├── .gitignore ├── README.md ├── configs ├── _base_ │ ├── datasets │ │ ├── cityscapes_detection.py │ │ ├── cityscapes_instance.py │ │ ├── coco_detection.py │ │ ├── coco_instance.py │ │ ├── coco_instance_semantic.py │ │ ├── deepfashion.py │ │ ├── lvis_v0.5_instance.py │ │ ├── lvis_v1_instance.py │ │ ├── voc0712.py │ │ └── wider_face.py │ ├── default_runtime.py │ ├── models │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ ├── cascade_rcnn_r50_fpn.py │ │ ├── fast_rcnn_r50_fpn.py │ │ ├── faster_rcnn_r50_caffe_c4.py │ │ ├── faster_rcnn_r50_caffe_dc5.py │ │ ├── faster_rcnn_r50_fpn.py │ │ ├── mask_rcnn_r50_caffe_c4.py │ │ ├── mask_rcnn_r50_fpn.py │ │ ├── retinanet_r50_fpn.py │ │ ├── rpn_r50_caffe_c4.py │ │ ├── rpn_r50_fpn.py │ │ └── ssd300.py │ └── schedules │ │ ├── schedule_1x.py │ │ ├── schedule_20e.py │ │ └── schedule_2x.py └── graspnet │ └── faster_r2cnn_r50_1016_rgb_ddd_depth_mh_attention_k.py ├── docs └── get_started.md ├── graspnet ├── __init__.py ├── my_grasp.py └── my_graspnet_eval.py ├── mmdet ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ ├── anchor_generator.py │ │ ├── builder.py │ │ ├── oriented_anchor_generator.py │ │ ├── point_generator.py │ │ └── utils.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── approx_max_iou_assigner.py │ │ │ ├── assign_result.py │ │ │ ├── atss_assigner.py │ │ │ ├── base_assigner.py │ │ │ ├── center_region_assigner.py │ │ │ ├── grid_assigner.py │ │ │ ├── hungarian_assigner.py │ │ │ ├── max_iou_assigner.py │ │ │ ├── max_iou_assigner_graspnet.py │ │ │ ├── max_iou_assigner_rbbox.py │ │ │ ├── max_score_assigner_graspnet.py │ │ │ ├── max_score_assigner_rbbox_graspnet.py │ │ │ ├── point_assigner.py │ │ │ └── region_assigner.py │ │ ├── bbox_overlaps_cython.pyx │ │ ├── builder.py │ │ ├── coder │ │ │ ├── __init__.py │ │ │ ├── base_bbox_coder.py │ │ │ ├── bucketing_bbox_coder.py │ │ │ ├── delta_xywh_bbox_coder.py │ │ │ ├── delta_xywhsincos_bbox_coder.py │ │ │ ├── delta_xywhsincos_grasp_coder.py │ │ │ ├── delta_xywhtheta_bbox_coder.py │ │ │ ├── delta_xywhtheta_grasp_coder.py │ │ │ ├── delta_xyzwhsincos_grasp_coder.py │ │ │ ├── legacy_delta_xywh_bbox_coder.py │ │ │ ├── pseudo_bbox_coder.py │ │ │ ├── tblr_bbox_coder.py │ │ │ └── yolo_bbox_coder.py │ │ ├── demodata.py │ │ ├── grasp_transforms.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── iou2d_calculator.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── match_cost.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── base_rotation_sampler.py │ │ │ ├── base_sampler.py │ │ │ ├── combined_sampler.py │ │ │ ├── instance_balanced_pos_sampler.py │ │ │ ├── iou_balanced_neg_sampler.py │ │ │ ├── ohem_sampler.py │ │ │ ├── pseudo_sampler.py │ │ │ ├── random_depth_sampler.py │ │ │ ├── random_sampler.py │ │ │ ├── random_sampler_rbbox.py │ │ │ ├── sampling_result.py │ │ │ └── score_hlr_sampler.py │ │ └── transforms.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── bbox_overlaps.py │ │ ├── class_names.py │ │ ├── eval_hooks.py │ │ ├── mean_ap.py │ │ └── recall.py │ ├── export │ │ ├── __init__.py │ │ └── pytorch2onnx.py │ ├── mask │ │ ├── __init__.py │ │ ├── mask_target.py │ │ ├── structures.py │ │ └── utils.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── bbox_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── dist_utils.py │ │ └── misc.py │ └── visualization │ │ ├── __init__.py │ │ └── image.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom.py │ ├── dataset_wrappers.py │ ├── graspnet.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── auto_augment.py │ │ ├── compose.py │ │ ├── formating.py │ │ ├── formating_graspnet.py │ │ ├── instaboost.py │ │ ├── loading.py │ │ ├── loading_graspnet.py │ │ ├── test_time_aug.py │ │ ├── transforms.py │ │ ├── transforms_grasp.py │ │ └── transforms_graspnet.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ └── group_sampler.py │ ├── utils.py │ └── xml_style.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── detectors_resnet.py │ │ ├── resnet.py │ │ └── resnet_fusion.py │ ├── builder.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head.py │ │ ├── base_dense_head.py │ │ ├── dense_test_mixins.py │ │ ├── rpn_head_graspnet.py │ │ └── rpn_test_mixin.py │ ├── detectors │ │ ├── __init__.py │ │ └── faster_rcnn_obb_rgb_ddd_depth_attention.py │ ├── losses │ │ ├── __init__.py │ │ ├── accuracy.py │ │ ├── ae_loss.py │ │ ├── balanced_l1_loss.py │ │ ├── cross_entropy_loss.py │ │ ├── focal_loss.py │ │ ├── gaussian_focal_loss.py │ │ ├── gfocal_loss.py │ │ ├── ghm_loss.py │ │ ├── iou_loss.py │ │ ├── mse_loss.py │ │ ├── pisa_loss.py │ │ ├── smooth_l1_loss.py │ │ ├── utils.py │ │ └── varifocal_loss.py │ ├── necks │ │ ├── __init__.py │ │ ├── bfp.py │ │ ├── channel_mapper.py │ │ ├── fpg.py │ │ ├── fpn.py │ │ ├── fpn_carafe.py │ │ ├── hrfpn.py │ │ ├── nas_fpn.py │ │ ├── nasfcos_fpn.py │ │ ├── pafpn.py │ │ ├── rfp.py │ │ └── yolo_neck.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_roi_head_obb.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ └── bbox_head_graspnet_depth.py │ │ ├── mask_heads │ │ │ └── __init__.py │ │ ├── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── base_roi_extractor.py │ │ │ ├── generic_roi_extractor.py │ │ │ └── single_level_roi_extractor.py │ │ ├── shared_heads │ │ │ ├── __init__.py │ │ │ └── res_layer.py │ │ ├── standard_roi_head_obb.py │ │ ├── standard_roi_head_obb_rgbd.py │ │ └── test_mixins.py │ └── utils │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── collision_detection.py │ │ ├── da_layer.py │ │ ├── decoder.py │ │ ├── fusion_layer.py │ │ ├── gaussian_target.py │ │ ├── gradient_reverse_layer.py │ │ ├── op2l │ │ ├── __init__.py │ │ ├── object_pair_layer.py │ │ ├── object_pair_pool_layer.py │ │ └── rois_pair_expand_layer.py │ │ ├── positional_encoding.py │ │ ├── res_layer.py │ │ ├── rotate_prediction.py │ │ └── transformer.py ├── ops │ ├── __init__.py │ ├── poly_iou │ │ ├── polyiou.cpp │ │ ├── polyiou.h │ │ ├── polyiou.i │ │ ├── polyiou.py │ │ └── setup.py │ └── poly_nms │ │ ├── __init__.py │ │ ├── poly_nms_wrapper.py │ │ ├── setup.py │ │ └── src │ │ ├── poly_nms_cuda.cpp │ │ ├── poly_nms_kernel.cu │ │ └── poly_soft_nms_cpu.pyx ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── contextmanagers.py │ ├── logger.py │ ├── profiling.py │ ├── util_mixins.py │ └── util_random.py └── version.py ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── setup.py ├── tests ├── test_data │ ├── test_datasets │ │ ├── test_common.py │ │ ├── test_custom_dataset.py │ │ ├── test_dataset_wrapper.py │ │ └── test_xml_dataset.py │ ├── test_pipelines │ │ ├── test_formatting.py │ │ ├── test_loading.py │ │ ├── test_sampler.py │ │ └── test_transform │ │ │ ├── test_img_augment.py │ │ │ ├── test_models_aug_test.py │ │ │ ├── test_rotate.py │ │ │ ├── test_shear.py │ │ │ ├── test_transform.py │ │ │ └── test_translate.py │ └── test_utils.py ├── test_metrics │ ├── test_box_overlap.py │ └── test_losses.py ├── test_models │ ├── test_backbones │ │ ├── __init__.py │ │ ├── test_hourglass.py │ │ ├── test_regnet.py │ │ ├── test_renext.py │ │ ├── test_res2net.py │ │ ├── test_resnest.py │ │ ├── test_resnet.py │ │ ├── test_trident_resnet.py │ │ └── utils.py │ ├── test_dense_heads │ │ ├── test_anchor_head.py │ │ ├── test_corner_head.py │ │ ├── test_fcos_head.py │ │ ├── test_fsaf_head.py │ │ ├── test_ga_anchor_head.py │ │ ├── test_paa_head.py │ │ ├── test_pisa_head.py │ │ ├── test_sabl_retina_head.py │ │ ├── test_transformer_head.py │ │ ├── test_vfnet_head.py │ │ └── test_yolact_head.py │ ├── test_forward.py │ ├── test_necks.py │ ├── test_roi_heads │ │ ├── __init__.py │ │ ├── test_bbox_head.py │ │ ├── test_mask_head.py │ │ ├── test_roi_extractor.py │ │ ├── test_sabl_bbox_head.py │ │ └── utils.py │ └── test_utils │ │ ├── test_position_encoding.py │ │ └── test_transformer.py ├── test_runtime │ ├── async_benchmark.py │ ├── test_async.py │ ├── test_config.py │ ├── test_eval_hook.py │ └── test_fp16.py └── test_utils │ ├── test_anchor.py │ ├── test_assigner.py │ ├── test_coder.py │ ├── test_masks.py │ ├── test_misc.py │ ├── test_version.py │ └── test_visualization.py └── tools ├── analysis_tools ├── analyze_logs.py ├── analyze_results.py ├── benchmark.py ├── coco_error_analysis.py ├── eval_metric.py ├── get_flops.py ├── robustness_eval.py └── test_robustness.py ├── graspnet ├── calculate_image_nums.py ├── evaluate.py ├── evaluate_planer.py └── evaluation_single_view.py ├── misc ├── browse_dataset.py └── print_config.py ├── model_converters ├── detectron2pytorch.py ├── publish_model.py ├── regnet2mmdet.py └── upgrade_model_version.py ├── test_graspnet.py └── train.py /.gitignore: -------------------------------------------------------------------------------- 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