├── .gitignore ├── CARLA_DATA_EXPORT.md ├── KITTI_FORMAT.MD ├── LICENSE ├── README.md ├── __init__.py ├── core ├── bounding_box.py ├── constants.py ├── data_stats.py ├── datadescriptor.py ├── dataexport.py └── settings.py ├── datageneration.py ├── dddssd ├── .gitignore ├── LICENSE ├── README.md ├── compile_all.sh ├── docs │ ├── demo.gif │ └── framework.png ├── lib │ ├── builder │ │ ├── __init__.py │ │ ├── anchor_builder.py │ │ ├── data_augmentor.py │ │ ├── encoder_builder.py │ │ ├── layer_builder.py │ │ ├── loss_builder.py │ │ ├── mixup_sampler.py │ │ ├── points_pooler.py │ │ ├── postprocessor.py │ │ ├── sampler.py │ │ ├── target_assigner.py │ │ └── voxel_generator │ │ │ ├── __init__.py │ │ │ ├── build.sh │ │ │ ├── point_cloud_ops.py │ │ │ ├── points2voxel.cpp │ │ │ ├── setup.py │ │ │ └── voxel_generator.py │ ├── core │ │ ├── __init__.py │ │ ├── config.py │ │ ├── data_preprocessor.py │ │ ├── evaluator.py │ │ ├── inference.py │ │ ├── tester.py │ │ ├── trainer.py │ │ └── trainer_utils.py │ ├── dataset │ │ ├── __init__.py │ │ ├── data_provider │ │ │ ├── __init__.py │ │ │ ├── data_provider.py │ │ │ ├── logger.py │ │ │ ├── serialize.py │ │ │ └── utils.py │ │ ├── dataloader │ │ │ ├── __init__.py │ │ │ ├── dataloader.py │ │ │ ├── kitti_dataloader.py │ │ │ ├── nuscenes_dataloader.py │ │ │ ├── nuscenes_split.py │ │ │ └── nuscenes_utils.py │ │ ├── feeddict_builder.py │ │ ├── maps_dict.py │ │ └── placeholders.py │ ├── modeling │ │ ├── __init__.py │ │ ├── double_stage_detector.py │ │ ├── head_builder.py │ │ └── single_stage_detector.py │ ├── np_functions │ │ ├── __init__.py │ │ └── gt_sampler.py │ └── utils │ │ ├── __init__.py │ │ ├── anchor_decoder.py │ │ ├── anchor_encoder.py │ │ ├── anchors_util.py │ │ ├── box_3d_utils.py │ │ ├── collections.py │ │ ├── demo_utils.py │ │ ├── generate_anchors.py │ │ ├── group_normalization.py │ │ ├── head_util.py │ │ ├── kitti_aug.py │ │ ├── kitti_object.py │ │ ├── kitti_util.py │ │ ├── layers_util.py │ │ ├── model_util.py │ │ ├── points_filter.py │ │ ├── pool_utils.py │ │ ├── rotation_util.py │ │ ├── sync_bn.py │ │ ├── tf_ops │ │ ├── adabound │ │ │ ├── __init__.py │ │ │ └── adabound.py │ │ ├── evaluation │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.5.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── evaluate_object_3d_offline.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ └── progress.make │ │ │ │ ├── evaluate_offline.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── feature_tests.bin │ │ │ │ ├── feature_tests.c │ │ │ │ ├── feature_tests.cxx │ │ │ │ └── progress.marks │ │ │ ├── CMakeLists.txt │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ ├── evaluate.cpp │ │ │ ├── evaluate_offline │ │ │ ├── log │ │ │ ├── results │ │ │ │ └── resfiles │ │ │ │ │ ├── stats_car_detection.txt │ │ │ │ │ ├── stats_car_detection_3d.txt │ │ │ │ │ ├── stats_car_detection_ground.txt │ │ │ │ │ ├── stats_cyclist_detection.txt │ │ │ │ │ ├── stats_cyclist_detection_3d.txt │ │ │ │ │ ├── stats_cyclist_detection_ground.txt │ │ │ │ │ ├── stats_pedestrian_detection.txt │ │ │ │ │ ├── stats_pedestrian_detection_3d.txt │ │ │ │ │ └── stats_pedestrian_detection_ground.txt │ │ │ ├── test_calc_3d_iou.py │ │ │ ├── test_evaluate.py │ │ │ ├── tf_evaluate.cpp │ │ │ ├── tf_evaluate.py │ │ │ ├── tf_evaluate_op_test.py │ │ │ └── visu_interpolation.py │ │ ├── grouping │ │ │ ├── .gitignore │ │ │ ├── test │ │ │ │ └── test_op.py │ │ │ ├── tf_grouping.cpp │ │ │ ├── tf_grouping.py │ │ │ ├── tf_grouping_g.cu │ │ │ └── tf_grouping_op_test.py │ │ ├── interpolation │ │ │ ├── interpolate.cpp │ │ │ ├── tf_interpolate.cpp │ │ │ ├── tf_interpolate.py │ │ │ ├── tf_interpolate_g.cu │ │ │ ├── tf_interpolate_op_test.py │ │ │ └── visu_interpolation.py │ │ ├── nms │ │ │ ├── build.sh │ │ │ ├── cython_bbox.c │ │ │ ├── cython_bbox.pyx │ │ │ ├── cython_nms.c │ │ │ ├── cython_nms.pyx │ │ │ ├── nms_kernel.cu │ │ │ ├── setup.py │ │ │ ├── tf_nms.cpp │ │ │ └── tf_points_nms.py │ │ ├── points_pooling │ │ │ ├── points_pooling.py │ │ │ ├── tf_points_pooling.cpp │ │ │ └── tf_points_pooling_g.cu │ │ └── sampling │ │ │ ├── .gitignore │ │ │ ├── tf_sampling.cpp │ │ │ ├── tf_sampling.py │ │ │ └── tf_sampling_g.cu │ │ ├── tf_util.py │ │ └── voxelnet_aug.py ├── mayavi │ ├── kitti_sample_scan.txt │ ├── mayavi_install.sh │ ├── test_drawline.py │ └── viz_util.py └── requirements.txt ├── images ├── 3dssd-det-0.png ├── 3dssd-det-1.png ├── 3dssd-det-2.png ├── architecture.png ├── data-generation.png ├── pp-det-0.png ├── pp-det-1.png └── pp-det-2.png ├── inference_3dssd.py ├── inference_3dssd_multithreading.py ├── inference_pp.py ├── pointpillars ├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── images │ ├── kittibox.png │ ├── pointpillars_kitti_results.png │ ├── simpleguide.png │ └── viewerweb.png ├── requirements.txt ├── second │ ├── __init__.py │ ├── builder │ │ ├── __init__.py │ │ ├── anchor_generator_builder.py │ │ ├── dataset_builder.py │ │ ├── dbsampler_builder.py │ │ ├── preprocess_builder.py │ │ ├── similarity_calculator_builder.py │ │ ├── target_assigner_builder.py │ │ └── voxel_builder.py │ ├── configs │ │ ├── car.config │ │ ├── car.tiny.config │ │ ├── people.config │ │ └── pointpillars │ │ │ ├── README.md │ │ │ ├── car │ │ │ ├── xyres_16.proto │ │ │ ├── xyres_20.proto │ │ │ ├── xyres_24.proto │ │ │ └── xyres_28.proto │ │ │ └── ped_cycle │ │ │ ├── xyres_16.proto │ │ │ ├── xyres_20.proto │ │ │ ├── xyres_24.proto │ │ │ └── xyres_28.proto │ ├── core │ │ ├── __init__.py │ │ ├── anchor_generator.py │ │ ├── box_coders.py │ │ ├── box_np_ops.py │ │ ├── cc │ │ │ ├── box_ops.cc │ │ │ ├── box_ops.h │ │ │ ├── nms │ │ │ │ ├── nms.cc │ │ │ │ ├── nms.h │ │ │ │ ├── nms_cpu.h │ │ │ │ └── nms_kernel.cu.cc │ │ │ ├── point_cloud_ops.cc │ │ │ └── point_cloud_ops.h │ │ ├── geometry.py │ │ ├── inference.py │ │ ├── non_max_suppression │ │ │ ├── __init__.py │ │ │ ├── nms_cpu.py │ │ │ └── nms_gpu.py │ │ ├── point_cloud │ │ │ ├── __init__.py │ │ │ ├── bev_ops.py │ │ │ └── point_cloud_ops.py │ │ ├── preprocess.py │ │ ├── region_similarity.py │ │ ├── sample_ops.py │ │ ├── target_assigner.py │ │ ├── target_ops.py │ │ └── voxel_generator.py │ ├── create_data.py │ ├── data │ │ ├── ImageSetss │ │ │ ├── test.txt │ │ │ ├── train.txt │ │ │ ├── trainval.txt │ │ │ └── val.txt │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── kitti_common.py │ │ └── preprocess.py │ ├── kittiviewer │ │ ├── __init__.py │ │ ├── backend.py │ │ ├── control_panel.py │ │ ├── frontend │ │ │ ├── css │ │ │ │ └── main.css │ │ │ ├── index.html │ │ │ ├── js │ │ │ │ ├── KittiViewer.js │ │ │ │ ├── MapControls.js │ │ │ │ ├── SimplePlot.js │ │ │ │ ├── Toast.js │ │ │ │ ├── postprocessing │ │ │ │ │ ├── BloomPass.js │ │ │ │ │ ├── EffectComposer.js │ │ │ │ │ ├── FilmPass.js │ │ │ │ │ ├── MaskPass.js │ │ │ │ │ ├── RenderPass.js │ │ │ │ │ ├── ShaderPass.js │ │ │ │ │ └── UnrealBloomPass.js │ │ │ │ ├── renderers │ │ │ │ │ └── CSS2DRenderer.js │ │ │ │ └── shaders │ │ │ │ │ ├── ConvolutionShader.js │ │ │ │ │ ├── CopyShader.js │ │ │ │ │ ├── FilmShader.js │ │ │ │ │ ├── FocusShader.js │ │ │ │ │ └── LuminosityHighPassShader.js │ │ │ └── textures │ │ │ │ └── sprites │ │ │ │ └── disc.png │ │ ├── glwidget.py │ │ └── viewer.py │ ├── protos │ │ ├── __init__.py │ │ ├── activations.proto │ │ ├── activations_pb2.py │ │ ├── anchors.proto │ │ ├── anchors_pb2.py │ │ ├── box_coder.proto │ │ ├── box_coder_pb2.py │ │ ├── input_reader.proto │ │ ├── input_reader_pb2.py │ │ ├── layers.proto │ │ ├── layers_pb2.py │ │ ├── losses.proto │ │ ├── losses_pb2.py │ │ ├── model.proto │ │ ├── model_pb2.py │ │ ├── optimizer.proto │ │ ├── optimizer_pb2.py │ │ ├── pipeline.proto │ │ ├── pipeline_pb2.py │ │ ├── preprocess.proto │ │ ├── preprocess_pb2.py │ │ ├── sampler.proto │ │ ├── sampler_pb2.py │ │ ├── second.proto │ │ ├── second_pb2.py │ │ ├── similarity.proto │ │ ├── similarity_pb2.py │ │ ├── target.proto │ │ ├── target_pb2.py │ │ ├── train.proto │ │ ├── train_pb2.py │ │ ├── voxel_generator.proto │ │ └── voxel_generator_pb2.py │ ├── pytorch │ │ ├── __init__.py │ │ ├── builder │ │ │ ├── __init__.py │ │ │ ├── box_coder_builder.py │ │ │ ├── input_reader_builder.py │ │ │ ├── losses_builder.py │ │ │ ├── lr_scheduler_builder.py │ │ │ ├── optimizer_builder.py │ │ │ └── second_builder.py │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── box_coders.py │ │ │ ├── box_torch_ops.py │ │ │ └── losses.py │ │ ├── inference.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── pointpillars.py │ │ │ └── voxelnet.py │ │ ├── train.py │ │ └── utils.py │ └── utils │ │ ├── __init__.py │ │ ├── bbox_plot.py │ │ ├── buildtools │ │ ├── __init__.py │ │ ├── command.py │ │ └── pybind11_build.py │ │ ├── check.py │ │ ├── eval.py │ │ ├── find.py │ │ ├── loader.py │ │ └── progress_bar.py └── torchplus │ ├── __init__.py │ ├── metrics.py │ ├── nn │ ├── __init__.py │ ├── functional.py │ └── modules │ │ ├── __init__.py │ │ ├── common.py │ │ └── normalization.py │ ├── ops │ ├── __init__.py │ └── array_ops.py │ ├── tools.py │ └── train │ ├── __init__.py │ ├── checkpoint.py │ ├── common.py │ ├── learning_schedules.py │ └── optim.py ├── requirements.txt ├── utils ├── __init__.py ├── camera_utils.py ├── carla_utils.py ├── lidar_utils.py └── timer.py └── 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