├── .github └── workflows │ └── close_stale_issues.yml ├── .gitignore ├── LICENSE ├── README.md ├── data ├── argo2 │ └── ImageSets │ │ ├── train.txt │ │ └── val.txt ├── kitti │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt ├── lyft │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt ├── once │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt └── waymo │ └── ImageSets │ ├── train.txt │ └── val.txt ├── docker ├── Dockerfile └── README.md ├── docs ├── CUSTOM_DATASET_TUTORIAL.md ├── DEMO.md ├── GETTING_STARTED.md ├── INSTALL.md ├── changelog.md ├── dataset_vs_model.png ├── demo.png ├── guidelines_of_approaches │ ├── bevfusion.md │ └── mppnet.md ├── model_framework.png ├── multiple_models_demo.png └── open_mmlab.png ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── argo2 │ │ ├── __init__.py │ │ ├── argo2_dataset.py │ │ └── argo2_utils │ │ │ ├── constants.py │ │ │ └── so3.py │ ├── augmentor │ │ ├── __init__.py │ │ ├── argo2 │ │ │ ├── __init__.py │ │ │ ├── argo2_dataset.py │ │ │ └── argo2_utils │ │ │ │ ├── constants.py │ │ │ │ └── so3.py │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ └── pseudo_loader.py │ ├── custom │ │ ├── __init__.py │ │ └── custom_dataset.py │ ├── dataset.py │ ├── kitti │ │ ├── __init__.py │ │ ├── kitti_dataset.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ └── kitti_utils.py │ ├── lyft │ │ ├── __init__.py │ │ ├── lyft_dataset.py │ │ ├── lyft_mAP_eval │ │ │ ├── __init__.py │ │ │ └── lyft_eval.py │ │ └── lyft_utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── once │ │ ├── __init__.py │ │ ├── once_dataset.py │ │ ├── once_eval │ │ │ ├── eval_utils.py │ │ │ ├── evaluation.py │ │ │ └── iou_utils.py │ │ └── once_toolkits.py │ ├── pandaset │ │ ├── __init__.py │ │ └── pandaset_dataset.py │ ├── processor │ │ ├── __init__.py │ │ ├── data_processor.py │ │ ├── point_feature_encoder.py │ │ └── ransac.py │ └── waymo │ │ ├── __init__.py │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ ├── fuser │ │ │ ├── __init__.py │ │ │ └── convfuser.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── conv2d_collapse.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── focal_sparse_conv │ │ │ ├── SemanticSeg │ │ │ │ ├── basic_blocks.py │ │ │ │ ├── pyramid_ffn.py │ │ │ │ └── sem_deeplabv3.py │ │ │ ├── focal_sparse_conv.py │ │ │ └── focal_sparse_utils.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_backbone_2d.py │ │ ├── spconv_backbone_focal.py │ │ ├── spconv_backbone_voxelnext.py │ │ ├── spconv_backbone_voxelnext2d.py │ │ ├── spconv_unet.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── dynamic_mean_vfe.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── image_vfe.py │ │ │ ├── image_vfe_modules │ │ │ ├── __init__.py │ │ │ ├── f2v │ │ │ │ ├── __init__.py │ │ │ │ ├── frustum_grid_generator.py │ │ │ │ ├── frustum_to_voxel.py │ │ │ │ └── sampler.py │ │ │ └── ffn │ │ │ │ ├── __init__.py │ │ │ │ ├── ddn │ │ │ │ ├── __init__.py │ │ │ │ ├── ddn_deeplabv3.py │ │ │ │ └── ddn_template.py │ │ │ │ ├── ddn_loss │ │ │ │ ├── __init__.py │ │ │ │ ├── balancer.py │ │ │ │ └── ddn_loss.py │ │ │ │ └── depth_ffn.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── backbones_image │ │ ├── __init__.py │ │ ├── clip_resnet.py │ │ ├── img_neck │ │ │ ├── __init__.py │ │ │ └── generalized_lss.py │ │ ├── maskclip.py │ │ ├── resnet18.py │ │ └── swin.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.py │ │ ├── center_head_clip.py │ │ ├── clip2scene_cc_proposals.py │ │ ├── clip2scene_proposals.py │ │ ├── clip_box_classification.py │ │ ├── clip_box_classification_coords.py │ │ ├── clip_box_cls_maskclip.py │ │ ├── coco_classes.py │ │ ├── fgr.py │ │ ├── fgr_utils.py │ │ ├── frustum_cluster_proposals.py │ │ ├── frustum_dbscan.py │ │ ├── frustum_ov3ddet.py │ │ ├── frustum_pointnet_v1.py │ │ ├── frustum_proposals.py │ │ ├── frustum_proposals_.py │ │ ├── frustum_proposals_seg.py │ │ ├── frustum_proposals_v1.py │ │ ├── frustum_proposals_v1_kitti.py │ │ ├── frustum_proposals_v1_lquq.py │ │ ├── frustum_proposals_v2.py │ │ ├── frustum_proposals_v3.py │ │ ├── frustum_vit_head.py │ │ ├── glip_box_classification.py │ │ ├── gt_proposals.py │ │ ├── point_head_box.py │ │ ├── point_head_box_w_pseudo.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_intra_part_head.py │ │ ├── prompts.py │ │ ├── pseudo_loader__.py │ │ ├── pseudo_processor.py │ │ ├── target_assigner │ │ │ ├── __init__.py │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ ├── axis_aligned_target_assigner.py │ │ │ └── hungarian_assigner.py │ │ ├── transfusion_frustum_head.py │ │ ├── transfusion_head.py │ │ ├── transfusion_head_2D_proposals.py │ │ ├── transfusion_head_am.py │ │ ├── transfusion_head_anchor_matching.py │ │ ├── transfusion_head_anchor_matching_before_sigmoid.py │ │ ├── transfusion_head_anchor_matching_learnt_lwh.py │ │ ├── transfusion_head_clip.py │ │ ├── transfusion_head_discrete_iou.py │ │ ├── transfusion_head_gaussian_matching.py │ │ ├── transfusion_head_sampling.py │ │ ├── vit_point_encoder.py │ │ └── voxelnext_head.py │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── bevfusion.py │ │ ├── caddn.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── head_only.py │ │ ├── mppnet.py │ │ ├── mppnet_e2e.py │ │ ├── pillarnet.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── pv_rcnn_plusplus.py │ │ ├── second_net.py │ │ ├── second_net_iou.py │ │ ├── transfusion.py │ │ ├── voxel_rcnn.py │ │ └── voxelnext.py │ ├── frustum_pointnets_v1.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── basic_block_2d.py │ │ ├── centernet_utils.py │ │ ├── model_nms_utils.py │ │ ├── mppnet_utils.py │ │ ├── swin_utils.py │ │ └── transfusion_utils.py │ ├── preprocessed_detector.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── mppnet_head.py │ │ ├── mppnet_memory_bank_e2e.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ ├── second_head.py │ │ ├── target_assigner │ │ │ ├── __init__.py │ │ │ └── proposal_target_layer.py │ │ └── voxelrcnn_head.py │ └── view_transforms │ │ ├── __init__.py │ │ └── depth_lss.py ├── ops │ ├── __init__.py │ ├── bev_pool │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── iou3d_nms │ │ ├── __init__.py │ │ ├── iou3d_nms_utils.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── pointnet2_batch │ │ │ ├── __init__.py │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ └── pointnet2_stack │ │ │ ├── __init__.py │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ ├── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── ball_query_gpu.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── group_points_gpu.h │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── interpolate_gpu.h │ │ │ ├── pointnet2_api.cpp │ │ │ ├── sampling.cpp │ │ │ ├── sampling_gpu.cu │ │ │ ├── sampling_gpu.h │ │ │ ├── vector_pool.cpp │ │ │ ├── vector_pool_gpu.cu │ │ │ ├── vector_pool_gpu.h │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ │ │ ├── voxel_pool_modules.py │ │ │ └── voxel_query_utils.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── __init__.py │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu └── utils │ ├── __init__.py │ ├── box_coder_utils.py │ ├── box_util_fpoints.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── frustum_model_util.py │ ├── loss_utils.py │ ├── memory_ensemble_utils.py │ ├── object3d_custom.py │ ├── object3d_kitti.py │ ├── spconv_utils.py │ └── transform_utils.py ├── requirements.txt ├── setup.py └── tools ├── _init_path.py ├── cfgs ├── argo2_models │ └── cbgs_voxel01_voxelnext.yaml ├── custom_models │ ├── pv_rcnn.yaml │ └── second.yaml ├── dataset_configs │ ├── argo2_dataset.yaml │ ├── custom_dataset.yaml │ ├── kitti_dataset.yaml │ ├── lyft_dataset.yaml │ ├── nuscenes_dataset.yaml │ ├── once_dataset.yaml │ ├── pandaset_dataset.yaml │ ├── waymo_dataset.yaml │ └── waymo_dataset_multiframe.yaml ├── kitti_models │ ├── CaDDN.yaml │ ├── PartA2.yaml │ ├── PartA2_free.yaml │ ├── pillarnet.yaml │ ├── pointpillar.yaml │ ├── pointpillar_newaugs.yaml │ ├── pointpillar_pyramid_aug.yaml │ ├── pointrcnn.yaml │ ├── pointrcnn_iou.yaml │ ├── pv_rcnn.yaml │ ├── second.yaml │ ├── second_iou.yaml │ ├── second_multihead.yaml │ ├── voxel_rcnn_car.yaml │ └── voxel_rcnn_car_focal_multimodal.yaml ├── lyft_models │ ├── cbgs_second-nores_multihead.yaml │ └── cbgs_second_multihead.yaml ├── nuscenes_box_seeker_proposals.yaml ├── nuscenes_models │ ├── bevfusion.yaml │ ├── cbgs_dyn_pp_centerpoint.yaml │ ├── cbgs_pillar0075_res2d_centerpoint.yaml │ ├── cbgs_pp_multihead.yaml │ ├── cbgs_second_multihead.yaml │ ├── cbgs_voxel0075_res3d_centerpoint.yaml │ ├── cbgs_voxel0075_voxelnext.yaml │ ├── cbgs_voxel0075_voxelnext_doubleflip.yaml │ ├── cbgs_voxel01_res3d_centerpoint.yaml │ └── transfusion_lidar.yaml ├── once_models │ ├── centerpoint.yaml │ ├── pointpillar.yaml │ ├── pointrcnn.yaml │ ├── pv_rcnn.yaml │ └── second.yaml ├── transfusion_lidar_st_nodisaugs_0.1sample_nomaxst_60confqueue_rotw_novelw_3sepinf_10fixcp_0.5unkw_1.0trans_0.785rot_0.2drop_glip_cpstonly_0.9997mom.yaml └── waymo_models │ ├── PartA2.yaml │ ├── centerpoint.yaml │ ├── centerpoint_4frames.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── centerpoint_pillar_1x.yaml │ ├── centerpoint_without_resnet.yaml │ ├── mppnet_16frames.yaml │ ├── mppnet_4frames.yaml │ ├── mppnet_e2e_memorybank_inference.yaml │ ├── pillarnet.yaml │ ├── pointpillar_1x.yaml │ ├── pv_rcnn.yaml │ ├── pv_rcnn_plusplus.yaml │ ├── pv_rcnn_plusplus_resnet.yaml │ ├── pv_rcnn_plusplus_resnet_2frames.yaml │ ├── pv_rcnn_with_centerhead_rpn.yaml │ ├── second.yaml │ ├── voxel_rcnn_with_centerhead_dyn_voxel.yaml │ ├── voxelnext2d_ioubranch.yaml │ └── voxelnext_ioubranch_large.yaml ├── demo.py ├── demo_pyplot.py ├── eval_utils └── eval_utils.py ├── extract_pseudo_labels.py ├── process_tools └── create_integrated_database.py ├── scripts ├── dist_test.sh ├── dist_train.sh ├── slurm_test_mgpu.sh ├── slurm_test_single.sh ├── slurm_train.sh ├── slurm_train_v2.sh └── torch_train.sh ├── test.py ├── test_clip_crops.py ├── train.py ├── train_st.py ├── train_utils ├── optimization │ ├── __init__.py │ ├── fastai_optim.py │ └── learning_schedules_fastai.py └── train_utils.py └── visual_utils ├── open3d_vis_utils.py ├── pyplot_vis_utils.py └── visualize_utils.py 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