├── .gitignore ├── LICENSE ├── README.md ├── calib3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ └── inferencers │ │ ├── __init__.py │ │ ├── base_3d_inferencer.py │ │ ├── lidar_det3d_inferencer.py │ │ ├── lidar_seg3d_inferencer.py │ │ ├── mono_det3d_inferencer.py │ │ └── multi_modality_det3d_inferencer.py ├── configs │ ├── _base_ │ │ ├── datasets │ │ │ ├── kitti_3d_3class.py │ │ │ ├── kitti_3d_car.py │ │ │ ├── kitti_mono3d.py │ │ │ ├── lyft_3d.py │ │ │ ├── lyft_3d_range100.py │ │ │ ├── nuim_instance.py │ │ │ ├── nus_3d.py │ │ │ ├── nus_mono3d.py │ │ │ ├── s3dis_3d.py │ │ │ ├── s3dis_seg.py │ │ │ ├── scannet_3d.py │ │ │ ├── scannet_seg.py │ │ │ ├── semantickitti.py │ │ │ ├── sunrgbd_3d.py │ │ │ ├── waymoD5_3d_3class.py │ │ │ ├── waymoD5_3d_car.py │ │ │ ├── waymoD5_fov_mono3d_3class.py │ │ │ ├── waymoD5_mv3d_3class.py │ │ │ └── waymoD5_mv_mono3d_3class.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ ├── centerpoint_pillar02_second_secfpn_nus.py │ │ │ ├── centerpoint_voxel01_second_secfpn_nus.py │ │ │ ├── cylinder3d.py │ │ │ ├── fcos3d.py │ │ │ ├── minkunet.py │ │ │ ├── pgd.py │ │ │ └── votenet.py │ │ └── schedules │ │ │ ├── cosine.py │ │ │ ├── cyclic_20e.py │ │ │ ├── cyclic_40e.py │ │ │ ├── mmdet_schedule_1x.py │ │ │ ├── schedule_2x.py │ │ │ ├── schedule_3x.py │ │ │ ├── seg_cosine_100e.py │ │ │ ├── seg_cosine_150e.py │ │ │ ├── seg_cosine_200e.py │ │ │ └── seg_cosine_50e.py │ ├── centerpoint │ │ ├── centerpoint_pillar02_second_secfpn_8xb4_cyclic_20e_nus_3d.py │ │ └── centerpoint_voxel01_second_secfpn_8xb4_cyclic_20e_nus_3d.py │ ├── cylinder3d │ │ ├── cylinder3d_4xb4-3x_semantickitti.py │ │ └── cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py │ ├── minkunet │ │ └── minkunet34_w32_torchsparse_8xb2_laser_polar_mix_3x_semantickitti.py │ ├── mvxnet │ │ └── mvxnet_fpn_dv_second_secfpn_8xb2_80e_kitti_3d_3class.py │ ├── pgd │ │ └── pgd_r101_caffe_fpn_head_gn_4xb3_4x_kitti_mono3d.py │ └── votenet │ │ ├── __init__.py │ │ └── votenet_8xb8_scannet_3d.py ├── datasets │ ├── __init__.py │ ├── convert_utils.py │ ├── dataset_wrappers.py │ ├── det3d_dataset.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── s3dis_dataset.py │ ├── scannet_dataset.py │ ├── seg3d_dataset.py │ ├── semantickitti_dataset.py │ ├── sunrgbd_dataset.py │ ├── transforms │ │ ├── __init__.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ ├── transforms_3d.py │ │ └── wrappers.py │ ├── utils.py │ └── waymo_dataset.py ├── engine │ ├── __init__.py │ └── hooks │ │ ├── __init__.py │ │ ├── benchmark_hook.py │ │ ├── disable_object_sample_hook.py │ │ └── visualization_hook.py ├── evaluation │ ├── __init__.py │ ├── functional │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── panoptic_seg_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_to_waymo.py │ └── metrics │ │ ├── __init__.py │ │ ├── ece.py │ │ ├── indoor_metric.py │ │ ├── instance_seg_metric.py │ │ ├── kitti_metric.py │ │ ├── lyft_metric.py │ │ ├── nuscenes_metric.py │ │ ├── panoptic_seg_metric.py │ │ ├── seg_metric.py │ │ └── waymo_metric.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── cylinder3d.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── mink_resnet.py │ │ ├── minkunet_backbone.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── polar_unet.py │ │ ├── second.py │ │ └── spvcnn_backone.py │ ├── data_preprocessors │ │ ├── __init__.py │ │ ├── data_preprocessor.py │ │ ├── utils.py │ │ └── voxelize.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── cylinder3d_head.py │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── minkunet_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_3d_dense_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── centerpoint_head.py │ │ ├── fcaf3d_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── imvoxel_head.py │ │ ├── monoflex_head.py │ │ ├── parta2_rpn_head.py │ │ ├── pgd_head.py │ │ ├── point_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── smoke_mono3d_head.py │ │ ├── ssd_3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── centerpoint.py │ │ ├── dfm.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── multiview_dfm.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── point_rcnn.py │ │ ├── pv_rcnn.py │ │ ├── sassd.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── layers │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ ├── dgcnn_modules │ │ │ ├── __init__.py │ │ │ ├── dgcnn_fa_module.py │ │ │ ├── dgcnn_fp_module.py │ │ │ └── dgcnn_gf_module.py │ │ ├── edge_fusion_module.py │ │ ├── fusion_layers │ │ │ ├── __init__.py │ │ │ ├── coord_transform.py │ │ │ ├── point_fusion.py │ │ │ └── vote_fusion.py │ │ ├── minkowski_engine_block.py │ │ ├── mlp.py │ │ ├── norm.py │ │ ├── paconv │ │ │ ├── __init__.py │ │ │ ├── paconv.py │ │ │ └── utils.py │ │ ├── pointnet_modules │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── paconv_sa_module.py │ │ │ ├── point_fp_module.py │ │ │ ├── point_sa_module.py │ │ │ └── stack_point_sa_module.py │ │ ├── sparse_block.py │ │ ├── spconv │ │ │ ├── __init__.py │ │ │ └── overwrite_spconv │ │ │ │ ├── __init__.py │ │ │ │ └── write_spconv2.py │ │ ├── torchsparse │ │ │ ├── __init__.py │ │ │ └── torchsparse_wrapper.py │ │ ├── torchsparse_block.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── losses │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── lovasz_loss.py │ │ ├── multibin_loss.py │ │ ├── paconv_regularization_loss.py │ │ ├── rotated_iou_loss.py │ │ └── uncertain_smooth_l1_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ ├── sparse_unet.py │ │ └── voxel_set_abstraction.py │ ├── necks │ │ ├── __init__.py │ │ ├── dla_neck.py │ │ ├── imvoxel_neck.py │ │ ├── pointnet2_fp_neck.py │ │ └── second_fpn.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── h3d_bbox_head.py │ │ │ ├── parta2_bbox_head.py │ │ │ ├── point_rcnn_bbox_head.py │ │ │ └── pv_rcnn_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── foreground_segmentation_head.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ ├── point_rcnn_roi_head.py │ │ ├── pv_rcnn_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── batch_roigridpoint_extractor.py │ │ │ ├── single_roiaware_extractor.py │ │ │ └── single_roipoint_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── cylinder3d.py │ │ ├── encoder_decoder.py │ │ ├── minkunet.py │ │ └── seg3d_tta.py │ ├── task_modules │ │ ├── __init__.py │ │ ├── anchor │ │ │ ├── __init__.py │ │ │ ├── anchor_3d_generator.py │ │ │ └── builder.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── max_3d_iou_assigner.py │ │ ├── builder.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── fcos3d_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── monoflex_bbox_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ ├── pgd_bbox_coder.py │ │ │ ├── point_xyzwhlr_bbox_coder.py │ │ │ └── smoke_bbox_coder.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── iou_neg_piecewise_sampler.py │ │ │ └── pseudosample.py │ │ └── voxel │ │ │ ├── __init__.py │ │ │ └── voxel_generator.py │ ├── test_time_augs │ │ ├── __init__.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── add_prefix.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gaussian.py │ │ ├── gen_keypoints.py │ │ └── handle_objs.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── registry.py ├── structures │ ├── __init__.py │ ├── bbox_3d │ │ ├── __init__.py │ │ ├── base_box3d.py │ │ ├── box_3d_mode.py │ │ ├── cam_box3d.py │ │ ├── coord_3d_mode.py │ │ ├── depth_box3d.py │ │ ├── lidar_box3d.py │ │ └── utils.py │ ├── det3d_data_sample.py │ ├── ops │ │ ├── __init__.py │ │ ├── box_np_ops.py │ │ ├── iou3d_calculator.py │ │ └── transforms.py │ ├── point_data.py │ └── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py ├── testing │ ├── __init__.py │ ├── data_utils.py │ └── model_utils.py ├── utils │ ├── __init__.py │ ├── array_converter.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── misc.py │ ├── setup_env.py │ └── typing_utils.py ├── version.py └── visualization │ ├── __init__.py │ ├── local_visualizer.py │ └── vis_utils.py ├── calib_model.py ├── configs ├── 3dssd │ ├── 3dssd_4xb4_kitti-3d-car.py │ ├── README.md │ └── metafile.yml ├── _base_ │ ├── datasets │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.py │ │ ├── kitti-mono3d.py │ │ ├── lyft-3d-range100.py │ │ ├── lyft-3d.py │ │ ├── nuim-instance.py │ │ ├── nus-3d.py │ │ ├── nus-mono3d.py │ │ ├── s3dis-3d.py │ │ ├── s3dis-seg.py │ │ ├── scannet-3d.py │ │ ├── scannet-seg.py │ │ ├── semantickitti.py │ │ ├── sunrgbd-3d.py │ │ ├── waymoD3-fov-mono3d-3class.py │ │ ├── waymoD3-mv-mono3d-3class.py │ │ ├── waymoD5-3d-3class.py │ │ ├── waymoD5-3d-car.py │ │ ├── waymoD5-fov-mono3d-3class.py │ │ ├── waymoD5-mv-mono3d-3class.py │ │ └── waymoD5-mv3d-3class.py │ ├── default_runtime.py │ ├── models │ │ ├── 3dssd.py │ │ ├── cascade-mask-rcnn_r50_fpn.py │ │ ├── centerpoint_pillar02_second_secfpn_nus.py │ │ ├── centerpoint_voxel01_second_secfpn_nus.py │ │ ├── cylinder3d.py │ │ ├── dgcnn.py │ │ ├── fcaf3d.py │ │ ├── fcos3d.py │ │ ├── groupfree3d.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── mask-rcnn_r50_fpn.py │ │ ├── minkunet.py │ │ ├── multiview_dfm.py │ │ ├── paconv_ssg-cuda.py │ │ ├── paconv_ssg.py │ │ ├── parta2.py │ │ ├── pgd.py │ │ ├── point_rcnn.py │ │ ├── pointnet2_msg.py │ │ ├── pointnet2_ssg.py │ │ ├── pointpillars_hv_fpn_lyft.py │ │ ├── pointpillars_hv_fpn_nus.py │ │ ├── pointpillars_hv_fpn_range100_lyft.py │ │ ├── pointpillars_hv_secfpn_kitti.py │ │ ├── pointpillars_hv_secfpn_waymo.py │ │ ├── second_hv_secfpn_kitti.py │ │ ├── second_hv_secfpn_waymo.py │ │ ├── smoke.py │ │ ├── spvcnn.py │ │ └── votenet.py │ └── schedules │ │ ├── cosine.py │ │ ├── cyclic-20e.py │ │ ├── cyclic-40e.py │ │ ├── mmdet-schedule-1x.py │ │ ├── schedule-2x.py │ │ ├── schedule-3x.py │ │ ├── seg-cosine-100e.py │ │ ├── seg-cosine-150e.py │ │ ├── seg-cosine-200e.py │ │ └── seg-cosine-50e.py ├── benchmark │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py ├── calib3d │ ├── nuscenes_minkunet18.py │ ├── nuscenes_minkunet34.py │ ├── nuscenes_polarnet.py │ ├── scribble_minkunet18.py │ ├── scribble_minkunet34.py │ ├── scribble_polarnet.py │ ├── scribble_spvcnn.py │ ├── semkitti_cenet.py │ ├── semkitti_fidnet.py │ ├── semkitti_minkunet18.py │ ├── semkitti_minkunet34.py │ ├── semkitti_rangenet.py │ ├── semkitti_salsanext.py │ └── semkitti_spvcnn.py ├── centerpoint │ ├── README.md │ ├── centerpoint_pillar02_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_pillar02_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-flip-tta-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-flip-tta-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel0075_second_secfpn_head-dcn_8xb4-tta-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py │ ├── centerpoint_voxel01_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py │ └── metafile.yml ├── cylinder3d │ ├── README.md │ ├── cylinder3d_4xb4-3x_semantickitti.py │ ├── cylinder3d_8xb2-laser-polar-mix-3x_semantickitti.py │ └── metafile.yml ├── dgcnn │ ├── README.md │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area1.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area2.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area3.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area4.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area5.py │ ├── dgcnn_4xb32-cosine-100e_s3dis-seg_test-area6.py │ └── metafile.yml ├── dynamic_voxelization │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_dv_secfpn_8xb6-160e_kitti-3d-car.py │ ├── second_dv_secfpn_8xb2-cosine-80e_kitti-3d-3class.py │ └── second_dv_secfpn_8xb6-80e_kitti-3d-car.py ├── fcaf3d │ ├── README.md │ ├── fcaf3d_2xb8_s3dis-3d-5class.py │ ├── fcaf3d_2xb8_scannet-3d-18class.py │ ├── fcaf3d_2xb8_sunrgbd-3d-10class.py │ └── metafile.yml ├── fcos3d │ ├── README.md │ ├── fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d.py │ ├── fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d_finetune.py │ └── metafile.yml ├── free_anchor │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py │ ├── pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py │ └── pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py ├── groupfree3d │ ├── README.md │ ├── groupfree3d_head-L12-O256_4xb8_scannet-seg.py │ ├── groupfree3d_head-L6-O256_4xb8_scannet-seg.py │ ├── groupfree3d_w2x-head-L12-O256_4xb8_scannet-seg.py │ ├── groupfree3d_w2x-head-L12-O512_4xb8_scannet-seg.py │ └── metafile.yml ├── h3dnet │ ├── README.md │ ├── h3dnet_8xb3_scannet-seg.py │ └── metafile.yml ├── imvotenet │ ├── README.md │ ├── imvotenet_faster-rcnn-r50_fpn_4xb2_sunrgbd-3d.py │ ├── imvotenet_stage2_8xb16_sunrgbd-3d.py │ └── metafile.yml ├── imvoxelnet │ ├── README.md │ ├── imvoxelnet_2xb4_sunrgbd-3d-10class.py │ ├── imvoxelnet_8xb4_kitti-3d-car.py │ └── metafile.yml ├── minkunet │ ├── README.md │ ├── metafile.yml │ ├── minkunet18_w16_torchsparse_8xb2-amp-15e_semantickitti.py │ ├── minkunet18_w20_torchsparse_8xb2-amp-15e_semantickitti.py │ ├── minkunet18_w32_torchsparse_8xb2-amp-15e_semantickitti.py │ ├── minkunet34_w32_minkowski_8xb2-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_spconv_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_spconv_8xb2-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py │ ├── minkunet34_w32_torchsparse_8xb2-laser-polar-mix-3x_semantickitti.py │ └── minkunet34v2_w32_torchsparse_8xb2-amp-laser-polar-mix-3x_semantickitti.py ├── monoflex │ ├── README.md │ └── metafile.yml ├── mvfcos3d │ ├── README.md │ ├── multiview-fcos3d_r101-dcn_8xb2_waymoD5-3d-3class.py │ └── multiview-fcos3d_r101-dcn_centerhead_16xb2_waymoD5-3d-3class.py ├── mvxnet │ ├── README.md │ ├── metafile.yml │ └── mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py ├── nuimages │ ├── README.md │ ├── cascade-mask-rcnn-r50-fpn_coco-20e_nuim.py │ ├── cascade-mask-rcnn_r101_fpn_1x_nuim.py │ ├── cascade-mask-rcnn_r50_fpn_1x_nuim.py │ ├── cascade-mask-rcnn_r50_fpn_coco-20e-1x_nuim.py │ ├── cascade-mask-rcnn_x101_32x4d_fpn_1x_nuim.py │ ├── htc_r50_fpn_1x_nuim.py │ ├── htc_r50_fpn_coco-20e-1x_nuim.py │ ├── htc_r50_fpn_coco-20e_nuim.py │ ├── htc_r50_fpn_head-without-semantic_1x_nuim.py │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e-1xb16_nuim.py │ ├── mask-rcnn_r101_fpn_1x_nuim.py │ ├── mask-rcnn_r50_caffe_fpn_1x_nuim.py │ ├── mask-rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ ├── mask-rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ ├── mask-rcnn_r50_fpn_1x_nuim.py │ ├── mask-rcnn_r50_fpn_coco-2x_1x_nuim.py │ ├── mask-rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ ├── mask-rcnn_x101_32x4d_fpn_1x_nuim.py │ └── metafile.yml ├── paconv │ ├── README.md │ ├── metafile.yml │ ├── paconv_ssg-cuda_8xb8-cosine-200e_s3dis-seg.py │ └── paconv_ssg_8xb8-cosine-150e_s3dis-seg.py ├── parta2 │ ├── README.md │ ├── metafile.yml │ ├── parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py │ └── parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-car.py ├── pgd │ ├── README.md │ ├── metafile.yml │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d.py │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d_finetune.py │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-2x_nus-mono3d.py │ ├── pgd_r101-caffe_fpn_head-gn_16xb2-2x_nus-mono3d_finetune.py │ ├── pgd_r101-caffe_fpn_head-gn_4xb3-4x_kitti-mono3d.py │ ├── pgd_r101_fpn-head_dcn_16xb3_waymoD5-fov-mono3d.py │ ├── pgd_r101_fpn-head_dcn_16xb3_waymoD5-mv-mono3d.py │ ├── pgd_r101_fpn_gn-head_dcn_8xb3-2x_waymoD3-fov-mono3d.py │ └── pgd_r101_fpn_gn-head_dcn_8xb3-2x_waymoD3-mv-mono3d.py ├── point_rcnn │ ├── README.md │ ├── metafile.yml │ └── point-rcnn_8xb2_kitti-3d-3class.py ├── pointnet2 │ ├── README.md │ ├── metafile.yml │ ├── pointnet2_msg_2xb16-cosine-250e_scannet-seg-xyz-only.py │ ├── pointnet2_msg_2xb16-cosine-250e_scannet-seg.py │ ├── pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py │ ├── pointnet2_ssg_2xb16-cosine-200e_scannet-seg-xyz-only.py │ ├── pointnet2_ssg_2xb16-cosine-200e_scannet-seg.py │ └── pointnet2_ssg_2xb16-cosine-50e_s3dis-seg.py ├── pointpillars │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d-range100.py │ ├── pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_fpn_sbn-all_8xb2-amp-2x_nus-3d.py │ ├── pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py │ ├── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-3class.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-car.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py │ ├── pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-car.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d-range100.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_secfpn_sbn-all_8xb2-amp-2x_nus-3d.py │ └── pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d.py ├── pv_rcnn │ ├── README.md │ ├── metafile.yml │ └── pv_rcnn_8xb2-80e_kitti-3d-3class.py ├── regnet │ ├── README.md │ ├── metafile.yml │ ├── pointpillars_hv_regnet-1.6gf_fpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d.py │ ├── pointpillars_hv_regnet-400mf_fpn_sbn-all_range100_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_regnet-400mf_secfpn_sbn-all_8xb2-2x_lyft-3d.py │ ├── pointpillars_hv_regnet-400mf_secfpn_sbn-all_8xb4-2x_nus-3d.py │ └── pointpillars_hv_regnet-400mf_secfpn_sbn-all_range100_8xb2-2x_lyft-3d.py ├── sassd │ ├── README.md │ └── sassd_8xb6-80e_kitti-3d-3class.py ├── second │ ├── README.md │ ├── metafile.yml │ ├── second_hv_secfpn_8xb6-80e_kitti-3d-3class.py │ ├── second_hv_secfpn_8xb6-80e_kitti-3d-car.py │ ├── second_hv_secfpn_8xb6-amp-80e_kitti-3d-3class.py │ ├── second_hv_secfpn_8xb6-amp-80e_kitti-3d-car.py │ └── second_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py ├── smoke │ ├── README.md │ ├── metafile.yml │ └── smoke_dla34_dlaneck_gn-all_4xb8-6x_kitti-mono3d.py ├── spvcnn │ ├── README.md │ ├── metafile.yml │ ├── spvcnn_w16_8xb2-amp-15e_semantickitti.py │ ├── spvcnn_w20_8xb2-amp-15e_semantickitti.py │ ├── spvcnn_w32_8xb2-amp-15e_semantickitti.py │ └── spvcnn_w32_8xb2-amp-laser-polar-mix-3x_semantickitti.py ├── ssn │ ├── README.md │ ├── metafile.yml │ ├── ssn_hv_regnet-400mf_secfpn_sbn-all_16xb1-2x_lyft-3d.py │ ├── ssn_hv_regnet-400mf_secfpn_sbn-all_16xb2-2x_nus-3d.py │ ├── ssn_hv_secfpn_sbn-all_16xb2-2x_lyft-3d.py │ └── ssn_hv_secfpn_sbn-all_16xb2-2x_nus-3d.py └── votenet │ ├── README.md │ ├── metafile.yml │ ├── votenet_8xb16_sunrgbd-3d.py │ ├── votenet_8xb8_scannet-3d.py │ └── votenet_head-iouloss_8xb8_scannet-3d.py ├── docs ├── DATA_PREPARE.md ├── GET_STARTED.md ├── INSTALL.md ├── LICENSE.md └── figs │ ├── backend.png │ ├── diagram.png │ ├── logo.png │ ├── miou.png │ ├── modality.png │ ├── nuscenes-c.png │ ├── nuscenes.png │ ├── s3dis.png │ ├── scribblekitti.png │ ├── semantickitti-c.png │ ├── semantickitti.png │ ├── semanticposs.png │ ├── semanticstf.png │ ├── synth4d.png │ ├── teaser.png │ └── waymo-open.png ├── projects ├── BEVFusion │ ├── README.md │ ├── bevfusion │ │ ├── __init__.py │ │ ├── bevfusion.py │ │ ├── bevfusion_necks.py │ │ ├── depth_lss.py │ │ ├── loading.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── bev_pool │ │ │ │ ├── __init__.py │ │ │ │ ├── bev_pool.py │ │ │ │ └── src │ │ │ │ │ ├── bev_pool.cpp │ │ │ │ │ └── bev_pool_cuda.cu │ │ │ └── voxel │ │ │ │ ├── __init__.py │ │ │ │ ├── scatter_points.py │ │ │ │ ├── src │ │ │ │ ├── scatter_points_cpu.cpp │ │ │ │ ├── scatter_points_cuda.cu │ │ │ │ ├── voxelization.cpp │ │ │ │ ├── voxelization.h │ │ │ │ ├── voxelization_cpu.cpp │ │ │ │ └── voxelization_cuda.cu │ │ │ │ └── voxelize.py │ │ ├── sparse_encoder.py │ │ ├── transformer.py │ │ ├── transforms_3d.py │ │ ├── transfusion_head.py │ │ └── utils.py │ ├── configs │ │ ├── bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ │ └── bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py │ ├── demo │ │ └── multi_modality_demo.py │ └── setup.py ├── CENet │ ├── README.md │ ├── cenet │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── boundary_loss.cpython-38.pyc │ │ │ ├── cenet_backbone.cpython-38.pyc │ │ │ ├── fidnet_backbone.cpython-38.pyc │ │ │ ├── range_image_head.cpython-38.pyc │ │ │ ├── range_image_segmentor.cpython-38.pyc │ │ │ ├── rangenet_backbone.cpython-38.pyc │ │ │ ├── salsanext_backbone.cpython-38.pyc │ │ │ ├── transforms_3d.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── boundary_loss.py │ │ ├── cenet_backbone.py │ │ ├── fidnet_backbone.py │ │ ├── range_image_head.py │ │ ├── range_image_segmentor.py │ │ ├── rangenet_backbone.py │ │ ├── salsanext_backbone.py │ │ ├── transforms_3d.py │ │ └── utils.py │ └── configs │ │ ├── cenet-64x1024_4xb4_semantickitti.py │ │ ├── cenet-64x2048_4xb4_semantickitti.py │ │ └── cenet-64x512_4xb4_semantickitti.py ├── CenterFormer │ ├── README.md │ ├── centerformer │ │ ├── __init__.py │ │ ├── bbox_ops.py │ │ ├── centerformer.py │ │ ├── centerformer_backbone.py │ │ ├── centerformer_head.py │ │ ├── losses.py │ │ ├── multi_scale_deform_attn.py │ │ └── transformer.py │ └── configs │ │ └── centerformer_voxel01_second-attn_secfpn-attn_4xb4-cyclic-20e_waymoD5-3d-3class.py ├── DETR3D │ ├── README.md │ ├── configs │ │ ├── detr3d_r101_gridmask.py │ │ ├── detr3d_r101_gridmask_cbgs.py │ │ └── detr3d_vovnet_gridmask_trainval_cbgs.py │ ├── detr3d │ │ ├── __init__.py │ │ ├── detr3d.py │ │ ├── detr3d_head.py │ │ ├── detr3d_transformer.py │ │ ├── grid_mask.py │ │ ├── hungarian_assigner_3d.py │ │ ├── match_cost.py │ │ ├── nms_free_coder.py │ │ ├── util.py │ │ └── vovnet.py │ └── old_detr3d_converter.py ├── DSVT │ ├── README.md │ ├── configs │ │ └── dsvt_voxel032_res-second_secfpn_8xb1-cyclic-12e_waymoD5-3d-3class.py │ ├── dsvt │ │ ├── __init__.py │ │ ├── disable_aug_hook.py │ │ ├── dsvt.py │ │ ├── dsvt_head.py │ │ ├── dsvt_input_layer.py │ │ ├── dsvt_transformer.py │ │ ├── dynamic_pillar_vfe.py │ │ ├── map2bev.py │ │ ├── ops │ │ │ └── ingroup_inds │ │ │ │ ├── ingroup_inds_op.py │ │ │ │ └── src │ │ │ │ ├── error.cuh │ │ │ │ ├── ingroup_inds.cpp │ │ │ │ └── ingroup_inds_kernel.cu │ │ ├── res_second.py │ │ ├── transforms_3d.py │ │ └── utils.py │ └── setup.py ├── NeRF-Det │ ├── README.md │ ├── configs │ │ ├── nerfdet_res101_2x_low_res_depth.py │ │ ├── nerfdet_res50_2x_low_res.py │ │ └── nerfdet_res50_2x_low_res_depth.py │ ├── nerfdet │ │ ├── __init__.py │ │ ├── data_preprocessor.py │ │ ├── formating.py │ │ ├── multiview_pipeline.py │ │ ├── nerf_det3d_data_sample.py │ │ ├── nerf_utils │ │ │ ├── nerf_mlp.py │ │ │ ├── projection.py │ │ │ ├── render_ray.py │ │ │ └── save_rendered_img.py │ │ ├── nerfdet.py │ │ ├── nerfdet_head.py │ │ └── scannet_multiview_dataset.py │ └── prepare_infos.py ├── PETR │ ├── README.md │ ├── configs │ │ └── petr_vovnet_gridmask_p4_800x320.py │ └── petr │ │ ├── __init__.py │ │ ├── cp_fpn.py │ │ ├── grid_mask.py │ │ ├── hungarian_assigner_3d.py │ │ ├── match_cost.py │ │ ├── nms_free_coder.py │ │ ├── petr.py │ │ ├── petr_head.py │ │ ├── petr_transformer.py │ │ ├── positional_encoding.py │ │ ├── transforms_3d.py │ │ ├── utils.py │ │ └── vovnetcp.py ├── TPVFormer │ ├── README.md │ ├── configs │ │ └── tpvformer_8xb1-2x_nus-seg.py │ └── tpvformer │ │ ├── __init__.py │ │ ├── cross_view_hybrid_attention.py │ │ ├── data_preprocessor.py │ │ ├── image_cross_attention.py │ │ ├── loading.py │ │ ├── nuscenes_dataset.py │ │ ├── positional_encoding.py │ │ ├── tpvformer.py │ │ ├── tpvformer_encoder.py │ │ ├── tpvformer_head.py │ │ └── tpvformer_layer.py ├── TR3D │ ├── README.md │ ├── configs │ │ ├── tr3d.py │ │ ├── tr3d_1xb16_s3dis-3d-5class.py │ │ ├── tr3d_1xb16_scannet-3d-18class.py │ │ └── tr3d_1xb16_sunrgbd-3d-10class.py │ └── tr3d │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── mink_resnet.py │ │ ├── rotated_iou_loss.py │ │ ├── tr3d_head.py │ │ ├── tr3d_neck.py │ │ └── transforms_3d.py └── example_project │ ├── README.md │ ├── configs │ └── fcos3d_dummy-resnet-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d.py │ └── dummy │ ├── __init__.py │ └── dummy_resnet.py ├── requirements ├── build.txt ├── docs.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── setup.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── create_data.py ├── create_data.sh ├── dataset_converters ├── create_gt_database.py ├── indoor_converter.py ├── kitti_converter.py ├── kitti_data_utils.py ├── kitti_unzip.sh ├── lyft_converter.py ├── lyft_data_fixer.py ├── nuimage_converter.py ├── nuscenes_converter.py ├── nuscenes_unzip.sh ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── semantickitti_converter.py ├── semantickitti_unzip.sh ├── sunrgbd_data_utils.py ├── update_infos_to_v2.py └── waymo_converter.py ├── deployment ├── mmdet3d2torchserve.py ├── mmdet3d_handler.py └── test_torchserver.py ├── dist_test.sh ├── dist_train.sh ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── 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