├── .gitignore ├── README.md ├── configs ├── default.yaml └── nuscenes │ ├── default.yaml │ └── seg │ ├── BroadBEV.yaml │ └── default.yaml ├── environment.yaml ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── hungarian_assigner.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 │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── nms_free_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ └── transfusion_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.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 │ │ └── util.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ └── box3d_nms.py │ ├── utils │ │ ├── __init__.py │ │ ├── gaussian.py │ │ └── visualize.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── dataset_wrappers.py │ ├── nuscenes_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── const.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── loading_utils.py │ │ ├── rasterize.py │ │ ├── transforms_3d.py │ │ ├── utils.py │ │ └── vector_map.py │ └── utils.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── bev_fpd.py │ │ ├── second.py │ │ └── sparse_encoder_distribution.py │ ├── builder.py │ ├── fusers │ │ ├── CrossAttention.py │ │ ├── __init__.py │ │ └── scconv.py │ ├── fusion_models │ │ ├── BroadBEV.py │ │ ├── __init__.py │ │ └── base.py │ ├── heads │ │ ├── __init__.py │ │ ├── bbox │ │ │ ├── __init__.py │ │ │ ├── centerpoint.py │ │ │ └── transfusion.py │ │ └── segm │ │ │ ├── __init__.py │ │ │ ├── iou.py │ │ │ ├── loss.py │ │ │ └── vanilla.py │ ├── losses │ │ └── __init__.py │ ├── necks │ │ ├── __init__.py │ │ ├── bev_fpd.py │ │ ├── generalized_lss.py │ │ ├── lss.py │ │ └── second.py │ ├── utils │ │ ├── __init__.py │ │ ├── flops_counter.py │ │ └── transformer.py │ └── vtransforms │ │ ├── PointScattering.py │ │ ├── __init__.py │ │ ├── base.py │ │ └── lss.py ├── ops │ ├── __init__.py │ ├── ball_query │ │ ├── __init__.py │ │ ├── ball_query.py │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ └── ball_query_cuda.cu │ ├── bev_pool │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── bev_pool_v2 │ │ ├── __init__.py │ │ ├── bev_pool.py │ │ └── src │ │ │ ├── bev_pool.cpp │ │ │ └── bev_pool_cuda.cu │ ├── furthest_point_sample │ │ ├── __init__.py │ │ ├── furthest_point_sample.py │ │ ├── points_sampler.py │ │ ├── src │ │ │ ├── furthest_point_sample.cpp │ │ │ └── furthest_point_sample_cuda.cu │ │ └── utils.py │ ├── gather_points │ │ ├── __init__.py │ │ ├── gather_points.py │ │ └── src │ │ │ ├── gather_points.cpp │ │ │ └── gather_points_cuda.cu │ ├── group_points │ │ ├── __init__.py │ │ ├── group_points.py │ │ └── src │ │ │ ├── group_points.cpp │ │ │ └── group_points_cuda.cu │ ├── interpolate │ │ ├── __init__.py │ │ ├── src │ │ │ ├── interpolate.cpp │ │ │ ├── three_interpolate_cuda.cu │ │ │ └── three_nn_cuda.cu │ │ ├── three_interpolate.py │ │ └── three_nn.py │ ├── iou3d │ │ ├── __init__.py │ │ ├── iou3d_utils.py │ │ └── src │ │ │ ├── iou3d.cpp │ │ │ └── iou3d_kernel.cu │ ├── knn │ │ ├── __init__.py │ │ ├── knn.py │ │ └── src │ │ │ ├── knn.cpp │ │ │ └── knn_cuda.cu │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── assign_score.py │ │ ├── paconv.py │ │ ├── src │ │ │ ├── assign_score_withk.cpp │ │ │ └── assign_score_withk_cuda.cu │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── points_in_boxes.py │ │ ├── roiaware_pool3d.py │ │ └── src │ │ │ ├── points_in_boxes_cpu.cpp │ │ │ ├── points_in_boxes_cuda.cu │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ ├── sparse_block.py │ ├── spconv │ │ ├── __init__.py │ │ ├── conv.py │ │ ├── functional.py │ │ ├── include │ │ │ ├── paramsgrid.h │ │ │ ├── prettyprint.h │ │ │ ├── pybind11_utils.h │ │ │ ├── spconv │ │ │ │ ├── fused_spconv_ops.h │ │ │ │ ├── geometry.h │ │ │ │ ├── indice.cu.h │ │ │ │ ├── indice.h │ │ │ │ ├── maxpool.h │ │ │ │ ├── mp_helper.h │ │ │ │ ├── point2voxel.h │ │ │ │ ├── pool_ops.h │ │ │ │ ├── reordering.cu.h │ │ │ │ ├── reordering.h │ │ │ │ └── spconv_ops.h │ │ │ ├── tensorview │ │ │ │ ├── helper_kernel.cu.h │ │ │ │ ├── helper_launch.h │ │ │ │ └── tensorview.h │ │ │ ├── torch_utils.h │ │ │ └── utility │ │ │ │ └── timer.h │ │ ├── modules.py │ │ ├── ops.py │ │ ├── pool.py │ │ ├── src │ │ │ ├── all.cc │ │ │ ├── indice.cc │ │ │ ├── indice_cuda.cu │ │ │ ├── maxpool.cc │ │ │ ├── maxpool_cuda.cu │ │ │ ├── reordering.cc │ │ │ └── reordering_cuda.cu │ │ ├── structure.py │ │ └── test_utils.py │ └── 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 ├── runner │ ├── __init__.py │ └── epoch_based_runner.py └── utils │ ├── __init__.py │ ├── config.py │ ├── logger.py │ └── syncbn.py ├── scripts ├── eval.sh ├── train.sh └── viz.sh ├── 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