├── .gitignore ├── LICENSE ├── README.md ├── figs ├── cmt_eva.png ├── cmt_fps.png ├── cmt_robust.png └── overview.png ├── projects ├── configs │ ├── camera │ │ └── cmt_camera_vov_1600x640_cbgs.py │ ├── fusion │ │ ├── cmt_voxel0075_vov_1600x640_cbgs.py │ │ └── cmt_voxel0100_r50_800x320_cbgs.py │ └── lidar │ │ └── cmt_lidar_voxel0075_cbgs.py └── mmdet3d_plugin │ ├── __init__.py │ ├── core │ ├── __init__.py │ └── bbox │ │ ├── assigners │ │ ├── __init__.py │ │ └── hungarian_assigner_3d.py │ │ ├── coders │ │ ├── __init__.py │ │ └── multi_task_bbox_coder.py │ │ ├── match_costs │ │ ├── __init__.py │ │ └── match_cost.py │ │ └── util.py │ ├── datasets │ ├── __init__.py │ ├── custom_nuscenes_dataset.py │ └── pipelines │ │ ├── __init__.py │ │ ├── dbsampler.py │ │ └── transform_3d.py │ ├── mmcv_custom │ ├── __init__.py │ ├── ops │ │ ├── __init__.py │ │ └── voxel │ │ │ ├── __init__.py │ │ │ └── spconv_voxelize.py │ └── runner │ │ ├── __init__.py │ │ └── hooks │ │ ├── __init__.py │ │ └── optimizer.py │ └── models │ ├── __init__.py │ ├── backbones │ ├── __init__.py │ └── vovnet.py │ ├── dense_heads │ ├── __init__.py │ └── cmt_head.py │ ├── detectors │ ├── __init__.py │ └── cmt.py │ ├── necks │ ├── __init__.py │ └── cp_fpn.py │ └── utils │ ├── __init__.py │ ├── attention.py │ ├── cmt_transformer.py │ ├── grid_mask.py │ └── petr_transformer.py └── tools ├── create_data.py ├── create_data.sh ├── data_converter ├── __init__.py ├── create_gt_database.py └── nuscenes_converter.py ├── dist_test.sh ├── dist_train.sh ├── test.py ├── test_speed.py └── train.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/junjie18/CMT/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/junjie18/CMT/HEAD/LICENSE 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