├── .gitignore ├── LICENSE ├── README.md ├── configs ├── nusc │ ├── README_CenterPoint.md │ ├── pp │ │ ├── nusc_centerpoint_pp_02voxel_two_pfn_10sweep.py │ │ ├── nusc_centerpoint_pp_02voxel_two_pfn_10sweep_circular_nms.py │ │ └── nusc_centerpoint_pp_02voxel_two_pfn_10sweep_demo.py │ └── voxelnet │ │ ├── nusc_centerpoint_voxelnet_0075voxel_dcn.py │ │ ├── nusc_centerpoint_voxelnet_0075voxel_dcn_flip.py │ │ ├── nusc_centerpoint_voxelnet_0075voxel_fix_bn_z.py │ │ ├── nusc_centerpoint_voxelnet_01voxel.py │ │ └── nusc_ctp_debug.py ├── semantickitti │ ├── MSeg3D │ │ ├── fcn_cfg.py │ │ ├── hrnet_cfg.py │ │ ├── semkitti_avgvfe_unetscn3d_hrnetw18_lr1en2_e12.py │ │ └── semkitti_avgvfe_unetscn3d_lidarbaseline_lr1en2_e12.py │ └── SDSeg3D │ │ ├── semkitti_transVFE_unetscn3d_batchloss_e10.py │ │ └── semkitti_transVFE_unetscn3d_batchloss_e10_tta.py ├── semanticnusc │ ├── Cylinder3D │ │ ├── semnusc_dymanicvfe_cylinder3d_lr1en2_e12.py │ │ └── semnusc_dymanicvfe_cylinder3d_v2p_lr1en2_e12.py │ ├── MSeg3D │ │ ├── fcn_cfg.py │ │ ├── hrnet_cfg.py │ │ ├── semnusc_avgvfe_unetscn3d_hrnetw18_lr1en2_e12.py │ │ └── semnusc_avgvfe_unetscn3d_lidarbaseline_lr1en2_e12.py │ ├── PolarNet │ │ └── semnusc_dymanicvfe_polarnet_lr1en2_e12.py │ └── SDSeg3D │ │ ├── semnusc_transvfe_unetscn3d_batchloss_e48.py │ │ └── semnusc_transvfe_unetscn3d_batchloss_e48_tta.py ├── semanticwaymo │ └── MSeg3D │ │ ├── fcn_cfg.py │ │ ├── hrnet_cfg.py │ │ ├── semwaymo_avgvfe_unetscn3d_hrnetw18_lr1en2_e12.py │ │ └── semwaymo_avgvfe_unetscn3d_lidarbaseline_lr1en2_e12.py └── waymo │ ├── README_CenterPoint.md │ ├── pp │ ├── two_stage │ │ ├── waymo_centerpoint_pp_two_cls_two_pfn_stride1_two_stage_bev_6epoch.py │ │ └── waymo_centerpoint_pp_two_pfn_stride1_two_stage_bev_6epoch.py │ ├── waymo_centerpoint_pp_two_cls_two_pfn_stride1_3x.py │ └── waymo_centerpoint_pp_two_pfn_stride1_3x.py │ └── voxelnet │ ├── two_stage │ ├── waymo_centerpoint_voxelnet_two_stage_bev_5point_ft_6epoch_freeze.py │ └── waymo_centerpoint_voxelnet_two_sweep_two_stage_bev_5point_ft_6epoch_freeze_with_vel.py │ ├── waymo_centerpoint_voxelnet_1x.py │ ├── waymo_centerpoint_voxelnet_3epoch.py │ ├── waymo_centerpoint_voxelnet_3x.py │ ├── waymo_centerpoint_voxelnet_6epoch.py │ └── waymo_centerpoint_voxelnet_two_sweeps_3x_with_velo.py ├── det3d ├── __init__.py ├── builder.py ├── core │ ├── __init__.py │ ├── bbox │ │ ├── __init__.py │ │ ├── box_np_ops.py │ │ ├── box_torch_ops.py │ │ └── geometry.py │ ├── input │ │ ├── __init__.py │ │ └── voxel_generator.py │ ├── sampler │ │ ├── __init__.py │ │ ├── preprocess.py │ │ ├── sample_ops.py │ │ └── segpreprocess.py │ └── utils │ │ ├── __init__.py │ │ ├── box_utils.py │ │ ├── center_utils.py │ │ ├── circle_nms_jit.py │ │ ├── common_utils.py │ │ ├── dist_utils.py │ │ ├── loss_utils.py │ │ ├── misc.py │ │ └── seg_utils.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom.py │ ├── dataset_factory.py │ ├── dataset_wrappers.py │ ├── loader │ │ ├── __init__.py │ │ ├── build_loader.py │ │ └── sampler.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── nusc_common.py │ │ ├── nuscenes.py │ │ ├── semanticnusc.py │ │ ├── semanticnusc_common.py │ │ └── semnuscenes_common.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── formating.py │ │ ├── img_transforms.py │ │ ├── loading.py │ │ ├── preprocess.py │ │ ├── segpreprocess.py │ │ ├── segtest_aug.py │ │ ├── test_aug.py │ │ └── tta_formating.py │ ├── registry.py │ ├── semantickitti │ │ ├── __init__.py │ │ ├── semantickitti.py │ │ └── semkitti_common.py │ ├── utils │ │ ├── create_gt_database.py │ │ ├── cross_modal_augmentation.py │ │ ├── distributed.py │ │ ├── eval.py │ │ └── oss.py │ └── waymo │ │ ├── __init__.py │ │ ├── semanticwaymo.py │ │ ├── semanticwaymo_common.py │ │ ├── semanticwaymo_decoder.py │ │ ├── waymo.py │ │ ├── waymo_common.py │ │ ├── waymo_converter.py │ │ └── waymo_decoder.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── cylinder3d_backbone.py │ │ ├── polarnet_backbone.py │ │ ├── scn.py │ │ ├── scn_unet.py │ │ └── scn_unet_cylinder3d.py │ ├── bbox_heads │ │ ├── __init__.py │ │ └── center_head.py │ ├── builder.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── point_pillars.py │ │ ├── seg_mseg3d_net.py │ │ ├── seg_net.py │ │ ├── seg_polarnet.py │ │ ├── single_stage.py │ │ ├── two_stage.py │ │ └── voxelnet.py │ ├── img_backbones │ │ ├── .DS_Store │ │ ├── __init__.py │ │ ├── hrnet.py │ │ └── resnet_mmcv.py │ ├── img_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ ├── fcn_head.py │ │ ├── fcn_mseg3d_head.py │ │ └── sc_conv.py │ ├── losses │ │ ├── __init__.py │ │ └── centernet_loss.py │ ├── necks │ │ ├── __init__.py │ │ └── rpn.py │ ├── point_heads │ │ ├── __init__.py │ │ ├── context_module.py │ │ ├── point_seg_batchloss_head.py │ │ ├── point_seg_mseg3d_head.py │ │ ├── point_seg_polarnet_head.py │ │ └── point_utils.py │ ├── readers │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ └── voxel_encoder.py │ ├── registry.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── roi_head.py │ │ ├── roi_head_template.py │ │ └── target_assigner │ │ │ └── proposal_target_layer.py │ ├── second_stage │ │ ├── __init__.py │ │ └── bird_eye_view.py │ └── utils │ │ ├── __init__.py │ │ ├── conv_module.py │ │ ├── conv_ws.py │ │ ├── embed.py │ │ ├── finetune_utils.py │ │ ├── misc.py │ │ ├── norm.py │ │ ├── scale.py │ │ ├── shape_convert.py │ │ └── weight_init.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 │ │ ├── __init__.py │ │ ├── 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 │ ├── mmseg_ops │ │ ├── __init__.py │ │ ├── encoding.py │ │ ├── res_layer.py │ │ └── wrappers.py │ ├── point_cloud │ │ ├── __init__.py │ │ ├── bev_ops.py │ │ └── point_cloud_ops.py │ ├── pointnet2_batch │ │ ├── __init__.py │ │ ├── pointnet2_modules.py │ │ ├── pointnet2_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 │ ├── pointnet2_stack │ │ ├── __init__.py │ │ ├── cube_query_utils.py │ │ ├── pointnet2_modules.py │ │ ├── pointnet2_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 │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ │ ├── voxel_pool_modules.py │ │ ├── voxel_query_utils.py │ │ └── voxel_trans_modules.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── roiaware_pool3d_utils.py │ │ ├── setup.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── voxel │ │ ├── __init__.py │ │ ├── scatter_points.py │ │ ├── setup.py │ │ ├── src │ │ ├── scatter_points_cpu.cpp │ │ ├── scatter_points_cuda.cu │ │ ├── voxelization.cpp │ │ ├── voxelization.h │ │ ├── voxelization_cpu.cpp │ │ └── voxelization_cuda.cu │ │ ├── voxel_encoder.py │ │ └── voxelize.py ├── solver │ ├── __init__.py │ ├── background.py │ ├── fastai_optim.py │ ├── learning_schedules.py │ ├── learning_schedules_fastai.py │ └── optim.py ├── torchie │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── env.py │ │ └── train.py │ ├── cnn │ │ ├── __init__.py │ │ ├── alexnet.py │ │ ├── resnet.py │ │ ├── vgg.py │ │ └── weight_init.py │ ├── fileio │ │ ├── __init__.py │ │ ├── handlers │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── json_handler.py │ │ │ ├── pickle_handler.py │ │ │ └── yaml_handler.py │ │ ├── io.py │ │ └── parse.py │ ├── parallel │ │ ├── __init__.py │ │ ├── _functions.py │ │ ├── collate.py │ │ ├── data_container.py │ │ ├── data_parallel.py │ │ ├── distributed.py │ │ └── scatter_gather.py │ ├── trainer │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ ├── checkpoint.py │ │ │ ├── closure.py │ │ │ ├── hook.py │ │ │ ├── iter_timer.py │ │ │ ├── logger │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── pavi.py │ │ │ │ ├── tensorboard.py │ │ │ │ └── text.py │ │ │ ├── lr_updater.py │ │ │ ├── memory.py │ │ │ ├── optimizer.py │ │ │ └── sampler_seed.py │ │ ├── log_buffer.py │ │ ├── parallel_test.py │ │ ├── priority.py │ │ ├── trainer.py │ │ └── utils.py │ └── utils │ │ ├── __init__.py │ │ ├── config.py │ │ ├── misc.py │ │ ├── path.py │ │ ├── progressbar.py │ │ └── timer.py └── utils │ ├── __init__.py │ ├── buildtools │ ├── __init__.py │ ├── command.py │ └── pybind11_build.py │ ├── check.py │ ├── checkpoint.py │ ├── config_tool.py │ ├── dist │ ├── collect_env.py │ ├── dist_common.py │ └── logger.py │ ├── find.py │ ├── flops_counter.py │ ├── imports.py │ ├── loader.py │ ├── print_utils.py │ ├── registry.py │ ├── utils.py │ └── utils_kitti.py ├── docs ├── GETTING_START.md ├── INSTALL.md ├── semanticKITTI.md ├── semanticNusc.md ├── semanticWaymo.md └── semnusc_leaderboard.png ├── nuscenes-devkit ├── LICENSE.txt ├── README.md ├── docs │ ├── faqs.md │ ├── installation.md │ ├── instructions_lidarseg.md │ ├── instructions_nuimages.md │ ├── instructions_nuscenes.md │ ├── schema_nuimages.md │ └── schema_nuscenes.md ├── python-sdk │ ├── nuimages │ │ ├── __init__.py │ │ ├── export │ │ │ └── export_release.py │ │ ├── nuimages.py │ │ ├── scripts │ │ │ ├── render_images.py │ │ │ └── render_rare_classes.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── assert_download.py │ │ │ ├── test_attributes.py │ │ │ └── test_foreign_keys.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── test_nuimages.py │ │ │ └── utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── can_bus │ │ │ ├── README.md │ │ │ └── can_bus_api.py │ │ ├── eval │ │ │ ├── __init__.py │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── loaders.py │ │ │ │ ├── render.py │ │ │ │ └── utils.py │ │ │ ├── detection │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── algo.py │ │ │ │ ├── config.py │ │ │ │ ├── configs │ │ │ │ │ └── detection_cvpr_2019.json │ │ │ │ ├── constants.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── render.py │ │ │ │ ├── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_algo.py │ │ │ │ │ ├── test_data_classes.py │ │ │ │ │ ├── test_evaluate.py │ │ │ │ │ ├── test_loader.py │ │ │ │ │ └── test_utils.py │ │ │ │ └── utils.py │ │ │ ├── lidarseg │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── render.py │ │ │ │ ├── tests │ │ │ │ │ └── __init__.py │ │ │ │ ├── utils.py │ │ │ │ └── validate_submission.py │ │ │ ├── panoptic │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── panoptic_seg_evaluator.py │ │ │ │ ├── panoptic_track_evaluator.py │ │ │ │ └── utils.py │ │ │ ├── prediction │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── baseline_model_inference.py │ │ │ │ ├── compute_metrics.py │ │ │ │ ├── config.py │ │ │ │ ├── configs │ │ │ │ │ └── predict_2020_icra.json │ │ │ │ ├── data_classes.py │ │ │ │ ├── docker_container │ │ │ │ │ ├── README.md │ │ │ │ │ └── docker │ │ │ │ │ │ ├── Dockerfile │ │ │ │ │ │ └── docker-compose.yml │ │ │ │ ├── metrics.py │ │ │ │ ├── splits.py │ │ │ │ ├── submission │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── do_inference.py │ │ │ │ │ └── extra_packages.txt │ │ │ │ └── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_dataclasses.py │ │ │ │ │ └── test_metrics.py │ │ │ └── tracking │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── algo.py │ │ │ │ ├── configs │ │ │ │ └── tracking_nips_2019.json │ │ │ │ ├── constants.py │ │ │ │ ├── data_classes.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── loaders.py │ │ │ │ ├── metrics.py │ │ │ │ ├── mot.py │ │ │ │ ├── render.py │ │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── scenarios.py │ │ │ │ ├── test_algo.py │ │ │ │ └── test_evaluate.py │ │ │ │ └── utils.py │ │ ├── lidarseg │ │ │ ├── __init__.py │ │ │ ├── class_histogram.py │ │ │ └── lidarseg_utils.py │ │ ├── map_expansion │ │ │ ├── __init__.py │ │ │ ├── arcline_path_utils.py │ │ │ ├── bitmap.py │ │ │ ├── map_api.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_all_maps.py │ │ │ │ └── test_arcline_path_utils.py │ │ │ └── utils.py │ │ ├── nuscenes.py │ │ ├── panoptic │ │ │ ├── __init__.py │ │ │ ├── generate_panoptic_labels.py │ │ │ └── panoptic_utils.py │ │ ├── prediction │ │ │ ├── __init__.py │ │ │ ├── helper.py │ │ │ ├── input_representation │ │ │ │ ├── __init__.py │ │ │ │ ├── agents.py │ │ │ │ ├── combinators.py │ │ │ │ ├── interface.py │ │ │ │ ├── static_layers.py │ │ │ │ ├── tests │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── test_agents.py │ │ │ │ │ ├── test_combinators.py │ │ │ │ │ ├── test_static_layers.py │ │ │ │ │ └── test_utils.py │ │ │ │ └── utils.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ ├── backbone.py │ │ │ │ ├── covernet.py │ │ │ │ ├── mtp.py │ │ │ │ └── physics.py │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── run_covernet.py │ │ │ │ ├── run_image_generation.py │ │ │ │ ├── run_mtp.py │ │ │ │ ├── test_backbone.py │ │ │ │ ├── test_covernet.py │ │ │ │ ├── test_mtp.py │ │ │ │ ├── test_mtp_loss.py │ │ │ │ ├── test_physics_models.py │ │ │ │ └── test_predict_helper.py │ │ ├── scripts │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── export_2d_annotations_as_json.py │ │ │ ├── export_egoposes_on_map.py │ │ │ ├── export_instance_videos.py │ │ │ ├── export_kitti.py │ │ │ ├── export_pointclouds_as_obj.py │ │ │ ├── export_poses.py │ │ │ └── export_scene_videos.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── assert_download.py │ │ │ ├── test_lidarseg.py │ │ │ ├── test_nuscenes.py │ │ │ └── test_predict_helper.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── color_map.py │ │ │ ├── data_classes.py │ │ │ ├── data_io.py │ │ │ ├── geometry_utils.py │ │ │ ├── kitti.py │ │ │ ├── map_mask.py │ │ │ ├── splits.py │ │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── test_data_classes.py │ │ │ ├── test_geometry_utils.py │ │ │ └── test_map_mask.py │ └── tutorials │ │ ├── README.md │ │ ├── can_bus_tutorial.ipynb │ │ ├── map_expansion_tutorial.ipynb │ │ ├── nuimages_tutorial.ipynb │ │ ├── nuscenes_lidarseg_panoptic_tutorial.ipynb │ │ ├── nuscenes_tutorial.ipynb │ │ ├── prediction_tutorial.ipynb │ │ └── trajectory.gif └── setup │ ├── Dockerfile │ ├── Jenkinsfile │ ├── requirements.txt │ ├── requirements │ ├── 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