├── README.md ├── cpd ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── X_transform.py │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ └── test_augmentor.py │ ├── dataset.py │ ├── kitti │ │ ├── kitti2waymo_dataset.py │ │ └── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ ├── merge_detections.py │ │ │ ├── merge_detections_tracking.py │ │ │ ├── merge_model.py │ │ │ ├── rotate_iou.py │ │ │ └── save_model_paras.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo_unsupervised │ │ ├── waymo_eval.py │ │ ├── waymo_eval2d.py │ │ ├── waymo_unsupervised_dataset.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 │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ ├── bev_features_interpolation.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.py │ │ └── target_assigner │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── __init__.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ └── voxel_rcnn.py │ ├── model_utils │ │ ├── centernet_utils.py │ │ ├── ctrans.py │ │ └── model_nms_utils.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── roi_head_template.py │ │ ├── target_assigner │ │ │ └── proposal_target_layer.py │ │ └── voxel_rcnn_head.py │ ├── temporal_model │ │ ├── ConvGRU.py │ │ ├── ConvLSTM.py │ │ ├── temporal_cat.py │ │ └── temporal_model.py │ └── wrap_head │ │ ├── __init__.py │ │ └── part_wraper.py ├── ops │ ├── dcn │ │ ├── __init__.py │ │ ├── deform_conv.py │ │ ├── setup.py │ │ └── src │ │ │ ├── deform_conv_cuda.cpp │ │ │ ├── deform_conv_cuda_kernel.cu │ │ │ ├── deform_pool_cuda.cpp │ │ │ └── deform_pool_cuda_kernel.cu │ ├── 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 │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ ├── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_deform.cpp │ │ │ ├── ball_query_deform_gpu.cu │ │ │ ├── ball_query_deform_gpu.h │ │ │ ├── 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 │ │ ├── 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 ├── unsupervised_core │ ├── __init__.py │ ├── c_proto_refine.py │ ├── dbscan.py │ ├── ground_removal.py │ ├── mfcf.py │ ├── ob_op.py │ ├── outline_utils.py │ ├── oyster.py │ ├── precompute_ppscore.py │ ├── rotate_iou_cpu_eval.py │ └── tracker │ │ ├── __init__.py │ │ ├── box_op.py │ │ ├── config.py │ │ ├── object.py │ │ ├── tracker.py │ │ └── trajectory.py ├── utils │ ├── __init__.py │ ├── bbloss.py │ ├── box_coder_utils.py │ ├── box_np_ops.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── loss_utils.py │ ├── object3d_kitti.py │ ├── odiou_loss.py │ ├── spconv_utils.py │ └── transform_utils.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── __pycache__ ├── test.cpython-36.pyc ├── test.cpython-37.pyc ├── test.cpython-38.pyc └── test.cpython-39.pyc ├── cfgs ├── dataset_configs │ └── waymo_unsupervised │ │ ├── kitti2waymo_dataset.yaml │ │ ├── waymo_unsupervised_cproto.yaml │ │ ├── waymo_unsupervised_dbscan.yaml │ │ └── waymo_unsupervised_oyster.yaml └── models │ └── waymo_unsupervised │ ├── voxel_rcnn_cproto_center.yaml │ ├── voxel_rcnn_cproto_center_kitti.yaml │ ├── voxel_rcnn_dbscan_single_train.yaml │ └── voxel_rcnn_oyster_single_train.yaml ├── dist_test.sh ├── dist_train.sh ├── eval_utils ├── __pycache__ │ ├── eval_utils.cpython-36.pyc │ ├── eval_utils.cpython-38.pyc │ └── eval_utils.cpython-39.pyc └── eval_utils.py ├── test.py ├── train.py ├── train_utils ├── __pycache__ │ ├── train_utils.cpython-36.pyc │ ├── train_utils.cpython-38.pyc │ └── train_utils.cpython-39.pyc ├── optimization │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── fastai_optim.cpython-36.pyc │ │ ├── fastai_optim.cpython-37.pyc │ │ ├── fastai_optim.cpython-38.pyc │ │ ├── fastai_optim.cpython-39.pyc │ │ ├── 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