├── CMakeLists.txt ├── LICENSE ├── README.md ├── configs ├── fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f1.py ├── valid_c_idx.tensor ├── x.tensor └── y.tensor ├── demo ├── 1.png └── sample0_vis_int8_head.png ├── docker ├── dockerfile └── readme.md ├── example-data ├── 0-FRONT.jpg ├── 1-FRONT_RIGHT.jpg ├── 2-FRONT_LEFT.jpg ├── 3-BACK.jpg ├── 4-BACK_LEFT.jpg ├── 5-BACK_RIGHT.jpg ├── anchors.tensor ├── example-data.pth ├── images.tensor ├── sample0_vis.png ├── valid_c_idx.tensor └── y.tensor ├── include_ros ├── fastbev_plugin.hpp └── fastbev_ros.hpp ├── launch └── fastbev_node.launch ├── models └── run.md ├── package.xml ├── ptq ├── dump-data.py ├── export_onnx.py ├── lean │ ├── __init__.py │ ├── exptool.py │ ├── funcs.py │ ├── quantize.py │ ├── tensor.py │ └── train.py ├── ptq_bev.py └── tensor.py ├── run.md ├── scripts └── vis_boxes.py ├── src ├── 01test.cpp ├── common │ ├── check.hpp │ ├── dtype.hpp │ ├── launch.cuh │ ├── tensor.cu │ ├── tensor.hpp │ ├── tensorrt.cpp │ ├── tensorrt.hpp │ ├── timer.hpp │ ├── visualize.cu │ └── visualize.hpp ├── cv2stb.cpp ├── fastbev │ ├── fastbev.cpp │ ├── fastbev.hpp │ ├── fastbev_post.cpp │ ├── fastbev_post.hpp │ ├── fastbev_pre.cpp │ ├── fastbev_pre.hpp │ ├── normalization.cu │ ├── normalization.hpp │ ├── postprecess.cpp │ ├── postprecess.hpp │ ├── vtransform.cu │ └── vtransform.hpp ├── main.cpp └── stb2cv.cpp ├── src_ros ├── demo.cpp ├── fastbev_plugin.cpp ├── fastbev_ros.cpp └── fastbev_ros_node.cpp ├── third_party ├── 3DSparseConvolution │ ├── .gitignore │ ├── Makefile │ ├── README.md │ ├── libspconv │ │ ├── include │ │ │ └── spconv │ │ │ │ ├── check.hpp │ │ │ │ ├── engine.hpp │ │ │ │ ├── memory.hpp │ │ │ │ ├── tensor.hpp │ │ │ │ ├── timer.hpp │ │ │ │ └── version.hpp │ │ └── lib │ │ │ ├── aarch64 │ │ │ └── libspconv.so │ │ │ └── x86_64 │ │ │ └── libspconv.so │ ├── src │ │ ├── main.cpp │ │ ├── pyscn.cpp │ │ ├── voxelization.cu │ │ └── voxelization.cuh │ ├── tool │ │ ├── bevfusion-export │ │ │ ├── ReadME.md │ │ │ ├── data │ │ │ │ ├── camera.lidar.features.pth │ │ │ │ └── input.pth │ │ │ ├── export-scn.py │ │ │ ├── export-transfuser.py │ │ │ ├── exptool.py │ │ │ ├── funcs.py │ │ │ └── tensor.py │ │ ├── centerpoint-export │ │ │ ├── export-scn.py │ │ │ ├── exptool.py │ │ │ └── funcs.py │ │ ├── code.format.sh │ │ ├── compare.py │ │ ├── draw.perf.py │ │ ├── export-helper.py │ │ ├── pytest.py │ │ ├── requirements.txt │ │ └── tensor.py │ └── workspace │ │ ├── bevfusion │ │ ├── bevfusion.scn.xyz.onnx │ │ ├── bevfusion.scn.zyx.onnx │ │ ├── infer.xyz.coors │ │ ├── infer.xyz.dense │ │ ├── infer.xyz.voxels │ │ ├── infer.zyx.coors │ │ ├── infer.zyx.dense │ │ └── infer.zyx.voxels │ │ ├── centerpoint │ │ ├── centerpoint.scn.PTQ.onnx │ │ ├── centerpoint.scn.onnx │ │ ├── in_features.torch.fp16.tensor │ │ ├── in_indices_xyz.torch.int32.tensor │ │ ├── in_indices_zyx.torch.int32.tensor │ │ └── out_dense.torch.fp16.tensor │ │ ├── ff9eff4389a740848f9a56ad749a4ae8.bin │ │ ├── perf-float16-bevfusion-xyz.log │ │ ├── perf-float16-bevfusion-zyx.log │ │ ├── perf-float16-centerpoint-zyx.log │ │ ├── perf-int8.log │ │ └── perf.png ├── cuOSD │ ├── .gitignore │ ├── Makefile │ ├── README.md │ ├── data │ │ ├── assets │ │ │ ├── mask.nv12 │ │ │ └── sample.nv12 │ │ ├── image │ │ │ ├── nv12_3840x2160.yuv │ │ │ └── output.png │ │ ├── my.nvfont │ │ ├── simfang.ttf │ │ ├── simhei.ttf │ │ ├── std-random-boxes-1920x1080.txt │ │ └── std-random-boxes.txt │ ├── imgs │ │ ├── blur-faces.jpg │ │ ├── cuosd.png │ │ ├── faces.jpg │ │ └── input.png │ ├── src │ │ ├── cuosd.cpp │ │ ├── cuosd.h │ │ ├── cuosd_kernel.cu │ │ ├── cuosd_kernel.h │ │ ├── memory.hpp │ │ └── textbackend │ │ │ ├── backend.cpp │ │ │ ├── backend.hpp │ │ │ ├── pango-cairo.cpp │ │ │ ├── pango-cairo.hpp │ │ │ ├── stb.cpp │ │ │ ├── stb.hpp │ │ │ └── stb_truetype.h │ └── test │ │ ├── cuosd │ │ └── __init__.py │ │ ├── gpu_image.cu │ │ ├── gpu_image.h │ │ ├── main.cpp │ │ ├── make-random-boxes.py │ │ ├── perf-std.sh │ │ ├── perf.sh │ │ ├── pycuosd.cpp │ │ ├── pytest.py │ │ └── stb_image_write.h └── stb │ ├── .github │ ├── CONTRIBUTING.md │ ├── ISSUE_TEMPLATE │ │ ├── bug_report.md │ │ ├── config.yml │ │ └── feature_request.md │ ├── PULL_REQUEST_TEMPLATE.md │ └── workflows │ │ └── ci-fuzz.yml │ ├── .travis.yml │ ├── LICENSE │ ├── README.md │ ├── data │ ├── atari_8bit_font_revised.png │ ├── easy_font_raw.png │ ├── herringbone │ │ ├── license.txt │ │ ├── template_caves_limit_connectivity.png │ │ ├── template_caves_tiny_corridors.png │ │ ├── template_corner_caves.png │ │ ├── template_horizontal_corridors_v1.png │ │ ├── template_horizontal_corridors_v2.png │ │ ├── template_horizontal_corridors_v3.png │ │ ├── template_limit_connectivity_fat.png │ │ ├── template_limited_connectivity.png │ │ ├── template_maze_2_wide.png │ │ ├── template_maze_plus_2_wide.png │ │ ├── template_open_areas.png │ │ ├── template_ref2_corner_caves.png │ │ ├── template_rooms_and_corridors.png │ │ ├── template_rooms_and_corridors_2_wide_diagonal_bias.png │ │ ├── template_rooms_limit_connectivity.png │ │ ├── template_round_rooms_diagonal_corridors.png │ │ ├── template_sean_dungeon.png │ │ ├── template_simple_caves_2_wide.png │ │ └── template_square_rooms_with_random_rects.png │ ├── map_01.png │ ├── map_02.png │ └── map_03.png │ ├── deprecated │ ├── rrsprintf.h │ ├── stb.h │ ├── stb_image.c │ ├── stretch_test.c │ ├── stretchy_buffer.h │ └── stretchy_buffer.txt │ ├── docs │ ├── other_libs.md │ ├── stb_howto.txt │ ├── stb_voxel_render_interview.md │ └── why_public_domain.md │ ├── stb_c_lexer.h │ ├── stb_connected_components.h │ ├── stb_divide.h │ ├── stb_ds.h │ ├── stb_dxt.h │ ├── stb_easy_font.h │ ├── stb_herringbone_wang_tile.h │ ├── stb_hexwave.h │ ├── stb_image.h │ ├── stb_image_resize.h │ ├── stb_image_write.h │ ├── stb_include.h │ ├── stb_leakcheck.h │ ├── stb_perlin.h │ ├── stb_rect_pack.h │ ├── stb_sprintf.h │ ├── stb_textedit.h │ ├── stb_tilemap_editor.h │ ├── stb_truetype.h │ ├── stb_vorbis.c │ ├── stb_voxel_render.h │ ├── tests │ ├── Makefile │ ├── c_lexer_test.c │ ├── c_lexer_test.dsp │ ├── caveview │ │ ├── README.md │ │ ├── cave_main.c │ │ ├── cave_mesher.c │ │ ├── cave_parse.c │ │ ├── cave_parse.h │ │ ├── cave_render.c │ │ ├── caveview.dsp │ │ ├── caveview.dsw │ │ ├── caveview.h │ │ ├── glext.h │ │ ├── glext_list.h │ │ ├── main.c │ │ ├── stb_gl.h │ │ ├── stb_glprog.h │ │ └── win32 │ │ │ └── SDL_windows_main.c │ ├── fuzz_main.c │ ├── grid_reachability.c │ ├── herringbone.dsp │ ├── herringbone_generator.c │ ├── herringbone_map.c │ ├── herringbone_map.dsp │ ├── image_test.c │ ├── image_test.dsp │ ├── image_write_test.c │ ├── ossfuzz.sh │ ├── oversample │ │ ├── README.md │ │ ├── main.c │ │ ├── oversample.dsp │ │ ├── oversample.dsw │ │ ├── oversample.exe │ │ └── stb_wingraph.h │ ├── pbm │ │ ├── basi0g16.pgm │ │ ├── basi2c16.ppm │ │ ├── cdfn2c08.ppm │ │ ├── cdun2c08.ppm │ │ ├── comment.pgm │ │ └── ctfn0g04.pgm │ ├── pg_test │ │ └── pg_test.c │ ├── pngsuite │ │ ├── 16bit │ │ │ ├── basi0g16.png │ │ │ ├── basi2c16.png │ │ │ ├── basi4a16.png │ │ │ ├── basi6a16.png │ │ │ ├── basn0g16.png │ │ │ ├── basn2c16.png │ │ │ ├── basn4a16.png │ │ │ ├── basn6a16.png │ │ │ ├── bgai4a16.png │ │ │ ├── bgan6a16.png │ │ │ ├── bggn4a16.png │ │ │ ├── bgyn6a16.png │ │ │ ├── oi1n0g16.png │ │ │ ├── oi1n2c16.png │ │ │ ├── oi2n0g16.png │ │ │ ├── oi2n2c16.png │ │ │ ├── oi4n0g16.png │ │ │ ├── oi4n2c16.png │ │ │ ├── oi9n0g16.png │ │ │ ├── oi9n2c16.png │ │ │ ├── tbbn2c16.png │ │ │ ├── tbgn2c16.png │ │ │ └── tbwn0g16.png │ │ ├── PngSuite.LICENSE │ │ ├── corrupt │ │ │ ├── xc1n0g08.png │ │ │ ├── xc9n2c08.png │ │ │ ├── xcrn0g04.png │ │ │ ├── xcsn0g01.png │ │ │ ├── xd0n2c08.png │ │ │ ├── xd3n2c08.png │ │ │ ├── xd9n2c08.png │ │ │ ├── xdtn0g01.png │ │ │ ├── xhdn0g08.png │ │ │ ├── xlfn0g04.png │ │ │ ├── xs1n0g01.png │ │ │ ├── xs2n0g01.png │ │ │ ├── xs4n0g01.png │ │ │ └── xs7n0g01.png │ │ ├── iphone │ │ │ ├── iphone_basi0g01.png │ │ │ ├── iphone_basi0g02.png │ │ │ ├── iphone_basi3p02.png │ │ │ ├── iphone_bgwn6a08.png │ │ │ ├── iphone_bgyn6a16.png │ │ │ ├── iphone_tbyn3p08.png │ │ │ └── iphone_z06n2c08.png │ │ ├── primary │ │ │ ├── basi0g01.png │ │ │ ├── basi0g02.png │ │ │ ├── basi0g04.png │ │ │ ├── basi0g08.png │ │ │ ├── basi2c08.png │ │ │ ├── basi3p01.png │ │ │ ├── basi3p02.png │ │ │ ├── basi3p04.png │ │ │ ├── basi3p08.png │ │ │ ├── basi4a08.png │ │ │ ├── basi6a08.png │ │ │ ├── basn0g01.png │ │ │ ├── basn0g02.png │ │ │ ├── basn0g04.png │ │ │ ├── basn0g08.png │ │ │ ├── basn2c08.png │ │ │ ├── basn3p01.png │ │ │ ├── basn3p02.png │ │ │ ├── basn3p04.png │ │ │ ├── basn3p08.png │ │ │ ├── basn4a08.png │ │ │ ├── basn6a08.png │ │ │ ├── bgai4a08.png │ │ │ ├── bgan6a08.png │ │ │ ├── bgbn4a08.png │ │ │ ├── bgwn6a08.png │ │ │ ├── s01i3p01.png │ │ │ ├── s01n3p01.png │ │ │ ├── s02i3p01.png │ │ │ ├── s02n3p01.png │ │ │ ├── s03i3p01.png │ │ │ ├── s03n3p01.png │ │ │ ├── s04i3p01.png │ │ │ ├── s04n3p01.png │ │ │ ├── s05i3p02.png │ │ │ ├── s05n3p02.png │ │ │ ├── s06i3p02.png │ │ │ ├── s06n3p02.png │ │ │ ├── s07i3p02.png │ │ │ ├── s07n3p02.png │ │ │ ├── s08i3p02.png │ │ │ ├── s08n3p02.png │ │ │ ├── s09i3p02.png │ │ │ ├── s09n3p02.png │ │ │ ├── s32i3p04.png │ │ │ ├── s32n3p04.png │ │ │ ├── s33i3p04.png │ │ │ ├── s33n3p04.png │ │ │ ├── s34i3p04.png │ │ │ ├── s34n3p04.png │ │ │ ├── s35i3p04.png │ │ │ ├── s35n3p04.png │ │ │ ├── s36i3p04.png │ │ │ ├── s36n3p04.png │ │ │ ├── s37i3p04.png │ │ │ ├── s37n3p04.png │ │ │ ├── s38i3p04.png │ │ │ ├── s38n3p04.png │ │ │ ├── s39i3p04.png │ │ │ ├── s39n3p04.png │ │ │ ├── s40i3p04.png │ │ │ ├── s40n3p04.png │ │ │ ├── tbbn0g04.png │ │ │ ├── tbbn3p08.png │ │ │ ├── tbgn3p08.png │ │ │ ├── tbrn2c08.png │ │ │ ├── tbwn3p08.png │ │ │ ├── tbyn3p08.png │ │ │ ├── tm3n3p02.png │ │ │ ├── tp0n0g08.png │ │ │ ├── tp0n2c08.png │ │ │ ├── tp0n3p08.png │ │ │ ├── tp1n3p08.png │ │ │ ├── z00n2c08.png │ │ │ ├── z03n2c08.png │ │ │ ├── z06n2c08.png │ │ │ └── z09n2c08.png │ │ ├── primary_check │ │ │ ├── basi0g01.png │ │ │ ├── basi0g02.png │ │ │ ├── basi0g04.png │ │ │ ├── basi0g08.png │ │ │ ├── basi2c08.png │ │ │ ├── basi3p01.png │ │ │ ├── basi3p02.png │ │ │ ├── basi3p04.png │ │ │ ├── basi3p08.png │ │ │ ├── basi4a08.png │ │ │ ├── basi6a08.png │ │ │ ├── basn0g01.png │ │ │ ├── basn0g02.png │ │ │ ├── basn0g04.png │ │ │ ├── basn0g08.png │ │ │ ├── basn2c08.png │ │ │ ├── basn3p01.png │ │ │ ├── basn3p02.png │ │ │ ├── basn3p04.png │ │ │ ├── basn3p08.png │ │ │ ├── basn4a08.png │ │ │ ├── basn6a08.png │ │ │ ├── bgai4a08.png │ │ │ ├── bgan6a08.png │ │ │ ├── bgbn4a08.png │ │ │ ├── bgwn6a08.png │ │ │ ├── s01i3p01.png │ │ │ ├── s01n3p01.png │ │ │ ├── s02i3p01.png │ │ │ ├── s02n3p01.png │ │ │ ├── s03i3p01.png │ │ │ ├── s03n3p01.png │ │ │ ├── s04i3p01.png │ │ │ ├── s04n3p01.png │ │ │ ├── s05i3p02.png │ │ │ ├── s05n3p02.png │ │ │ ├── s06i3p02.png │ │ │ ├── s06n3p02.png │ │ │ ├── s07i3p02.png │ │ │ ├── s07n3p02.png │ │ │ ├── s08i3p02.png │ │ │ ├── s08n3p02.png │ │ │ ├── s09i3p02.png │ │ │ ├── s09n3p02.png │ │ │ ├── s32i3p04.png │ │ │ ├── s32n3p04.png │ │ │ ├── s33i3p04.png │ │ │ ├── s33n3p04.png │ │ │ ├── s34i3p04.png │ │ │ ├── s34n3p04.png │ │ │ ├── s35i3p04.png │ │ │ ├── s35n3p04.png │ │ │ ├── s36i3p04.png │ │ │ ├── s36n3p04.png │ │ │ ├── s37i3p04.png │ │ │ ├── s37n3p04.png │ │ │ ├── s38i3p04.png │ │ │ ├── s38n3p04.png │ │ │ ├── s39i3p04.png │ │ │ ├── s39n3p04.png │ │ │ ├── s40i3p04.png │ │ │ ├── s40n3p04.png │ │ │ ├── tbbn0g04.png │ │ │ ├── tbbn3p08.png │ │ │ ├── tbgn3p08.png │ │ │ ├── tbrn2c08.png │ │ │ ├── tbwn3p08.png │ │ │ ├── tbyn3p08.png │ │ │ ├── tm3n3p02.png │ │ │ ├── tp0n0g08.png │ │ │ ├── tp0n2c08.png │ │ │ ├── tp0n3p08.png │ │ │ ├── tp1n3p08.png │ │ │ ├── z00n2c08.png │ │ │ ├── z03n2c08.png │ │ │ ├── z06n2c08.png │ │ │ └── z09n2c08.png │ │ └── unused │ │ │ ├── ccwn2c08.png │ │ │ ├── ccwn3p08.png │ │ │ ├── cdfn2c08.png │ │ │ ├── cdhn2c08.png │ │ │ ├── cdsn2c08.png │ │ │ ├── cdun2c08.png │ │ │ ├── ch1n3p04.png │ │ │ ├── ch2n3p08.png │ │ │ ├── cm0n0g04.png │ │ │ ├── cm7n0g04.png │ │ │ ├── cm9n0g04.png │ │ │ ├── cs3n2c16.png │ │ │ ├── cs3n3p08.png │ │ │ ├── cs5n2c08.png │ │ │ ├── cs5n3p08.png │ │ │ ├── cs8n2c08.png │ │ │ ├── cs8n3p08.png │ │ │ ├── ct0n0g04.png │ │ │ ├── ct1n0g04.png │ │ │ ├── cten0g04.png │ │ │ ├── ctfn0g04.png │ │ │ ├── ctgn0g04.png │ │ │ ├── cthn0g04.png │ │ │ ├── ctjn0g04.png │ │ │ ├── ctzn0g04.png │ │ │ ├── f00n0g08.png │ │ │ ├── f00n2c08.png │ │ │ ├── f01n0g08.png │ │ │ ├── f01n2c08.png │ │ │ ├── f02n0g08.png │ │ │ ├── f02n2c08.png │ │ │ ├── f03n0g08.png │ │ │ ├── f03n2c08.png │ │ │ ├── f04n0g08.png │ │ │ ├── f04n2c08.png │ │ │ ├── f99n0g04.png │ │ │ ├── g03n0g16.png │ │ │ ├── g03n2c08.png │ │ │ ├── g03n3p04.png │ │ │ ├── g04n0g16.png │ │ │ ├── g04n2c08.png │ │ │ ├── g04n3p04.png │ │ │ ├── g05n0g16.png │ │ │ ├── g05n2c08.png │ │ │ ├── g05n3p04.png │ │ │ ├── g07n0g16.png │ │ │ ├── g07n2c08.png │ │ │ ├── g07n3p04.png │ │ │ ├── g10n0g16.png │ │ │ ├── g10n2c08.png │ │ │ ├── g10n3p04.png │ │ │ ├── g25n0g16.png │ │ │ ├── g25n2c08.png │ │ │ ├── g25n3p04.png │ │ │ ├── pp0n2c16.png │ │ │ ├── pp0n6a08.png │ │ │ ├── ps1n0g08.png │ │ │ ├── ps1n2c16.png │ │ │ ├── ps2n0g08.png │ │ │ └── ps2n2c16.png │ ├── prerelease │ │ └── stb_lib.h │ ├── resample_test.cpp │ ├── resample_test_c.c │ ├── resize.dsp │ ├── sdf │ │ ├── sdf_test.c │ │ ├── sdf_test_arial_16.png │ │ ├── sdf_test_times_16.png │ │ └── sdf_test_times_50.png │ ├── stb.c │ ├── stb.dsp │ ├── stb.dsw │ ├── stb_c_lexer_fuzzer.cpp │ ├── stb_cpp.cpp │ ├── stb_cpp.dsp │ ├── stb_png.dict │ ├── stb_static.c │ ├── stbi_read_fuzzer.c │ ├── stblib.dsp │ ├── stblib_test.c │ ├── stblib_test_companion.c │ ├── stretch_test.dsp │ ├── test.sbm │ ├── test_c_compilation.c │ ├── test_c_lexer.c │ ├── test_cpp_compilation.cpp │ ├── test_ds.c │ ├── test_ds_cpp.cpp │ ├── test_dxt.c │ ├── test_easyfont.c │ ├── test_image.c │ ├── test_image_write.c │ ├── test_perlin.c │ ├── test_siphash.c │ ├── test_sprintf.c │ ├── test_truetype.c │ ├── test_vorbis.c │ ├── test_voxel.c │ ├── textedit_sample.c │ ├── tilemap_editor_integration_example.c │ ├── truetype_test_win32.c │ └── vorbseek │ │ ├── vorbseek.c │ │ └── vorbseek.dsp │ └── tools │ ├── README.footer.md │ ├── README.header.md │ ├── README.list │ ├── build_matrix.c │ ├── easy_font_maker.c │ ├── make_readme.c │ ├── make_readme.dsp │ ├── mr.bat │ ├── trailing_whitespace.c │ ├── unicode.c │ └── unicode │ └── unicode.dsp └── tool ├── build_trt_engine.sh ├── build_trt_engine_src.sh ├── cudasm.sh ├── draw.py ├── environment.sh ├── requirements.txt └── run.sh /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linClubs/FastBEV-ROS-TensorRT/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linClubs/FastBEV-ROS-TensorRT/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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