├── .gitignore ├── Backbone ├── __init__.py ├── ham_head.py ├── hohonet.py ├── hohonet │ ├── __init__.py │ ├── horizon_compression │ │ ├── __init__.py │ │ ├── ehc.py │ │ ├── hc.py │ │ └── simple.py │ ├── horizon_refinement │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── identity.py │ │ ├── linear.py │ │ └── rnn.py │ ├── horizon_upsample │ │ ├── __init__.py │ │ └── upsample1d.py │ └── modality │ │ ├── __init__.py │ │ ├── bases.py │ │ └── semantic.py ├── mscan.py ├── segformer.py ├── segformer_B4.py ├── segformer_b0_b1.py ├── segformer_no_decoder.py ├── segmentron │ ├── __init__.py │ ├── config │ │ ├── __init__.py │ │ ├── config.py │ │ └── settings.py │ ├── data │ │ ├── __init__.py │ │ ├── dataloader │ │ │ ├── __init__.py │ │ │ ├── cityscapes.py │ │ │ ├── cityscapes13.py │ │ │ ├── densepass.py │ │ │ ├── densepass13.py │ │ │ ├── seg_data_base.py │ │ │ ├── stanford2d3d.py │ │ │ ├── stanford2d3d8.py │ │ │ ├── stanford2d3d_pan.py │ │ │ ├── stanford2d3d_pan8.py │ │ │ ├── structured3d8.py │ │ │ ├── synpass.py │ │ │ ├── synpass13.py │ │ │ └── utils.py │ │ └── downloader │ │ │ ├── __init__.py │ │ │ ├── ade20k.py │ │ │ ├── cityscapes.py │ │ │ ├── mscoco.py │ │ │ ├── pascal_voc.py │ │ │ └── sbu_shadow.py │ ├── modules │ │ ├── __init__.py │ │ ├── basic.py │ │ ├── batch_norm.py │ │ ├── csrc │ │ │ ├── criss_cross_attention │ │ │ │ ├── ca.h │ │ │ │ └── ca_cuda.cu │ │ │ └── vision.cpp │ │ ├── dmlp.py │ │ ├── dmlpv2.py │ │ ├── drop.py │ │ ├── module.py │ │ ├── norm.py │ │ └── sync_bn │ │ │ └── syncbn.py │ ├── solver │ │ ├── __init__.py │ │ ├── loss.py │ │ ├── lovasz_losses.py │ │ ├── lr_scheduler.py │ │ └── optimizer.py │ └── utils │ │ ├── __init__.py │ │ ├── default_setup.py │ │ ├── distributed.py │ │ ├── download.py │ │ ├── env.py │ │ ├── filesystem.py │ │ ├── logger.py │ │ ├── options.py │ │ ├── parallel.py │ │ ├── registry.py │ │ ├── score.py │ │ └── visualize.py ├── trans4pass.py └── utils.py ├── LICENSE ├── README.md ├── configs ├── model_360BEV_mp3d.yml ├── model_360BEV_s2d3d.yml ├── model_fv_mp3d.yml └── model_fv_s2d3d.yml ├── eigen13_mapping_from_mpcat40.csv ├── figs ├── 360BEV_model.png └── 360BEV_paradigms.png ├── metric ├── __init__.py ├── acc.py ├── confusionmatrix.py ├── iou.py └── metric.py ├── model ├── Attention360_pano_matterport.py ├── Attention360_pano_s2d3d.py ├── BEV360_segformer_matterport.py ├── BEV360_segformer_s2d3d.py ├── BEV360_segnext_matterport.py ├── BEV360_segnext_s2d3d.py ├── __init__.py ├── dataloader_mp3d │ └── pano_data_loader.py ├── dataloader_s2d3d │ └── pano_data_loader.py ├── front_view_segformer_matterport.py ├── loss.py ├── modules │ ├── __init__.py │ ├── custom_base_transformer_layer.py │ ├── encoder.py │ ├── encoder_pano.py │ ├── multi_scale_deformable_attn_function.py │ ├── pano_cross_attention.py │ ├── point_sampling_panorama.py │ ├── point_sampling_panorama_old.py │ ├── point_sampling_panorama_s2d3d.py │ ├── spatial_cross_attention.py │ ├── transformer.py │ └── utils │ │ ├── __init__.py │ │ ├── bricks.py │ │ ├── grid_mask.py │ │ ├── position_embedding.py │ │ └── visual.py └── utils.py ├── precompute_training_inputs ├── build_data_training.py ├── build_projindices_training.py └── eigen13_mapping_from_mpcat40.csv ├── requirements.txt ├── test_360BEV_Matterport.py ├── test_360BEV_S2d3d.py ├── test_pano_360Attention_Matterport.py ├── test_pano_360Attention_S2d3d.py ├── train_360BEV_Matterport.py ├── train_360BEV_S2d3d.py ├── train_pano_360Attention_Matterport.py ├── train_pano_360Attention_S2d3d.py └── utils ├── __init__.py ├── crop_memories.py ├── lib2_mp3d ├── __init__.py ├── config.py ├── dataset │ ├── __init__.py │ └── dataset_matterport_sem_class20.py └── misc │ ├── __init__.py │ ├── gen_txt_structured3d.py │ ├── pano_lsd_align.py │ ├── panostretch.py │ ├── post_proc.py │ ├── structured3d_extract_zip.py │ ├── structured3d_prepare_dataset.py │ └── utils.py ├── lib2_s2d3d ├── __init__.py ├── config.py ├── dataset │ ├── __init__.py │ ├── dataset_s2d3d_sem_class13.py │ └── 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