├── README.md ├── asserts ├── demo_video_.gif └── vis_res.jpg ├── config ├── _base_ │ ├── datasets │ │ ├── coco_instance.py │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.py │ │ ├── kitti-mono3d.py │ │ ├── lyft-3d.py │ │ ├── nuim_instance.py │ │ ├── nus-3d.py │ │ ├── nus-mono3d.py │ │ ├── range100_lyft-3d.py │ │ ├── s3dis-3d-5class.py │ │ ├── s3dis_seg-3d-13class.py │ │ ├── scannet-3d-18class.py │ │ ├── scannet_seg-3d-20class.py │ │ ├── sunrgbd-3d-10class.py │ │ ├── waymoD5-3d-3class.py │ │ └── waymoD5-3d-car.py │ ├── default_runtime.py │ ├── models │ │ ├── 3dssd.py │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ ├── dgcnn.py │ │ ├── fcaf3d.py │ │ ├── fcos3d.py │ │ ├── groupfree3d.py │ │ ├── h3dnet.py │ │ ├── hv_pointpillars_fpn_lyft.py │ │ ├── hv_pointpillars_fpn_nus.py │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ ├── hv_second_secfpn_kitti.py │ │ ├── hv_second_secfpn_waymo.py │ │ ├── imvotenet_image.py │ │ ├── mask_rcnn_r50_fpn.py │ │ ├── paconv_cuda_ssg.py │ │ ├── paconv_ssg.py │ │ ├── parta2.py │ │ ├── pgd.py │ │ ├── point_rcnn.py │ │ ├── pointnet2_msg.py │ │ ├── pointnet2_ssg.py │ │ ├── smoke.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 └── stcocc │ ├── stcocc_r50_704x256_16f_occ3d_36e.py │ └── stcocc_r50_704x256_16f_openocc_12e.py ├── libs └── dvr │ ├── dvr.cpp │ └── dvr.cu ├── mmdet3d ├── .mim │ ├── configs │ │ ├── _base_ │ │ │ ├── datasets │ │ │ │ ├── coco_instance.py │ │ │ │ ├── kitti-3d-3class.py │ │ │ │ ├── kitti-3d-car.py │ │ │ │ ├── kitti-mono3d.py │ │ │ │ ├── lyft-3d.py │ │ │ │ ├── nuim_instance.py │ │ │ │ ├── nus-3d.py │ │ │ │ ├── nus-mono3d.py │ │ │ │ ├── range100_lyft-3d.py │ │ │ │ ├── s3dis-3d-5class.py │ │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ │ ├── scannet-3d-18class.py │ │ │ │ ├── scannet_seg-3d-20class.py │ │ │ │ ├── sunrgbd-3d-10class.py │ │ │ │ ├── waymoD5-3d-3class.py │ │ │ │ └── waymoD5-3d-car.py │ │ │ ├── default_runtime.py │ │ │ ├── models │ │ │ │ ├── 3dssd.py │ │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ │ ├── dgcnn.py │ │ │ │ ├── fcaf3d.py │ │ │ │ ├── fcos3d.py │ │ │ │ ├── groupfree3d.py │ │ │ │ ├── h3dnet.py │ │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ │ ├── imvotenet_image.py │ │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ │ ├── paconv_cuda_ssg.py │ │ │ │ ├── paconv_ssg.py │ │ │ │ ├── parta2.py │ │ │ │ ├── pgd.py │ │ │ │ ├── point_rcnn.py │ │ │ │ ├── pointnet2_msg.py │ │ │ │ ├── pointnet2_ssg.py │ │ │ │ ├── smoke.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 │ │ ├── bevdet_occ │ │ │ └── bevdet-occ-r50-4d-stereo-24e.py │ │ └── occ │ │ │ └── occ-r50-stereo4d-stage3-occ3d.py │ └── tools │ │ └── generate_ms_occ.py ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner_3d.py │ │ ├── box_np_ops.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 │ │ │ └── transfusion_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── builder.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_kitti_to_waymo.py │ ├── hook │ │ ├── __init__.py │ │ ├── ema.py │ │ ├── loss.py │ │ ├── sequentialcontrol.py │ │ ├── syncbncontrol.py │ │ └── utils.py │ ├── optimize │ │ ├── __init__.py │ │ └── layer_decay_optimizer_constructor.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── two_stage_runner.py │ ├── utils │ │ ├── __init__.py │ │ ├── array_converter.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── custom_3d_seg.py │ ├── custom_builder.py │ ├── nuscenes_dataset.py │ ├── nuscenes_dataset_occ.py │ ├── nuscenes_ego_pose_loader.py │ ├── occ_metrics.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── ray_metrics_occ3d.py │ ├── ray_metrics_openocc.py │ ├── samplers │ │ ├── __init__.py │ │ ├── d_sampler.py │ │ └── infinite_group_each_sample_in_batch_sampler.py │ └── utils.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ └── resnet.py │ ├── builder.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── bevdet.py │ │ ├── bevdet_occ.py │ │ ├── centerpoint.py │ │ └── mvx_two_stage.py │ ├── necks │ │ ├── __init__.py │ │ ├── fpn.py │ │ ├── lss_fpn.py │ │ └── view_transformer.py │ ├── stcocc │ │ ├── __init__.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ └── stcocc.py │ │ ├── heads │ │ │ ├── __init__.py │ │ │ ├── occ_flow_head.py │ │ │ └── occ_head.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ ├── focal_loss.py │ │ │ ├── lovasz_softmax.py │ │ │ └── semkitti.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── basic_block.py │ │ │ └── temporal_fusion.py │ │ └── view_transformation │ │ │ ├── __init__.py │ │ │ ├── backward_projection │ │ │ ├── __init__.py │ │ │ ├── bevformer_projection.py │ │ │ └── bevformer_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── base_transformer_layer.py │ │ │ │ ├── bevformer.py │ │ │ │ ├── bevformer_encoder.py │ │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ │ ├── positional_encoding.py │ │ │ │ ├── spatial_cross_attention.py │ │ │ │ └── temporal_self_attention.py │ │ │ └── forward_projection │ │ │ ├── __init__.py │ │ │ ├── bevdet_stereo_projection.py │ │ │ └── bevdet_utils │ │ │ ├── __init__.py │ │ │ └── lss_transformation.py │ └── utils │ │ ├── __init__.py │ │ └── grid_mask.py ├── ops │ ├── __init__.py │ ├── bev_pool_v2 │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ ├── 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