├── .gitignore ├── LICENSE ├── README.md ├── data ├── kitti │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt └── waymo │ └── ImageSets │ ├── train.txt │ └── val.txt ├── docs └── framework.jpg ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── dataset.py │ ├── kitti │ │ ├── kitti_dataset.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ └── kitti_utils.py │ ├── nuscenes │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ ├── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ │ ├── p3d_backbone_bise.py │ │ └── perspective_view_net.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ └── target_assigner │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── __init__.py │ │ ├── detector3d_template.py │ │ ├── p3d_rcnn.py │ │ └── pointpillar.py │ ├── model_utils │ │ ├── layers.py │ │ ├── misc.py │ │ ├── model_nms_utils.py │ │ ├── pillar_vfe.py │ │ └── weight_init.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── hh3d_roi_head.py │ │ ├── roi_head_template.py │ │ └── target_assigner │ │ │ └── proposal_target_layer.py │ └── vfe │ │ ├── __init__.py │ │ ├── hh3d_vfe.py │ │ └── vfe_template.py ├── ops │ ├── iou3d_nms │ │ ├── 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 │ │ ├── pointnet2_batch │ │ │ ├── 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 │ │ │ ├── new_pointnet2_utils.py │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_modules_v2.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 │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ ├── roiaware_pool3d │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu └── utils │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── loss_utils.py │ └── object3d_kitti.py ├── requirements.txt ├── setup.py └── tools ├── cfgs ├── dataset_configs │ └── kitti_dataset.yaml └── kitti_models │ └── hh3d_rcnn_car.yaml ├── demo.py ├── eval_utils └── eval_utils.py ├── scripts ├── dist_test.sh ├── dist_train.sh ├── eval_hh3d_rcnn.sh ├── slurm_test_mgpu.sh ├── slurm_test_single.sh ├── slurm_train.sh └── train_hh3d_rcnn.sh ├── test.py ├── train.py ├── train_utils ├── optimization │ ├── __init__.py │ ├── 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