├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.yaml │ └── installation.yaml └── workflows │ └── pre-commit.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── cython_setup.py ├── docs ├── FAQ.md └── figs │ ├── eval_benchmark.png │ ├── torchsparse.png │ └── train_benchmark.png ├── examples ├── README.md ├── backbones.py ├── converter.py ├── example.py ├── mmdetection3d │ ├── README.md │ ├── configs │ │ └── README.md │ ├── converted_models │ │ └── README.md │ ├── demo.ipynb │ ├── scripts │ │ └── run_evaluation │ │ │ └── SECOND.sh │ ├── setup.py │ └── ts_plugin │ │ ├── __init__.py │ │ └── models │ │ ├── __init__.py │ │ ├── backbones │ │ ├── __init__.py │ │ └── resnet.py │ │ ├── layers │ │ ├── __init__.py │ │ └── sparse_block.py │ │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── sparse_encoder.py │ │ ├── sparse_unet.py │ │ └── voxel_set_abstraction.py │ │ └── roi_heads │ │ └── bbox_heads │ │ ├── __init__.py │ │ └── parta2_bbox_head.py ├── openpcdet │ ├── README.md │ ├── cfgs_templates │ │ ├── kitti_models │ │ │ ├── PartA2_plugin.yaml │ │ │ ├── pv_rcnn_plugin.yaml │ │ │ ├── second_plugin.yaml │ │ │ └── voxel_rcnn_car_plugin.yaml │ │ └── nuscenes_models │ │ │ └── cbgs_voxel0075_voxelnext.yaml │ ├── converted_models │ │ └── README.md │ ├── converter_voxelnext.py │ ├── demo.ipynb │ ├── pcdet_plugin │ │ ├── __init__.py │ │ └── models │ │ │ ├── __init__.py │ │ │ ├── backbones_2d │ │ │ ├── __init__.py │ │ │ └── map_to_bev │ │ │ │ ├── __init__.py │ │ │ │ └── height_compression.py │ │ │ ├── backbones_3d │ │ │ ├── __init__.py │ │ │ ├── backbone3d.py │ │ │ ├── backbone_voxel_next.py │ │ │ ├── pfe.py │ │ │ └── unet.py │ │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ └── voxel_next_head.py │ │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ └── detector3d_template.py │ │ │ └── roi_heads │ │ │ ├── __init__.py │ │ │ └── partA2_head.py │ └── setup.py └── performance.py ├── install.py ├── requirements.txt ├── setup.cfg ├── setup.py ├── tests ├── python │ ├── __init__.py │ ├── test_single_layer_conv.py │ ├── test_to_dense.py │ └── test_utils.py └── test.py └── torchsparse ├── __init__.py ├── backbones ├── __init__.py ├── modules │ ├── __init__.py │ └── blocks.py ├── resnet.py └── unet.py ├── backend ├── convolution │ ├── convolution_backward_wgrad_implicit_gemm_cuda.cu │ ├── convolution_backward_wgrad_implicit_gemm_cuda.h │ ├── convolution_backward_wgrad_implicit_gemm_sorted_cuda.cu │ ├── convolution_backward_wgrad_implicit_gemm_sorted_cuda.h │ ├── convolution_forward_fetch_on_demand_cuda.cu │ ├── convolution_forward_fetch_on_demand_cuda.h │ ├── convolution_forward_implicit_gemm_cuda.cu │ ├── convolution_forward_implicit_gemm_cuda.h │ ├── convolution_forward_implicit_gemm_sorted_cuda.cu │ ├── convolution_forward_implicit_gemm_sorted_cuda.h │ ├── convolution_gather_scatter_cpu.cpp │ ├── convolution_gather_scatter_cpu.h │ ├── convolution_gather_scatter_cuda.cu │ └── convolution_gather_scatter_cuda.h ├── devoxelize │ ├── devoxelize_cpu.cpp │ ├── devoxelize_cpu.h │ ├── devoxelize_cuda.cu │ └── devoxelize_cuda.h ├── hash │ ├── hash_cpu.cpp │ ├── hash_cpu.h │ ├── hash_cuda.cu │ └── hash_cuda.h ├── hashmap │ ├── hashmap_cpu.cpp │ ├── hashmap_cpu.hpp │ └── hashmap_cuda.cuh ├── others │ ├── count_cpu.cpp │ ├── count_cpu.h │ ├── count_cuda.cu │ ├── count_cuda.h │ ├── downsample_cuda.cu │ ├── downsample_cuda.h │ ├── exclusive_scan_cuda.cu │ ├── exclusive_scan_cuda.h │ ├── query_cpu.cpp │ ├── query_cpu.h │ ├── query_cuda.cu │ ├── query_cuda.h │ ├── reduce_bitmask_cuda.cu │ ├── reduce_bitmask_cuda.h │ ├── reorder_map_cuda.cu │ ├── reorder_map_cuda.h │ ├── sparsemapping_cuda.cu │ └── sparsemapping_cuda.h ├── pybind_cpu.cpp ├── pybind_cuda.cu ├── utils │ ├── atomic.cuh │ └── memory.cuh └── voxelize │ ├── voxelize_cpu.cpp │ ├── voxelize_cpu.h │ ├── voxelize_cuda.cu │ └── voxelize_cuda.h ├── backends.py ├── nn ├── __init__.py ├── functional │ ├── __init__.py │ ├── activation.py │ ├── conv │ │ ├── __init__.py │ │ ├── conv.py │ │ ├── conv_config.py │ │ ├── conv_mode.py │ │ ├── func │ │ │ ├── __init__.py │ │ │ ├── fetch_on_demand.py │ │ │ ├── gather_scatter.py │ │ │ └── implicit_gemm.py │ │ ├── hash │ │ │ ├── __init__.py │ │ │ ├── hash.py │ │ │ └── query.py │ │ ├── kmap │ │ │ ├── __init__.py │ │ │ ├── build_kmap.py │ │ │ ├── downsample.py │ │ │ ├── func │ │ │ │ ├── __init__.py │ │ │ │ ├── hashmap.py │ │ │ │ └── hashmap_on_the_fly.py │ │ │ └── upsample.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── collections.py │ │ │ └── compat.py │ ├── count.py │ ├── crop.py │ ├── devoxelize.py │ ├── hash.py │ ├── pooling.py │ ├── query.py │ └── voxelize.py ├── modules │ ├── __init__.py │ ├── activation.py │ ├── bev.py │ ├── conv.py │ ├── crop.py │ ├── norm.py │ └── pooling.py └── utils │ ├── __init__.py │ ├── apply.py │ └── kernel.py ├── operators.py ├── tensor.py ├── utils ├── __init__.py ├── collate.py ├── quantize.py ├── tensor_cache.py ├── to_dense.py ├── tune.py └── utils.py └── version.py 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