├── OpenPCDet ├── pcdet │ ├── __init__.py │ ├── config.py │ ├── datasets │ │ ├── __init__.py │ │ ├── augmentor │ │ │ ├── augmentor_utils.py │ │ │ ├── data_augmentor.py │ │ │ └── database_sampler.py │ │ ├── dataset.py │ │ ├── kitti │ │ │ ├── kitti_dataset.py │ │ │ └── kitti_object_eval_python │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── eval.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── kitti_common.py │ │ │ │ └── rotate_iou.py │ │ ├── nuscenes │ │ │ ├── nuscenes_dataset.py │ │ │ └── nuscenes_utils.py │ │ └── processor │ │ │ ├── data_processor.py │ │ │ └── point_feature_encoder.py │ ├── models │ │ ├── __init__.py │ │ ├── backbones_2d │ │ │ ├── __init__.py │ │ │ ├── base_bev_backbone.py │ │ │ └── map_to_bev │ │ │ │ ├── __init__.py │ │ │ │ ├── height_compression.py │ │ │ │ └── pointpillar_scatter.py │ │ ├── backbones_3d │ │ │ ├── __init__.py │ │ │ ├── pfe │ │ │ │ ├── __init__.py │ │ │ │ └── voxel_set_abstraction.py │ │ │ ├── pointnet2_backbone.py │ │ │ ├── spconv_backbone.py │ │ │ ├── spconv_unet.py │ │ │ └── vfe │ │ │ │ ├── __init__.py │ │ │ │ ├── mean_vfe.py │ │ │ │ ├── pillar_vfe.py │ │ │ │ └── vfe_template.py │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ ├── anchor_head_multi.py │ │ │ ├── anchor_head_single.py │ │ │ ├── anchor_head_template.py │ │ │ ├── point_head_box.py │ │ │ ├── point_head_simple.py │ │ │ ├── point_head_template.py │ │ │ ├── point_intra_part_head.py │ │ │ └── target_assigner │ │ │ │ ├── anchor_generator.py │ │ │ │ ├── atss_target_assigner.py │ │ │ │ └── axis_aligned_target_assigner.py │ │ ├── detectors │ │ │ ├── PartA2_net.py │ │ │ ├── __init__.py │ │ │ ├── detector3d_template.py │ │ │ ├── point_rcnn.py │ │ │ ├── pointpillar.py │ │ │ ├── pv_rcnn.py │ │ │ └── second_net.py │ │ ├── model_utils │ │ │ └── model_nms_utils.py │ │ └── roi_heads │ │ │ ├── __init__.py │ │ │ ├── partA2_head.py │ │ │ ├── pointrcnn_head.py │ │ │ ├── pvrcnn_head.py │ │ │ ├── roi_head_template.py │ │ │ └── target_assigner │ │ │ └── proposal_target_layer.py │ ├── ops │ │ ├── iou3d_nms │ │ │ ├── iou3d_nms_utils.py │ │ │ └── src │ │ │ │ ├── iou3d_cpu.cpp │ │ │ │ ├── iou3d_cpu.h │ │ │ │ ├── iou3d_nms.cpp │ │ │ │ ├── iou3d_nms.h │ │ │ │ ├── iou3d_nms_api.cpp │ │ │ │ └── iou3d_nms_kernel.cu │ │ ├── pointnet2 │ │ │ ├── pointnet2_batch │ │ │ │ ├── pointnet2_modules.py │ │ │ │ ├── pointnet2_utils.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 │ │ │ │ ├── pointnet2_modules.py │ │ │ │ ├── pointnet2_utils.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 │ │ ├── roiaware_pool3d │ │ │ ├── roiaware_pool3d_utils.py │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ └── roipoint_pool3d │ │ │ ├── roipoint_pool3d_utils.py │ │ │ └── src │ │ │ ├── roipoint_pool3d.cpp │ │ │ └── roipoint_pool3d_kernel.cu │ ├── utils │ │ ├── box_coder_utils.py │ │ ├── box_utils.py │ │ ├── calibration_kitti.py │ │ ├── common_utils.py │ │ ├── loss_utils.py │ │ └── object3d_kitti.py │ └── version.py ├── setup.py └── tools │ ├── cfgs │ ├── dataset_configs │ │ ├── kitti_dataset.yaml │ │ └── nuscenes_dataset.yaml │ ├── kitti_models │ │ ├── PartA2.yaml │ │ ├── PartA2_free.yaml │ │ ├── pointpillar.yaml │ │ ├── pointrcnn.yaml │ │ ├── pointrcnn_iou.yaml │ │ ├── pv_rcnn.yaml │ │ ├── second.yaml │ │ └── second_multihead.yaml │ └── nuscenes_models │ │ ├── cbgs_pp_multihead.yaml │ │ └── cbgs_second_multihead.yaml │ ├── demo.py │ ├── eval_utils │ └── eval_utils.py │ ├── scripts │ ├── dist_test.sh │ ├── dist_train.sh │ ├── slurm_test_mgpu.sh │ ├── slurm_test_single.sh │ └── slurm_train.sh │ ├── test.py │ ├── train.py │ ├── train_utils │ ├── optimization │ │ ├── __init__.py │ │ ├── fastai_optim.py │ │ └── learning_schedules_fastai.py │ └── train_utils.py │ └── visual_utils │ └── visualize_utils.py ├── README.md ├── models ├── ap_helper.py ├── backbone_module.py ├── diffusion_proposal_module.py ├── dump_helper.py ├── grid_conv_module.py ├── loss_helper.py ├── loss_helper_iou.py ├── loss_helper_labeled.py ├── loss_helper_unlabeled.py ├── votenet_iou_branch.py └── voting_module.py ├── pointnet2 ├── _ext_src │ ├── include │ │ ├── ball_query.h │ │ ├── cuda_utils.h │ │ ├── group_points.h │ │ ├── interpolate.h │ │ ├── sampling.h │ │ └── utils.h │ └── src │ │ ├── ball_query.cpp │ │ ├── ball_query.h │ │ ├── ball_query_gpu.cu │ │ ├── bindings.cpp │ │ ├── cuda_utils.h │ │ ├── group_points.cpp │ │ ├── group_points.h │ │ ├── group_points_gpu.cu │ │ ├── interpolate.cpp │ │ ├── interpolate.h │ │ ├── interpolate_gpu.cu │ │ ├── sampling.cpp │ │ ├── sampling.h │ │ ├── sampling_gpu.cu │ │ └── utils.h ├── pointnet2_modules.py ├── pointnet2_utils.py ├── pytorch_utils.py └── setup.py ├── pretrain.py ├── requirements.txt ├── run_eval.sh ├── run_eval_opt.sh ├── run_pretrain.sh ├── run_train.sh ├── scannet ├── README.md ├── batch_load_scannet_data.py ├── data_viz.py ├── download-scannet.py ├── load_scannet_data.py ├── meta_data │ ├── scannet_means.npz │ ├── scannet_train.txt │ ├── scannetv2-labels.combined.tsv │ ├── scannetv2_test.txt │ ├── scannetv2_train.txt │ ├── scannetv2_train_0.05.txt │ └── scannetv2_val.txt ├── model_util_scannet.py ├── scannet_detection_dataset.py ├── scannet_ssl_dataset.py ├── scannet_utils.py └── scans │ └── .gitignore ├── 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