├── LICENSE ├── README.md ├── V2B_main ├── __pycache__ │ ├── test_tracking.cpython-37.pyc │ ├── test_tracking.cpython-38.pyc │ ├── train_tracking.cpython-37.pyc │ └── train_tracking.cpython-38.pyc ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── base_dataset.cpython-37.pyc │ │ ├── get_dataset_v2b.cpython-38.pyc │ │ ├── get_v2b_db.cpython-37.pyc │ │ ├── get_v2b_db.cpython-38.pyc │ │ └── v2b_dataset.cpython-37.pyc │ ├── base_dataset.py │ ├── get_v2b_db.py │ └── v2b_dataset.py ├── lib │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-37.pyc │ ├── pointops │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ └── __init__.cpython-37.pyc │ │ ├── functions │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-36.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── pointops.cpython-36.pyc │ │ │ │ └── pointops.cpython-37.pyc │ │ │ └── pointops.py │ │ ├── setup.py │ │ └── src │ │ │ ├── __init__.py │ │ │ ├── ballquery │ │ │ ├── ballquery_cuda.cpp │ │ │ ├── ballquery_cuda_kernel.cu │ │ │ └── ballquery_cuda_kernel.h │ │ │ ├── cuda_utils.h │ │ │ ├── featuredistribute │ │ │ ├── featuredistribute_cuda.cpp │ │ │ ├── featuredistribute_cuda_kernel.cu │ │ │ └── featuredistribute_cuda_kernel.h │ │ │ ├── grouping │ │ │ ├── grouping_cuda.cpp │ │ │ ├── grouping_cuda_kernel.cu │ │ │ └── grouping_cuda_kernel.h │ │ │ ├── grouping_int │ │ │ ├── grouping_int_cuda.cpp │ │ │ ├── grouping_int_cuda_kernel.cu │ │ │ └── grouping_int_cuda_kernel.h │ │ │ ├── interpolation │ │ │ ├── interpolation_cuda.cpp │ │ │ ├── interpolation_cuda_kernel.cu │ │ │ └── interpolation_cuda_kernel.h │ │ │ ├── knnquery │ │ │ ├── __init__.py │ │ │ ├── knnquery_cuda.cpp │ │ │ ├── knnquery_cuda_kernel.cu │ │ │ └── knnquery_cuda_kernel.h │ │ │ ├── labelstat │ │ │ ├── labelstat_cuda.cpp │ │ │ ├── labelstat_cuda_kernel.cu │ │ │ └── labelstat_cuda_kernel.h │ │ │ ├── pointops_api.cpp │ │ │ └── sampling │ │ │ ├── sampling_cuda.cpp │ │ │ ├── sampling_cuda_kernel.cu │ │ │ └── sampling_cuda_kernel.h │ └── sync_bn │ │ ├── __init__.py │ │ ├── batchnorm.py │ │ ├── comm.py │ │ ├── replicate.py │ │ └── unittest.py ├── main.py ├── modules │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── backbone_net.cpython-37.pyc │ │ ├── completion_net.cpython-37.pyc │ │ └── v2b_net.cpython-37.pyc │ ├── backbone_net.py │ ├── completion_net.py │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ └── __init__.cpython-37.pyc │ │ ├── _ext-src │ │ │ ├── include │ │ │ │ ├── ball_query.h │ │ │ │ ├── ball_query_score.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.h │ │ │ │ ├── interpolate.h │ │ │ │ ├── sampling.h │ │ │ │ └── utils.h │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_score.cpp │ │ │ │ ├── ball_query_score_gpu.cu │ │ │ │ ├── bindings.cpp │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── sampling.cpp │ │ │ │ └── sampling_gpu.cu │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── kalman_filter.cpython-36.pyc │ │ │ ├── kalman_filter.cpython-37.pyc │ │ │ ├── non_local.cpython-36.pyc │ │ │ ├── non_local.cpython-37.pyc │ │ │ ├── pointnet2_modules.cpython-36.pyc │ │ │ └── pointnet2_modules.cpython-37.pyc │ │ │ ├── linalg_utils.py │ │ │ └── pointnet2_modules.py │ ├── v2b_net.py │ └── voxel_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── block.cpython-36.pyc │ │ ├── block.cpython-37.pyc │ │ ├── region_proposal_network.cpython-36.pyc │ │ ├── region_proposal_network.cpython-37.pyc │ │ ├── se.cpython-37.pyc │ │ ├── torch_util.cpython-36.pyc │ │ ├── torch_util.cpython-37.pyc │ │ ├── voxel_grid.cpython-36.pyc │ │ ├── voxel_grid.cpython-37.pyc │ │ ├── voxelization.cpython-37.pyc │ │ ├── voxelnet.cpython-36.pyc │ │ └── voxelnet.cpython-37.pyc │ │ ├── functional │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── backend.cpython-36.pyc │ │ │ ├── backend.cpython-37.pyc │ │ │ ├── voxelization.cpython-36.pyc │ │ │ └── voxelization.cpython-37.pyc │ │ ├── backend.py │ │ ├── setup.py │ │ ├── src │ │ │ ├── bindings.cpp │ │ │ ├── cuda_utils.cuh │ │ │ ├── utils.hpp │ │ │ ├── voxelization │ │ │ │ ├── vox.cpp │ │ │ │ ├── vox.cu │ │ │ │ ├── vox.cuh │ │ │ │ └── vox.hpp │ │ │ └── voxelize_float │ │ │ │ ├── voxf.cpp │ │ │ │ ├── voxf.cu │ │ │ │ ├── voxf.cuh │ │ │ │ └── voxf.hpp │ │ └── voxelization.py │ │ ├── se.py │ │ ├── voxel │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── block.cpython-37.pyc │ │ │ ├── region_proposal_network.cpython-37.pyc │ │ │ ├── torch_util.cpython-37.pyc │ │ │ └── voxelnet.cpython-37.pyc │ │ ├── block.py │ │ ├── region_proposal_network.py │ │ ├── torch_util.py │ │ ├── voxel_grid.py │ │ ├── voxel_grid_test.py │ │ └── voxelnet.py │ │ └── voxelization.py ├── results │ ├── kitti_car │ │ └── Epoch30.pth │ └── kitti_pedestrian │ │ └── Epoch30.pth ├── test_tracking.py ├── train_tracking.py ├── trainers │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── tester.cpython-37.pyc │ │ └── trainer.cpython-37.pyc │ ├── tester.py │ └── trainer.py ├── utils │ ├── __pycache__ │ │ ├── attr_dict.cpython-37.pyc │ │ ├── attr_dict.cpython-38.pyc │ │ ├── data_classes.cpython-37.pyc │ │ ├── decode.cpython-37.pyc │ │ ├── kitti_utils.cpython-37.pyc │ │ ├── metrics.cpython-37.pyc │ │ ├── options.cpython-37.pyc │ │ ├── options.cpython-38.pyc │ │ ├── searchspace.cpython-37.pyc │ │ ├── show_line.cpython-37.pyc │ │ └── show_line.cpython-38.pyc │ ├── attr_dict.py │ ├── data_classes.py │ ├── decode.py │ ├── kitti_utils.py │ ├── loss │ │ ├── PCLosses.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── PCLosses.cpython-37.pyc │ │ │ ├── PCLosses.cpython-38.pyc │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── losses.cpython-37.pyc │ │ │ ├── losses.cpython-38.pyc │ │ │ ├── utils.cpython-36.pyc │ │ │ ├── utils.cpython-37.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── losses.py │ │ └── utils.py │ ├── metrics.py │ ├── options.py │ ├── searchspace.py │ └── show_line.py └── visualization │ ├── LineMesh.py │ ├── __pycache__ │ ├── LineMesh.cpython-37.pyc │ └── LineMesh.cpython-38.pyc │ ├── result │ └── kitti_car_2 │ │ ├── 0000.jpg │ │ ├── 0005.jpg │ │ ├── 0010.jpg │ │ ├── 0015.jpg │ │ ├── 0020.jpg │ │ ├── 0025.jpg │ │ ├── 0030.jpg │ │ ├── 0035.jpg │ │ ├── 0040.jpg │ │ ├── 0045.jpg │ │ └── 0050.jpg │ └── visual.py ├── nuscenes-devkit-master ├── .gitignore ├── LICENSE.txt ├── README.md ├── docs │ ├── faqs.md │ ├── installation.md │ ├── instructions_lidarseg.md │ ├── instructions_nuimages.md │ ├── instructions_nuscenes.md │ ├── schema_nuimages.md │ └── schema_nuscenes.md ├── python-sdk │ ├── nuimages │ │ ├── __init__.py │ │ ├── export │ │ │ └── export_release.py │ │ ├── nuimages.py │ │ ├── scripts │ │ │ ├── render_images.py │ │ │ └── render_rare_classes.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── assert_download.py │ │ │ ├── test_attributes.py │ │ │ └── test_foreign_keys.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── test_nuimages.py │ │ │ └── utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── can_bus │ │ │ ├── README.md │ │ │ └── can_bus_api.py │ │ ├── eval │ │ │ ├── __init__.py │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── loaders.py │ │ │ │ ├── render.py │ │ │ │ └── utils.py │ │ │ ├── detection │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── algo.py │ │ │ │ ├── config.py │ │ │ │ ├── configs │ │ │ │ │ └── detection_cvpr_2019.json │ │ │ │ ├── constants.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── render.py │ │ │ │ ├── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_algo.py │ │ │ │ │ ├── test_data_classes.py │ │ │ │ │ ├── test_evaluate.py │ │ │ │ │ ├── test_loader.py │ │ │ │ │ └── test_utils.py │ │ │ │ └── utils.py │ │ │ ├── lidarseg │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── render.py │ │ │ │ ├── tests │ │ │ │ │ └── __init__.py │ │ │ │ ├── utils.py │ │ │ │ └── validate_submission.py │ │ │ ├── panoptic │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── panoptic_seg_evaluator.py │ │ │ │ ├── panoptic_track_evaluator.py │ │ │ │ └── utils.py │ │ │ ├── prediction │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── baseline_model_inference.py │ │ │ │ ├── compute_metrics.py │ │ │ │ ├── config.py │ │ │ │ ├── configs │ │ │ │ │ └── predict_2020_icra.json │ │ │ │ ├── data_classes.py │ │ │ │ ├── docker_container │ │ │ │ │ ├── README.md │ │ │ │ │ └── docker │ │ │ │ │ │ ├── Dockerfile │ │ │ │ │ │ └── docker-compose.yml │ │ │ │ ├── metrics.py │ │ │ │ ├── splits.py │ │ │ │ ├── submission │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── do_inference.py │ │ │ │ │ └── extra_packages.txt │ │ │ │ └── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_dataclasses.py │ │ │ │ │ └── test_metrics.py │ │ │ └── tracking │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── algo.py │ │ │ │ ├── configs │ │ │ │ └── tracking_nips_2019.json │ │ │ │ ├── constants.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── loaders.py │ │ │ │ ├── metrics.py │ │ │ │ ├── mot.py │ │ │ │ ├── render.py │ │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── scenarios.py │ │ │ │ ├── test_algo.py │ │ │ │ └── test_evaluate.py │ │ │ │ └── utils.py │ │ ├── lidarseg │ │ │ ├── __init__.py │ │ │ ├── class_histogram.py │ │ │ └── lidarseg_utils.py │ │ ├── map_expansion │ │ │ ├── __init__.py │ │ │ ├── arcline_path_utils.py │ │ │ ├── bitmap.py │ │ │ ├── map_api.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_all_maps.py │ │ │ │ └── test_arcline_path_utils.py │ │ │ └── utils.py │ │ ├── nuscenes.py │ │ ├── panoptic │ │ │ ├── __init__.py │ │ │ ├── generate_panoptic_labels.py │ │ │ └── panoptic_utils.py │ │ ├── prediction │ │ │ ├── __init__.py │ │ │ ├── helper.py │ │ │ ├── input_representation │ │ │ │ ├── __init__.py │ │ │ │ ├── agents.py │ │ │ │ ├── combinators.py │ │ │ │ ├── interface.py │ │ │ │ ├── static_layers.py │ │ │ │ ├── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_agents.py │ │ │ │ │ ├── test_combinators.py │ │ │ │ │ ├── test_static_layers.py │ │ │ │ │ └── test_utils.py │ │ │ │ └── utils.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ ├── backbone.py │ │ │ │ ├── covernet.py │ │ │ │ ├── mtp.py │ │ │ │ └── physics.py │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── run_covernet.py │ │ │ │ ├── run_image_generation.py │ │ │ │ ├── run_mtp.py │ │ │ │ ├── test_backbone.py │ │ │ │ ├── test_covernet.py │ │ │ │ ├── test_mtp.py │ │ │ │ ├── test_mtp_loss.py │ │ │ │ ├── test_physics_models.py │ │ │ │ └── test_predict_helper.py │ │ ├── scripts │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── export_2d_annotations_as_json.py │ │ │ ├── export_egoposes_on_map.py │ │ │ ├── export_instance_videos.py │ │ │ ├── export_kitti.py │ │ │ ├── export_pointclouds_as_obj.py │ │ │ ├── export_poses.py │ │ │ └── export_scene_videos.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── assert_download.py │ │ │ ├── test_lidarseg.py │ │ │ ├── test_nuscenes.py │ │ │ └── test_predict_helper.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── color_map.py │ │ │ ├── data_classes.py │ │ │ ├── data_io.py │ │ │ ├── geometry_utils.py │ │ │ ├── kitti.py │ │ │ ├── map_mask.py │ │ │ ├── splits.py │ │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── test_data_classes.py │ │ │ ├── test_geometry_utils.py │ │ │ └── test_map_mask.py │ └── tutorials │ │ ├── README.md │ │ ├── can_bus_tutorial.ipynb │ │ ├── map_expansion_tutorial.ipynb │ │ ├── nuimages_tutorial.ipynb │ │ ├── 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