├── .gitignore ├── .gitmodules ├── README.md ├── config ├── nuscenes │ └── nuscenes_unet32_spherical_transformer.yaml ├── semantic_kitti │ └── semantic_kitti_unet32_spherical_transformer.yaml └── waymo │ └── waymo_unet32_spherical_transformer.yaml ├── data ├── nuscenes_preprocess_infos.py └── waymo_to_semanticKITTI │ ├── convert.py │ ├── lib │ ├── __init__.py │ ├── utils.py │ └── waymo2semantickitti.py │ ├── testing_list.txt │ ├── training_list.txt │ └── validation_list.txt ├── detection ├── LICENSE ├── README.md ├── data │ ├── kitti │ │ └── ImageSets │ │ │ ├── test.txt │ │ │ ├── train.txt │ │ │ └── val.txt │ ├── lyft │ │ └── ImageSets │ │ │ ├── test.txt │ │ │ ├── train.txt │ │ │ └── val.txt │ ├── nuscenes │ │ ├── v1.0-test │ │ └── v1.0-trainval │ └── waymo │ │ └── ImageSets │ │ ├── train.txt │ │ └── val.txt ├── docker │ ├── Dockerfile │ └── README.md ├── docs │ ├── CUSTOM_DATASET_TUTORIAL.md │ ├── DEMO.md │ ├── GETTING_STARTED.md │ ├── INSTALL.md │ ├── changelog.md │ └── guidelines_of_approaches │ │ └── mppnet.md ├── pcdet │ ├── __init__.py │ ├── config.py │ ├── datasets │ │ ├── __init__.py │ │ ├── augmentor │ │ │ ├── __init__.py │ │ │ ├── augmentor_utils.py │ │ │ ├── data_augmentor.py │ │ │ └── database_sampler.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 │ │ ├── pandaset │ │ │ ├── __init__.py │ │ │ └── pandaset_dataset.py │ │ ├── processor │ │ │ ├── __init__.py │ │ │ ├── data_processor.py │ │ │ ├── data_util.py │ │ │ ├── point_feature_encoder.py │ │ │ └── voxelize.py │ │ └── waymo │ │ │ ├── __init__.py │ │ │ ├── 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 │ │ │ │ ├── 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_focal.py │ │ │ ├── spconv_backbone_sphereformer.py │ │ │ ├── spconv_unet.py │ │ │ ├── spherical_transformer.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 │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ ├── anchor_head_multi.py │ │ │ ├── anchor_head_single.py │ │ │ ├── anchor_head_template.py │ │ │ ├── center_head.py │ │ │ ├── point_head_box.py │ │ │ ├── point_head_simple.py │ │ │ ├── point_head_template.py │ │ │ ├── point_intra_part_head.py │ │ │ └── target_assigner │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_generator.py │ │ │ │ ├── atss_target_assigner.py │ │ │ │ └── axis_aligned_target_assigner.py │ │ ├── detectors │ │ │ ├── PartA2_net.py │ │ │ ├── __init__.py │ │ │ ├── caddn.py │ │ │ ├── centerpoint.py │ │ │ ├── detector3d_template.py │ │ │ ├── mppnet.py │ │ │ ├── mppnet_e2e.py │ │ │ ├── point_rcnn.py │ │ │ ├── pointpillar.py │ │ │ ├── pv_rcnn.py │ │ │ ├── pv_rcnn_plusplus.py │ │ │ ├── second_net.py │ │ │ ├── second_net_iou.py │ │ │ └── voxel_rcnn.py │ │ ├── model_utils │ │ │ ├── __init__.py │ │ │ ├── basic_block_2d.py │ │ │ ├── centernet_utils.py │ │ │ ├── model_nms_utils.py │ │ │ └── mppnet_utils.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 │ ├── ops │ │ ├── __init__.py │ │ ├── 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_utils.py │ │ ├── calibration_kitti.py │ │ ├── common_utils.py │ │ ├── commu_utils.py │ │ ├── loss_utils.py │ │ ├── object3d_custom.py │ │ ├── object3d_kitti.py │ │ ├── spconv_utils.py │ │ └── transform_utils.py │ └── version.py ├── requirements.txt ├── setup.py └── tools │ ├── _init_path.py │ ├── cfgs │ ├── custom_models │ │ ├── pv_rcnn.yaml │ │ └── second.yaml │ ├── dataset_configs │ │ ├── custom_dataset.yaml │ │ ├── kitti_dataset.yaml │ │ ├── lyft_dataset.yaml │ │ ├── nuscenes_dataset.yaml │ │ ├── nuscenes_dataset_semseg.yaml │ │ ├── nuscenes_dataset_semseg_10sweep.yaml │ │ ├── nuscenes_dataset_semseg_10sweep_test.yaml │ │ ├── nuscenes_dataset_semseg_3sweep.yaml │ │ ├── nuscenes_dataset_semseg_3sweep_test.yaml │ │ ├── nuscenes_dataset_semseg_5sweep.yaml │ │ ├── nuscenes_dataset_semseg_5sweep_test.yaml │ │ ├── nuscenes_dataset_semseg_test.yaml │ │ ├── pandaset_dataset.yaml │ │ ├── waymo_dataset.yaml │ │ └── waymo_dataset_multiframe.yaml │ ├── kitti_models │ │ ├── CaDDN.yaml │ │ ├── PartA2.yaml │ │ ├── PartA2_free.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_models │ │ ├── cbgs_dyn_pp_centerpoint.yaml │ │ ├── cbgs_pp_multihead.yaml │ │ ├── cbgs_second_multihead.yaml │ │ ├── cbgs_voxel0075_res3d_centerpoint.yaml │ │ ├── cbgs_voxel0075_res3d_centerpoint_sphereformer.yaml │ │ └── cbgs_voxel01_res3d_centerpoint.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 │ │ ├── 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 │ ├── demo.py │ ├── eval_utils │ └── eval_utils.py │ ├── output │ ├── centerpoint_nuscenes.txt │ ├── centerpoint_nuscenes_adamw0.001_wd0.01.txt │ ├── centerpoint_nuscenes_adamw0.006_wd0.01.txt │ ├── centerpoint_stage1_dim16_pan_stage123_split_r_exp1.txt │ ├── centerpoint_stage1_dim32.txt │ ├── centerpoint_stage1_dim32_pan_dual_stage123_split_r_exp1.txt │ └── centerpoint_stage1_dim32_pan_stage123_split_r_exp1.txt │ ├── process_tools │ └── create_integrated_database.py │ ├── scripts │ ├── dist_test.sh │ ├── dist_train.sh │ ├── slurm_test_mgpu.sh │ ├── slurm_test_single.sh │ ├── slurm_train.sh │ └── torch_train.sh │ ├── test.py │ ├── third_party │ └── SparseTransformer │ │ ├── .gitignore │ │ ├── README.md │ │ ├── __init__.py │ │ ├── license │ │ ├── setup.py │ │ ├── sptr │ │ ├── __init__.py │ │ ├── functional.py │ │ ├── modules.py │ │ ├── position_embedding.py │ │ └── utils.py │ │ ├── src │ │ └── sptr │ │ │ ├── __init__.py │ │ │ ├── attention │ │ │ ├── attention_cuda.cpp │ │ │ ├── attention_cuda_kernel.cu │ │ │ └── attention_cuda_kernel.h │ │ │ ├── cuda_utils.h │ │ │ ├── pointops_api.cpp │ │ │ ├── precompute │ │ │ ├── precompute.cpp │ │ │ ├── precompute_cuda_kernel.cu │ │ │ └── precompute_cuda_kernel.h │ │ │ └── rpe │ │ │ ├── relative_pos_encoding_cuda.cpp │ │ │ ├── relative_pos_encoding_cuda_kernel.cu │ │ │ └── relative_pos_encoding_cuda_kernel.h │ │ └── test │ │ ├── pointops.py │ │ ├── test_attention_op_step1.py │ │ ├── test_attention_op_step2.py │ │ ├── test_precompute_all.py │ │ ├── test_relative_pos_encoding_op_step1.py │ │ ├── test_relative_pos_encoding_op_step1_all.py │ │ └── test_relative_pos_encoding_op_step2.py │ ├── train.py │ ├── train_utils │ ├── optimization │ │ ├── __init__.py │ │ ├── fastai_optim.py │ │ └── learning_schedules_fastai.py │ └── train_utils.py │ └── visual_utils │ ├── open3d_vis_utils.py │ └── visualize_utils.py ├── figs └── figure.jpg ├── license ├── model ├── spherical_transformer.py └── unet_spherical_transformer.py ├── requirements.txt ├── third_party └── SparseTransformer │ ├── .gitignore │ ├── README.md │ ├── __init__.py │ ├── license │ ├── setup.py │ ├── sptr │ ├── __init__.py │ ├── functional.py │ ├── modules.py │ ├── position_embedding.py │ └── utils.py │ ├── src │ └── sptr │ │ ├── __init__.py │ │ ├── attention │ │ ├── attention_cuda.cpp │ │ ├── attention_cuda_kernel.cu │ │ └── attention_cuda_kernel.h │ │ ├── cuda_utils.h │ │ ├── pointops_api.cpp │ │ ├── precompute │ │ ├── precompute.cpp │ │ ├── precompute_cuda_kernel.cu │ │ └── precompute_cuda_kernel.h │ │ └── rpe │ │ ├── relative_pos_encoding_cuda.cpp │ │ ├── relative_pos_encoding_cuda_kernel.cu │ │ └── 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