├── configs ├── cfg_RTNH.yml ├── config_general.py └── config_ui.py ├── datasets ├── __init__.py └── kradar_dataset_v2_1.py ├── docs ├── a_dataset_generation.md ├── imgs │ ├── fig2.png │ ├── kradar_examples.png │ └── readme_logo.png └── related_datasets.md ├── main_labeling.py ├── main_test_conditional.py ├── main_train_0.py ├── main_vis.py ├── man_vis_tracking.py ├── models ├── backbone_2d │ ├── __init__.py │ ├── pointpillar_backbone.py │ ├── resnet_wrapper.py │ └── resnet_wrapper_multires.py ├── backbone_3d │ ├── __init__.py │ ├── base_backbone_3d_sparse.py │ └── base_backbone_3d_sparse_dop_high_semantic.py ├── head │ ├── __init__.py │ ├── cube_head.py │ ├── point_head_simple.py │ ├── point_head_template.py │ ├── pointpillar_head.py │ └── rdr_cube_sedan_head.py ├── middle_encoder │ ├── __init__.py │ ├── rdr_cube_dop_sparse_processor.py │ ├── rdr_cube_sparse_processor.py │ └── rdr_sparse_processor.py ├── skeletons │ ├── __init__.py │ └── rdr_roi.py └── voxel_encoder │ ├── __init__.py │ ├── mean_vfe.py │ ├── mean_vfe_lidar.py │ ├── mean_vfe_radar.py │ └── mean_vfe_radar_withDop.py ├── pipelines └── pipeline_v2_1.py ├── readme.md ├── requirement.txt ├── resources ├── arr_doppler.mat ├── imgs │ ├── code_hierarchy.png │ ├── example_bev.png │ ├── example_cam.png │ ├── frame │ │ ├── img_example.png │ │ ├── label_example.txt │ │ ├── pc_example.pcd │ │ ├── temp_img.png │ │ └── temp_img_result.png │ ├── img_cube_bev.png │ ├── img_tes_ra.png │ ├── label_example.txt │ ├── os2-64_example.pcd │ ├── plot_tes_ra.png │ ├── prevb.png │ ├── prevf.png │ ├── prevg.png │ └── prevl.png ├── info_arr.mat ├── pickle │ ├── pre_idx.pickle │ ├── pre_mask.pickle │ └── pre_ra.pickle ├── sensor_suite │ ├── sensor_suite.pcd │ └── sensor_suite.ply └── split │ ├── test.txt │ └── train.txt ├── tools ├── bag_decoder_ros │ └── src │ │ ├── CMakeLists.txt │ │ ├── bag_decoder.cpp │ │ └── package.xml ├── bag_decoder_ros_gps │ └── src │ │ ├── bag_decoder │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ │ └── bag_decoder_gps_imu.cpp │ │ └── piksi_rtk_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── AgeOfCorrections.msg │ │ ├── BasePosEcef.msg │ │ ├── BasePosLlh.msg │ │ ├── BaselineEcef.msg │ │ ├── BaselineHeading.msg │ │ ├── BaselineNed.msg │ │ ├── DeviceMonitor_V2_3_15.msg │ │ ├── Dops.msg │ │ ├── DopsMulti.msg │ │ ├── ExtEvent.msg │ │ ├── GpsTime.msg │ │ ├── GpsTimeMulti.msg │ │ ├── Heartbeat.msg │ │ ├── ImuAuxMulti.msg │ │ ├── ImuRawMulti.msg │ │ ├── InfoWifiCorrections.msg │ │ ├── Log.msg │ │ ├── MagRaw.msg │ │ ├── MeasurementState_V2_4_1.msg │ │ ├── Observation.msg │ │ ├── PosEcef.msg │ │ ├── PosEcefCov.msg │ │ ├── PosLlh.msg │ │ ├── PosLlhCov.msg │ │ ├── PosLlhMulti.msg │ │ ├── PositionWithCovariance.msg │ │ ├── PositionWithCovarianceStamped.msg │ │ ├── ReceiverState.msg │ │ ├── ReceiverState_V2_2_15.msg │ │ ├── ReceiverState_V2_3_15.msg │ │ ├── ReceiverState_V2_4_1.msg │ │ ├── TrackingState.msg │ │ ├── TrackingState_V2_2_15.msg │ │ ├── TrackingState_V2_3_15.msg │ │ ├── TrackingState_V2_6_3.msg │ │ ├── UartState.msg │ │ ├── UartState_V2_3_15.msg │ │ ├── UtcTimeMulti.msg │ │ ├── VelEcef.msg │ │ ├── VelEcefCov.msg │ │ ├── VelNed.msg │ │ ├── VelNedCov.msg │ │ ├── VelocityWithCovariance.msg │ │ └── VelocityWithCovarianceStamped.msg │ │ ├── package.xml │ │ └── srv │ │ ├── SettingsReadReq.srv │ │ ├── SettingsReadResp.srv │ │ └── SettingsWrite.srv ├── cfar_utils │ ├── CFAR.py │ └── dataset_CFAR.py ├── data_converter │ └── mat_to_pickle.py ├── label_dist │ └── label_dist.py ├── label_matcher │ └── label_matcher.py ├── mfiles │ ├── arrREA.mat │ ├── arr_doppler.mat │ ├── gen.m │ ├── gen_1_load_data.m │ ├── gen_2_get_tesseract.m │ ├── gen_3_get_zyx_cube.m │ ├── gen_4_get_bev_img.m │ ├── gen_5_get_pc_img.m │ ├── gen_doppler_ubuntu.m │ ├── gen_temp.m │ ├── generate_data_from_bin_and_bag.m │ ├── get_lidar_files.m │ └── info_arr.mat ├── move_files │ └── copy_folders_to_folder.py ├── tag_generator │ └── tag_generation.py └── train_test_splitter │ └── train_test_splitter.py ├── uis ├── ui_labeling.py ├── ui_labeling.ui ├── ui_vis.py └── ui_vis.ui └── utils ├── Rotated_IoU ├── LICENSE ├── box_intersection_2d.py ├── cuda_op │ ├── build │ │ ├── lib.linux-x86_64-cpython-39 │ │ │ └── sort_vertices.cpython-39-x86_64-linux-gnu.so │ │ └── temp.linux-x86_64-cpython-39 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ ├── sort_vert.o │ │ │ └── sort_vert_kernel.o │ ├── cuda_ext.py │ ├── cuda_utils.h │ ├── dist │ │ └── sort_vertices-0.0.0-py3.9-linux-x86_64.egg │ ├── setup.py │ ├── sort_vert.cpp │ ├── sort_vert.h │ ├── sort_vert_kernel.cu │ ├── sort_vertices.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ └── top_level.txt │ └── utils.h ├── demo.py ├── image │ └── iou.png ├── min_enclosing_box.py ├── oriented_iou_loss.py ├── readme.md ├── test_box_intersection_2d.py ├── test_corner_cases.py └── utiles.py ├── common_utils.py ├── kitti_eval ├── LICENSE ├── README.md ├── eval.py ├── 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