├── LICENSE ├── LICENSE.PointRCNN ├── README.PointRCNN.md ├── README.md ├── data └── KITTI │ └── ImageSets │ ├── test.txt │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── img └── framework.png ├── lib ├── config.py ├── datasets │ ├── kitti_dataset.py │ └── kitti_rcnn_dataset.py ├── net │ ├── cross_entropy_loss.py │ ├── dice_loss.py │ ├── lovasz_loss.py │ ├── point_rcnn.py │ ├── pointnet2_msg.py │ ├── rcnn_net.py │ ├── rpn.py │ ├── sa_block.py │ ├── seg_utils.py │ ├── self_attention.py │ └── train_functions.py ├── rpn │ ├── proposal_layer.py │ └── proposal_target_layer.py └── utils │ ├── bbox_transform.py │ ├── calibration.py │ ├── iou3d │ ├── iou3d_utils.py │ ├── setup.py │ └── src │ │ ├── iou3d.cpp │ │ └── iou3d_kernel.cu │ ├── kitti_utils.py │ ├── loss_utils.py │ ├── object3d.py │ ├── roipool3d │ ├── roipool3d_utils.py │ ├── setup.py │ └── src │ │ ├── roipool3d.cpp │ │ └── roipool3d_kernel.cu │ └── sample2grid │ ├── Bilinear_voxel_gpu.cu │ ├── Gaussian_voxel_gpu.cu │ ├── Voxel_gpu.cu │ ├── __init__.py │ ├── myGridSampler.cuh │ ├── setup.py │ └── voxel_cuda.py ├── pointnet2_lib ├── .gitignore ├── LICENSE ├── README.md ├── pointnet2 │ ├── pointnet2_modules.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ ├── setup.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 └── tools │ ├── _init_path.py │ ├── data │ └── KITTI │ │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ ├── trainval.txt │ │ └── val.txt │ ├── dataset.py │ ├── kitti_utils.py │ ├── pointnet2_msg.py │ └── train_and_eval.py ├── requirements.txt └── tools ├── _init_path.py ├── cfgs ├── CAR_EPNet_plus_plus.yaml ├── CYC_EPNet_plus_plus.yaml └── PED_EPNet_plus_plus.yaml ├── eval_rcnn.py 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