequences.cpython-37.pyc │ │ ├── colormap.py │ │ ├── generate_sequence_videos.py │ │ ├── ground_visualization.py │ │ ├── mayavi_install.sh │ │ ├── mayavi_utils.py │ │ ├── mpl_point_cloud_vis.py │ │ ├── vis_mask.py │ │ ├── visualization_utils.py │ │ └── visualize_sequences.py ├── loader_typeA.py ├── map.py ├── preprocess.py ├── scene.py └── visualization.py ├── GIF └── HLS.gif ├── LICENSE ├── NuscenesDataset ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── agent.cpython-36.pyc │ ├── agent.cpython-37.pyc │ ├── loader.cpython-36.pyc │ ├── loader.cpython-37.pyc │ ├── loader_typeA.cpython-37.pyc │ ├── loader_typeCps.cpython-37.pyc │ ├── map.cpython-36.pyc │ ├── map.cpython-37.pyc │ ├── preprocess.cpython-36.pyc │ ├── preprocess.cpython-37.pyc │ ├── scene.cpython-36.pyc │ ├── scene.cpython-37.pyc │ ├── visualization.cpython-36.pyc │ └── visualization.cpython-37.pyc ├── agent.py ├── loader_typeA.py ├── map.py ├── nuscenes │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── nuscenes.cpython-36.pyc │ │ └── nuscenes.cpython-37.pyc │ ├── can_bus │ │ ├── README.md │ │ └── can_bus_api.py │ ├── eval │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-37.pyc │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ └── utils.cpython-37.pyc │ │ │ ├── config.py │ │ │ ├── data_classes.py │ │ │ ├── loaders.py │ │ │ ├── render.py │ │ │ └── utils.py │ │ ├── detection │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── algo.py │ │ │ ├── config.py │ │ │ ├── configs │ │ │ │ └── detection_cvpr_2019.json │ │ │ ├── constants.py │ │ │ ├── data_classes.py │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_algo.py │ │ │ │ ├── test_data_classes.py │ │ │ │ ├── test_evaluate.py │ │ │ │ ├── test_loader.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── lidarseg │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ │ └── __init__.py │ │ │ ├── utils.py │ │ │ └── validate_submission.py │ │ ├── prediction │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ └── splits.cpython-37.pyc │ │ │ ├── baseline_model_inference.py │ │ │ ├── compute_metrics.py │ │ │ ├── config.py │ │ │ ├── configs │ │ │ │ └── predict_2020_icra.json │ │ │ ├── data_classes.py │ │ │ ├── docker_container │ │ │ │ ├── README.md │ │ │ │ └── docker │ │ │ │ │ ├── Dockerfile │ │ │ │ │ └── docker-compose.yml │ │ │ ├── metrics.py │ │ │ ├── splits.py │ │ │ ├── submission │ │ │ │ ├── __init__.py │ │ │ │ ├── do_inference.py │ │ │ │ └── extra_packages.txt │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_dataclasses.py │ │ │ │ └── test_metrics.py │ │ └── tracking │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── algo.py │ │ │ ├── configs │ │ │ └── tracking_nips_2019.json │ │ │ ├── constants.py │ │ │ ├── data_classes.py │ │ │ ├── evaluate.py │ │ │ ├── loaders.py │ │ │ ├── metrics.py │ │ │ ├── mot.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── scenarios.py │ │ │ ├── test_algo.py │ │ │ └── test_evaluate.py │ │ │ └── utils.py │ ├── map_expansion │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── arcline_path_utils.cpython-36.pyc │ │ │ ├── arcline_path_utils.cpython-37.pyc │ │ │ ├── bitmap.cpython-36.pyc │ │ │ ├── bitmap.cpython-37.pyc │ │ │ ├── map_api.cpython-36.pyc │ │ │ └── map_api.cpython-37.pyc │ │ ├── arcline_path_utils.py │ │ ├── bitmap.py │ │ ├── map_api.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── test_all_maps.py │ │ │ └── test_arcline_path_utils.py │ │ └── utils.py │ ├── nuscenes.py │ ├── prediction │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── helper.cpython-37.pyc │ │ ├── helper.py │ │ ├── input_representation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── agents.cpython-37.pyc │ │ │ │ ├── combinators.cpython-37.pyc │ │ │ │ ├── interface.cpython-37.pyc │ │ │ │ ├── static_layers.cpython-37.pyc │ │ │ │ └── utils.cpython-37.pyc │ │ │ ├── agents.py │ │ │ ├── combinators.py │ │ │ ├── interface.py │ │ │ ├── static_layers.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_agents.py │ │ │ │ ├── test_combinators.py │ │ │ │ ├── test_static_layers.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── backbone.cpython-37.pyc │ │ │ │ └── covernet.cpython-37.pyc │ │ │ ├── backbone.py │ │ │ ├── covernet.py │ │ │ ├── mtp.py │ │ │ └── physics.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── run_covernet.py │ │ │ ├── run_image_generation.py │ │ │ ├── run_mtp.py │ │ │ ├── test_backbone.py │ │ │ ├── test_covernet.py │ │ │ ├── test_mtp.py │ │ │ ├── test_mtp_loss.py │ │ │ ├── test_physics_models.py │ │ │ └── test_predict_helper.py │ ├── scripts │ │ ├── README.md │ │ ├── __init__.py │ │ ├── export_2d_annotations_as_json.py │ │ ├── export_egoposes_on_map.py │ │ ├── export_instance_videos.py │ │ ├── export_kitti.py │ │ ├── export_pointclouds_as_obj.py │ │ ├── export_poses.py │ │ └── export_scene_videos.py │ ├── tests │ │ ├── __init__.py │ │ ├── assert_download.py │ │ ├── test_lidarseg.py │ │ ├── test_nuscenes.py │ │ └── test_predict_helper.py │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── color_map.cpython-36.pyc │ │ ├── color_map.cpython-37.pyc │ │ ├── data_classes.cpython-36.pyc │ │ ├── data_classes.cpython-37.pyc │ │ ├── geometry_utils.cpython-36.pyc │ │ ├── geometry_utils.cpython-37.pyc │ │ ├── map_mask.cpython-36.pyc │ │ ├── map_mask.cpython-37.pyc │ │ ├── splits.cpython-36.pyc │ │ └── splits.cpython-37.pyc │ │ ├── color_map.py │ │ ├── data_classes.py │ │ ├── geometry_utils.py │ │ ├── kitti.py │ │ ├── map_mask.py │ │ ├── splits.py │ │ └── tests │ │ ├── __init__.py │ │ ├── test_geometry_utils.py │ │ └── test_map_mask.py ├── preprocess.py ├── scene.py └── visualization.py ├── README.md ├── anaconda_env └── nuscenes_cu11.yaml ├── argoverse_test.sh ├── argoverse_train.sh ├── argumentparser.py ├── config └── config.json ├── helper.py ├── models ├── HLS.py ├── __init__.py ├── __pycache__ │ ├── HLS.cpython-37.pyc │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── autove.cpython-37.pyc │ ├── autove_onnx.cpython-37.pyc │ ├── autove_ped.cpython-37.pyc │ ├── base_modules.cpython-36.pyc │ ├── base_modules.cpython-37.pyc │ ├── baseline.cpython-37.pyc │ ├── baseline_nf.cpython-37.pyc │ ├── ilvm.cpython-37.pyc │ ├── kalman_filter.cpython-36.pyc │ ├── model.cpython-36.pyc │ ├── model.cpython-37.pyc │ ├── pixor.cpython-36.pyc │ ├── pixor.cpython-37.pyc │ ├── resnet.cpython-36.pyc │ ├── scratch_lane_pooling.cpython-37.pyc │ ├── scratch_t1.cpython-37.pyc │ ├── scratch_t3.cpython-37.pyc │ ├── scratch_t4.cpython-37.pyc │ ├── scratch_t5.cpython-37.pyc │ ├── scratch_t6.cpython-37.pyc │ ├── solver.cpython-36.pyc │ ├── solver.cpython-37.pyc │ └── trajectory_filter.cpython-36.pyc └── base_modules.py ├── nuscenes_test.sh ├── nuscenes_train.sh ├── optimization ├── HLS_solver.py ├── __init__.py └── __pycache__ │ ├── HLS_solver.cpython-37.pyc │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── scratch_t1_solver.cpython-37.pyc │ ├── scratch_t3_solver.cpython-37.pyc │ ├── scratch_t4_solver.cpython-37.pyc │ ├── scratch_t5_solver.cpython-37.pyc │ ├── scratch_t6_solver.cpython-37.pyc │ ├── solver.cpython-36.pyc │ └── solver.cpython-37.pyc ├── test_all.py ├── train.py ├── utils ├── .idea │ ├── misc.xml │ ├── modules.xml │ ├── utils.iml │ └── workspace.xml ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── collate.cpython-36.pyc │ ├── collate.cpython-37.pyc │ ├── functions.cpython-36.pyc │ ├── functions.cpython-37.pyc │ ├── functions.cpython-38.pyc │ ├── libraries.cpython-36.pyc │ ├── libraries.cpython-37.pyc │ ├── loss.cpython-36.pyc │ ├── loss.cpython-37.pyc │ ├── trajectory_filter.cpython-36.pyc │ ├── trajectory_filter.cpython-37.pyc │ ├── utils.cpython-36.pyc │ ├── utils.cpython-37.pyc │ ├── utils.cpython-38.pyc │ └── visualization.cpython-36.pyc ├── collate.py ├── functions.py ├── libraries.py ├── loss.py └── trajectory_filter.py └── visualization_codes ├── argoverse_visualization_singleagent.py └── nuscenes_visualization_singleagent.py /.gitignore: -------------------------------------------------------------------------------- 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