├── .gitignore ├── LICENSE ├── README.md ├── compile_all.sh ├── configs └── kitti │ ├── 3dssd │ └── 3dssd.yaml │ └── pointrcnn │ ├── tiny_pointrcnn_stage1.yaml │ ├── tiny_pointrcnn_stage2.yaml │ └── tiny_pointrcnn_stage2_test.yaml ├── 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 │ ├── 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 │ │ │ ├── CMakeOutput.log │ │ │ ├── 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 │ │ │ │ ├── data │ │ │ │ ├── 000000.txt │ │ │ │ ├── 000001.txt │ │ │ │ └── 000003.txt │ │ │ │ ├── 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 /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dvlab-research/3DSSD/HEAD/.gitignore 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