├── .gitignore ├── LICENSE ├── README.md ├── assets ├── framework.png ├── visualize_154527205902355000.svg └── visualize_155301790587230000.svg ├── configs ├── _base_ │ ├── datasets │ │ ├── unified_waymo_1000_15p.py │ │ ├── unified_waymo_300_20p_bs8_8488.py │ │ └── waymo_1000_multiview_detonly.py │ ├── default_optimizer.py │ └── default_runtime.py ├── detr3d_res101_gridmask.py ├── petr_r50dcn_gridmask_p4.py ├── rftr_r50_15p_1000.py └── rftr_r50_20p_300_syncbn_flash_bs8.py ├── custom_modules └── openlane_devkit │ ├── openlanev1 │ ├── __init__.py │ ├── dataset │ │ ├── __init__.py │ │ ├── collection.py │ │ ├── frame.py │ │ └── multiview │ │ │ ├── __init__.py │ │ │ ├── collection.py │ │ │ └── frame.py │ ├── evaluation │ │ ├── __init__.py │ │ └── eval_3D_lane.py │ ├── io │ │ ├── __init__.py │ │ └── io.py │ ├── preprocessing │ │ ├── __init__.py │ │ └── collect.py │ ├── utils │ │ ├── MinCostFlow.py │ │ ├── __init__.py │ │ ├── anchor.py │ │ ├── eval_kit.py │ │ ├── interpreter.py │ │ ├── npdump.py │ │ └── utils_persformer.py │ └── visualization │ │ ├── __init__.py │ │ ├── adapters.py │ │ ├── auxiliary.py │ │ ├── show_2d.py │ │ ├── show_2d_full.py │ │ └── show_3d.py │ ├── requirements.txt │ └── setup.py ├── docs ├── data.md ├── envir.md ├── envir.sh ├── envir.yml ├── script.md ├── troubleshoot.md └── waymo_tookit.md ├── plugins ├── __init__.py ├── core │ └── bbox │ │ ├── array_converter.py │ │ ├── assigners │ │ ├── __init__.py │ │ ├── hungarian_assigner_3d.py │ │ ├── hungarian_assigner_lane3d.py │ │ └── pseudo_assigner.py │ │ ├── coders │ │ ├── __init__.py │ │ └── nms_free_coder.py │ │ ├── iou_calculators │ │ ├── __init__.py │ │ └── iou3d_calculator.py │ │ ├── match_costs │ │ ├── __init__.py │ │ └── match_cost.py │ │ └── util.py ├── datasets │ ├── __init__.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formatting.py │ │ ├── loading.py │ │ ├── transform_3d.py │ │ ├── transforms_lane.py │ │ └── transforms_lane_waymo.py │ └── unified_waymo_dataset.py └── models │ ├── backbones │ ├── __init__.py │ ├── vovnet.py │ └── vovnetcp.py │ ├── dense_heads │ ├── __init__.py │ ├── detr3d_head.py │ ├── dgcnn3d_head.py │ ├── petr_head.py │ ├── petr_head_uni_v10.py │ └── rftr_head.py │ ├── detectors │ ├── __init__.py │ ├── detr3d.py │ ├── mspetr3d.py │ ├── obj_dgcnn.py │ ├── petr3d.py │ └── rftr.py │ ├── losses │ ├── BCE_loss.py │ ├── Lane3d_loss.py │ ├── Sigmoid_ce_loss.py │ ├── __init__.py │ ├── chamfer_loss.py │ └── line_iou_loss.py │ ├── necks │ ├── __init__.py │ └── cp_fpn.py │ └── utils │ ├── __init__.py │ ├── attention.py │ ├── detr.py │ ├── detr3d_transformer.py │ ├── dgcnn_attn.py │ ├── grid_mask.py │ ├── petr_transformer.py │ └── positional_encoding.py └── tools ├── get_flops_mv.py ├── train.py ├── waymo_adapt_tools ├── create_waymo_gt_bin.py ├── data_converter │ ├── __init__.py │ └── waymo_converter.py ├── generate_pkl_waymo.py ├── run.sh ├── run_filter_without_unpack.sh ├── run_filter_without_unpack_300.sh └── unpack_waymo.py └── waymo_utils ├── _objs ├── compute_detection_let_metrics_main │ ├── compute_detection_let_metrics_main.d │ └── compute_detection_let_metrics_main.o └── compute_detection_metrics_main │ ├── compute_detection_metrics_main.d │ └── compute_detection_metrics_main.o ├── compute_detection_let_metrics_main ├── compute_detection_let_metrics_main-2.params ├── compute_detection_let_metrics_main.runfiles └── waymo_open_dataset_rules │ └── waymo_open_dataset │ └── metrics │ └── tools │ └── compute_detection_let_metrics_main ├── compute_detection_let_metrics_main.runfiles_manifest ├── compute_detection_metrics_main ├── compute_detection_metrics_main-2.params ├── compute_detection_metrics_main.runfiles └── waymo_open_dataset_rules │ └── waymo_open_dataset │ └── metrics │ └── tools │ └── compute_detection_metrics_main └── compute_detection_metrics_main.runfiles_manifest /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jbji/RepVF/HEAD/.gitignore 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