├── README.md ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── dataset.cpython-37.pyc │ │ └── dataset.cpython-38.pyc │ ├── augmentor │ │ ├── __pycache__ │ │ │ ├── augmentor_utils.cpython-37.pyc │ │ │ ├── augmentor_utils.cpython-38.pyc │ │ │ ├── box_np_ops.cpython-37.pyc │ │ │ ├── data_augmentor.cpython-37.pyc │ │ │ ├── data_augmentor.cpython-38.pyc │ │ │ ├── database_sampler.cpython-37.pyc │ │ │ ├── database_sampler.cpython-38.pyc │ │ │ ├── geometry.cpython-37.pyc │ │ │ └── part_aware_augmentation.cpython-37.pyc │ │ ├── augmentor_utils.py │ │ ├── box_np_ops.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ ├── geometry.py │ │ └── part_aware_augmentation.py │ ├── dataset.py │ ├── kitti │ │ ├── __pycache__ │ │ │ ├── kitti_dataset.cpython-37.pyc │ │ │ └── kitti_dataset.cpython-38.pyc │ │ ├── kitti_dataset.py │ │ └── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __pycache__ │ │ │ ├── eval.cpython-37.pyc │ │ │ ├── eval.cpython-38.pyc │ │ │ ├── rotate_iou.cpython-37.pyc │ │ │ └── rotate_iou.cpython-38.pyc │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ └── processor │ │ ├── __pycache__ │ │ ├── data_processor.cpython-37.pyc │ │ ├── data_processor.cpython-38.pyc │ │ ├── point_feature_encoder.cpython-37.pyc │ │ └── point_feature_encoder.cpython-38.pyc │ │ ├── data_processor.py │ │ └── point_feature_encoder.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── height_compression.cpython-37.pyc │ │ │ ├── height_compression.cpython-38.pyc │ │ │ ├── pointpillar_scatter.cpython-37.pyc │ │ │ └── pointpillar_scatter.cpython-38.pyc │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── pointnet2_backbone.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── attention_2view_pillar_vfe.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── dynamic_pillar_vfe_multi_view.py │ │ │ ├── mean_vfe.py │ │ │ ├── multiview_conv.py │ │ │ ├── pillar_vfe.py │ │ │ ├── vfe_template.py │ │ │ └── view_wise_attention_vfe.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.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 │ │ └── pointpillar.py │ └── model_utils │ │ └── model_nms_utils.py ├── ops │ ├── iou3d │ │ ├── __pycache__ │ │ │ ├── iou3d_utils.cpython-37.pyc │ │ │ └── iou3d_utils.cpython-38.pyc │ │ ├── build │ │ │ ├── lib.linux-x86_64-3.7 │ │ │ │ └── iou3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ │ ├── lib.linux-x86_64-3.8 │ │ │ │ └── iou3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── temp.linux-x86_64-3.7 │ │ │ │ ├── .ninja_log │ │ │ │ ├── build.ninja │ │ │ │ └── src │ │ │ │ │ ├── iou3d.o │ │ │ │ │ └── iou3d_kernel.o │ │ │ └── temp.linux-x86_64-3.8 │ │ │ │ └── src │ │ │ │ ├── iou3d.o │ │ │ │ └── iou3d_kernel.o │ │ ├── iou3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── iou3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── iou3d_utils.py │ │ ├── setup.py │ │ └── src │ │ │ ├── iou3d.cpp │ │ │ └── iou3d_kernel.cu │ ├── iou3d_nms │ │ ├── __pycache__ │ │ │ ├── iou3d_nms_utils.cpython-36.pyc │ │ │ ├── iou3d_nms_utils.cpython-37.pyc │ │ │ └── iou3d_nms_utils.cpython-38.pyc │ │ ├── build │ │ │ ├── lib.linux-x86_64-3.7 │ │ │ │ └── iou3d_nms_cuda.cpython-37m-x86_64-linux-gnu.so │ │ │ └── temp.linux-x86_64-3.7 │ │ │ │ ├── .ninja_deps │ │ │ │ ├── .ninja_log │ │ │ │ ├── build.ninja │ │ │ │ └── src │ │ │ │ ├── iou3d_cpu.o │ │ │ │ ├── iou3d_nms.o │ │ │ │ ├── iou3d_nms_api.o │ │ │ │ └── iou3d_nms_kernel.o │ │ ├── iou3d_nms.egg-info │ │ │ ├── PKG-INFO │ │ │ ├── SOURCES.txt │ │ │ ├── dependency_links.txt │ │ │ └── top_level.txt │ │ ├── iou3d_nms_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── iou3d_nms_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── iou3d_nms_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── iou3d_nms_utils.py │ │ ├── setup.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 │ │ │ ├── __pycache__ │ │ │ │ ├── pointnet2_modules.cpython-36.pyc │ │ │ │ ├── pointnet2_modules.cpython-37.pyc │ │ │ │ ├── pointnet2_modules.cpython-38.pyc │ │ │ │ ├── pointnet2_utils.cpython-36.pyc │ │ │ │ ├── pointnet2_utils.cpython-37.pyc │ │ │ │ └── pointnet2_utils.cpython-38.pyc │ │ │ ├── pointnet2_batch_cuda.cpython-36m-x86_64-linux-gnu.so │ │ │ ├── pointnet2_batch_cuda.cpython-37m-x86_64-linux-gnu.so │ │ │ ├── pointnet2_batch_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── 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 │ │ │ ├── __pycache__ │ │ │ ├── pointnet2_modules.cpython-36.pyc │ │ │ ├── pointnet2_modules.cpython-37.pyc │ │ │ ├── pointnet2_modules.cpython-38.pyc │ │ │ ├── pointnet2_utils.cpython-36.pyc │ │ │ ├── pointnet2_utils.cpython-37.pyc │ │ │ └── pointnet2_utils.cpython-38.pyc │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_stack_cuda.cpython-36m-x86_64-linux-gnu.so │ │ │ ├── pointnet2_stack_cuda.cpython-37m-x86_64-linux-gnu.so │ │ │ ├── pointnet2_stack_cuda.cpython-38-x86_64-linux-gnu.so │ │ │ ├── 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 │ ├── roiaware_pool3d │ │ ├── __pycache__ │ │ │ ├── roiaware_pool3d_utils.cpython-37.pyc │ │ │ └── roiaware_pool3d_utils.cpython-38.pyc │ │ ├── build │ │ │ ├── lib.linux-x86_64-3.7 │ │ │ │ ├── roi_aware_pool3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ │ │ └── roiaware_pool3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ │ └── temp.linux-x86_64-3.7 │ │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.o │ │ │ │ └── roiaware_pool3d_kernel.o │ │ ├── roi_aware_pool3d.egg-info │ │ │ ├── PKG-INFO │ │ │ ├── SOURCES.txt │ │ │ ├── dependency_links.txt │ │ │ └── top_level.txt │ │ ├── roi_aware_pool3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── roiaware_pool3d_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── roiaware_pool3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── roiaware_pool3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── roiaware_pool3d_utils.py │ │ ├── setup.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── __pycache__ │ │ ├── roipoint_pool3d_utils.cpython-37.pyc │ │ └── roipoint_pool3d_utils.cpython-38.pyc │ │ ├── roipoint_pool3d_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── roipoint_pool3d_cuda.cpython-37m-x86_64-linux-gnu.so │ │ ├── roipoint_pool3d_cuda.cpython-38-x86_64-linux-gnu.so │ │ ├── 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 │ ├── mmdet_utils │ │ └── core │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── __init__.cpython-38.pyc │ │ │ ├── anchor │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── anchor3d_generator.cpython-37.pyc │ │ │ │ ├── anchor3d_generator.cpython-38.pyc │ │ │ │ ├── anchor_generator.cpython-37.pyc │ │ │ │ ├── anchor_generator.cpython-38.pyc │ │ │ │ ├── anchor_target.cpython-37.pyc │ │ │ │ └── anchor_target.cpython-38.pyc │ │ │ ├── anchor3d_generator.py │ │ │ ├── anchor_generator.py │ │ │ └── anchor_target.py │ │ │ ├── bbox │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── assignment.cpython-37.pyc │ │ │ │ ├── assignment.cpython-38.pyc │ │ │ │ ├── bbox_target.cpython-37.pyc │ │ │ │ ├── bbox_target.cpython-38.pyc │ │ │ │ ├── geometry.cpython-37.pyc │ │ │ │ ├── geometry.cpython-38.pyc │ │ │ │ ├── sampling.cpython-37.pyc │ │ │ │ ├── sampling.cpython-38.pyc │ │ │ │ ├── transforms.cpython-37.pyc │ │ │ │ └── transforms.cpython-38.pyc │ │ │ ├── assignment.py │ │ │ ├── bbox_target.py │ │ │ ├── geometry.py │ │ │ ├── sampling.py │ │ │ └── transforms.py │ │ │ ├── bbox3d │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── bbox3d_target.cpython-37.pyc │ │ │ │ ├── bbox3d_target.cpython-38.pyc │ │ │ │ ├── box_coders.cpython-37.pyc │ │ │ │ ├── box_coders.cpython-38.pyc │ │ │ │ ├── geometry.cpython-37.pyc │ │ │ │ ├── geometry.cpython-38.pyc │ │ │ │ ├── region_similarity.cpython-37.pyc │ │ │ │ ├── region_similarity.cpython-38.pyc │ │ │ │ ├── target_ops.cpython-37.pyc │ │ │ │ └── target_ops.cpython-38.pyc │ │ │ ├── bbox3d_target.py │ │ │ ├── box_coders.py │ │ │ ├── geometry.py │ │ │ ├── region_similarity.py │ │ │ └── target_ops.py │ │ │ ├── evaluation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── bbox_overlaps.cpython-37.pyc │ │ │ │ ├── bbox_overlaps.cpython-38.pyc │ │ │ │ ├── class_names.cpython-37.pyc │ │ │ │ ├── class_names.cpython-38.pyc │ │ │ │ ├── coco_utils.cpython-37.pyc │ │ │ │ ├── coco_utils.cpython-38.pyc │ │ │ │ ├── eval_hooks.cpython-37.pyc │ │ │ │ ├── eval_hooks.cpython-38.pyc │ │ │ │ ├── kitti_eval.cpython-37.pyc │ │ │ │ ├── kitti_eval.cpython-38.pyc │ │ │ │ ├── mean_ap.cpython-37.pyc │ │ │ │ ├── mean_ap.cpython-38.pyc │ │ │ │ ├── recall.cpython-37.pyc │ │ │ │ └── recall.cpython-38.pyc │ │ │ ├── bbox_overlaps.py │ │ │ ├── class_names.py │ │ │ ├── coco_utils.py │ │ │ ├── eval_hooks.py │ │ │ ├── kitti_eval.py │ │ │ ├── mean_ap.py │ │ │ └── recall.py │ │ │ ├── loss │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── losses.cpython-37.pyc │ │ │ │ └── losses.cpython-38.pyc │ │ │ └── losses.py │ │ │ ├── mask │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── mask_target.cpython-37.pyc │ │ │ │ ├── mask_target.cpython-38.pyc │ │ │ │ ├── utils.cpython-37.pyc │ │ │ │ └── utils.cpython-38.pyc │ │ │ ├── mask_target.py │ │ │ └── utils.py │ │ │ ├── point_cloud │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── point_augmentor.cpython-37.pyc │ │ │ │ ├── point_augmentor.cpython-38.pyc │ │ │ │ ├── voxel_generator.cpython-37.pyc │ │ │ │ └── voxel_generator.cpython-38.pyc │ │ │ ├── point_augmentor.py │ │ │ └── voxel_generator.py │ │ │ ├── post_processing │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── bbox_nms.cpython-37.pyc │ │ │ │ ├── bbox_nms.cpython-38.pyc │ │ │ │ ├── merge_augs.cpython-37.pyc │ │ │ │ ├── merge_augs.cpython-38.pyc │ │ │ │ ├── rotate_nms_gpu.cpython-37.pyc │ │ │ │ └── rotate_nms_gpu.cpython-38.pyc │ │ │ ├── bbox_nms.py │ │ │ ├── merge_augs.py │ │ │ └── rotate_nms_gpu.py │ │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── dist_utils.cpython-37.pyc │ │ │ ├── dist_utils.cpython-38.pyc │ │ │ ├── misc.cpython-37.pyc │ │ │ ├── misc.cpython-38.pyc │ │ │ └── multi_view_utils.cpython-37.pyc │ │ │ ├── dist_utils.py │ │ │ ├── misc.py │ │ │ └── multi_view_utils.py │ ├── multi_view_utils.py │ └── object3d_kitti.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── .vscode └── settings.json ├── cfgs ├── dataset_configs │ ├── kitti_dataset.yaml │ ├── nuscenes_dataset.yaml │ └── waymo_dataset.yaml └── kitti_models │ ├── attention_2view_pointpillar.yaml │ ├── multiview_2conv.yaml │ ├── pointpillar.yaml │ └── view_wise_attention_pointpillar.yaml ├── eval_utils ├── __pycache__ │ ├── eval_utils.cpython-36.pyc │ ├── eval_utils.cpython-37.pyc │ └── eval_utils.cpython-38.pyc └── eval_utils.py ├── scripts ├── dist_test.sh ├── dist_train.sh ├── slurm_test_mgpu.sh ├── slurm_test_single.sh └── slurm_train.sh ├── test.py ├── train.py ├── train_utils ├── __pycache__ │ ├── train_utils.cpython-37.pyc │ └── train_utils.cpython-38.pyc ├── optimization │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── fastai_optim.cpython-37.pyc │ │ ├── fastai_optim.cpython-38.pyc │ │ ├── learning_schedules_fastai.cpython-37.pyc │ │ └── learning_schedules_fastai.cpython-38.pyc │ ├── fastai_optim.py │ └── learning_schedules_fastai.py └── train_utils.py └── visual_utils ├── __pycache__ ├── visualize_utils.cpython-37.pyc └── visualize_utils.cpython-38.pyc └── visualize_utils.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ge25nab/MultiviewPointpillars/HEAD/README.md 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