├── .dev_scripts ├── gather_models.py ├── gen_benchmark_script.py ├── linter.sh ├── test_benchmark.sh └── train_benchmark.sh ├── .github ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE │ ├── config.yml │ ├── error-report.md │ ├── feature_request.md │ ├── general_questions.md │ └── reimplementation_questions.md ├── pull_request_template.md └── workflows │ ├── build.yml │ └── deploy.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CITATION.cff ├── LICENSE ├── MANIFEST.in ├── README.md ├── configs ├── 3dssd │ ├── 3dssd_4x4_kitti-3d-car.py │ ├── README.md │ └── metafile.yml ├── _base_ │ ├── datasets │ │ ├── coco_instance.py │ │ ├── kitti-3d-3class.py │ │ ├── kitti-3d-car.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 │ │ ├── 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 │ │ ├── pointnet2_msg.py │ │ ├── pointnet2_ssg.py │ │ └── votenet.py │ └── schedules │ │ ├── cosine.py │ │ ├── cyclic_20e.py │ │ ├── cyclic_40e.py │ │ ├── mmdet_schedule_1x.py │ │ ├── schedule_2x.py │ │ ├── schedule_3x.py │ │ ├── seg_cosine_150e.py │ │ ├── seg_cosine_200e.py │ │ └── seg_cosine_50e.py ├── benchmark │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py ├── bevdepth │ ├── bevdepth-r50.py │ ├── bevdepth4d-r50-fp16.py │ └── bevdepth4d-r50.py ├── bevdet │ ├── bevdet-r50-fp16.py │ ├── bevdet-r50.py │ ├── bevdet-sttiny-accelerated.py │ └── bevdet-sttiny.py ├── bevdet4d │ ├── bevdet4d-r50-fp16.py │ ├── bevdet4d-r50.py │ └── bevdet4d-sttiny.py ├── centerpoint │ ├── README.md │ ├── centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ ├── centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ └── metafile.yml ├── crt-fusion │ ├── crtfusion-r50-fp16_phase1.py │ ├── crtfusion-r50-fp16_phase1_light_cbgs.py │ ├── crtfusion-r50-fp16_phase2.py │ └── crtfusion-r50-fp16_phase2_light_cbgs.py ├── dynamic_voxelization │ ├── README.md │ ├── dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ ├── dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py │ ├── dv_second_secfpn_6x8_80e_kitti-3d-car.py │ └── metafile.yml ├── fcos3d │ ├── README.md │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune.py │ └── metafile.yml ├── fp16 │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d.py │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py │ └── metafile.yml ├── free_anchor │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ └── metafile.yml ├── groupfree3d │ ├── README.md │ ├── groupfree3d_8x4_scannet-3d-18class-L12-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-L6-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O256.py │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O512.py │ └── metafile.yml ├── h3dnet │ ├── README.md │ ├── h3dnet_3x8_scannet-3d-18class.py │ └── metafile.yml ├── imvotenet │ ├── README.md │ ├── imvotenet_faster_rcnn_r50_fpn_2x4_sunrgbd-3d-10class.py │ ├── imvotenet_stage2_16x8_sunrgbd-3d-10class.py │ └── metafile.yml ├── imvoxelnet │ ├── README.md │ ├── imvoxelnet_4x8_kitti-3d-car.py │ └── metafile.yml ├── mvxnet │ ├── README.md │ ├── dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py │ └── metafile.yml ├── nuimages │ ├── README.md │ ├── cascade_mask_rcnn_r101_fpn_1x_nuim.py │ ├── cascade_mask_rcnn_r50_fpn_1x_nuim.py │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_1x_nuim.py │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim.py │ ├── cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ ├── htc_r50_fpn_1x_nuim.py │ ├── htc_r50_fpn_coco-20e_1x_nuim.py │ ├── htc_r50_fpn_coco-20e_20e_nuim.py │ ├── htc_without_semantic_r50_fpn_1x_nuim.py │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim.py │ ├── mask_rcnn_r101_fpn_1x_nuim.py │ ├── mask_rcnn_r50_caffe_fpn_1x_nuim.py │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ ├── mask_rcnn_r50_fpn_1x_nuim.py │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nuim.py │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ ├── mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ └── metafile.yml ├── paconv │ ├── README.md │ ├── metafile.yml │ ├── paconv_cuda_ssg_8x8_cosine_200e_s3dis_seg-3d-13class.py │ └── paconv_ssg_8x8_cosine_150e_s3dis_seg-3d-13class.py ├── parta2 │ ├── README.md │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py │ └── metafile.yml ├── pointnet2 │ ├── README.md │ ├── metafile.yml │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py ├── pointpillars │ ├── README.md │ ├── hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ ├── hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py │ └── metafile.yml ├── regnet │ ├── README.md │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ └── metafile.yml ├── second │ ├── README.md │ ├── hv_second_secfpn_6x8_80e_kitti-3d-3class.py │ ├── hv_second_secfpn_6x8_80e_kitti-3d-car.py │ ├── hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ └── metafile.yml ├── ssn │ ├── README.md │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py │ └── metafile.yml └── votenet │ ├── README.md │ ├── metafile.yml │ ├── votenet_16x8_sunrgbd-3d-10class.py │ ├── votenet_8x8_scannet-3d-18class.py │ └── votenet_iouloss_8x8_scannet-3d-18class.py ├── demo ├── mono_det_demo.py ├── multi_modality_demo.py ├── pc_seg_demo.py └── pcd_demo.py ├── docker └── Dockerfile ├── docs └── getting_started.md ├── docs_zh-CN ├── 1_exist_data_model.md ├── 2_new_data_model.md ├── Makefile ├── _static │ └── css │ │ └── readthedocs.css ├── api.rst ├── benchmarks.md ├── changelog.md ├── compatibility.md ├── conf.py ├── data_preparation.md ├── datasets │ ├── index.rst │ ├── kitti_det.md │ ├── lyft_det.md │ ├── nuscenes_det.md │ ├── s3dis_sem_seg.md │ ├── scannet_det.md │ ├── scannet_sem_seg.md │ ├── sunrgbd_det.md │ └── waymo_det.md ├── demo.md ├── faq.md ├── getting_started.md ├── index.rst ├── make.bat ├── model_zoo.md ├── stat.py ├── supported_tasks │ ├── index.rst │ ├── lidar_det3d.md │ ├── lidar_sem_seg3d.md │ └── vision_det3d.md ├── switch_language.md ├── tutorials │ ├── config.md │ ├── customize_dataset.md │ ├── customize_models.md │ ├── customize_runtime.md │ ├── data_pipeline.md │ └── index.rst └── useful_tools.md ├── figs └── CRT-Fusion_overall.png ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── mmdet_train.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.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 │ │ │ └── partial_bin_based_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 │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ └── prediction_kitti_to_waymo.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 │ ├── utils │ │ ├── __init__.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 │ ├── dataset_wrappers.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── kitti_mono_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── nuscenes_mono_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── s3dis_dataset.py │ ├── samplers │ │ ├── __init__.py │ │ └── infinite_group_each_sample_in_batch_sampler.py │ ├── scannet_dataset.py │ ├── semantickitti_dataset.py │ ├── sunrgbd_dataset.py │ ├── utils.py │ └── waymo_dataset.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── convnext.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── resnet.py │ │ ├── second.py │ │ └── swin.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── centerpoint_head.py │ │ ├── crtfusion_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── parta2_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── ssd_3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── bevdet.py │ │ ├── centerpoint.py │ │ ├── crtfusion.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── fusion_layers │ │ ├── __init__.py │ │ ├── coord_transform.py │ │ ├── point_fusion.py │ │ └── vote_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ └── paconv_regularization_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── necks │ │ ├── __init__.py │ │ ├── fpn.py │ │ ├── imvoxel_neck.py │ │ ├── lss_fpn.py │ │ ├── second_fpn.py │ │ ├── view_transformer.py │ │ └── view_transformer_crtfusion.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── h3d_bbox_head.py │ │ │ └── parta2_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ └── single_roiaware_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── base.py │ │ └── encoder_decoder.py │ ├── utils │ │ ├── __init__.py │ │ ├── ckpt_convert.py │ │ ├── clip_sigmoid.py │ │ ├── embed.py │ │ ├── mlp.py │ │ ├── point_gating.py │ │ └── radar_camera_gating.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.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 │ ├── 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 ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── ema.py │ ├── layer_decay_optimizer_constructor.py │ ├── logger.py │ ├── nuscenes_get_rt_matrix.py │ └── warmup_fp16_optimizer.py └── version.py ├── model-index.yml ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── resources ├── mmdet3d_outdoor_demo.gif ├── nuimages_demo.gif └── open3d_visual.gif ├── setup.cfg ├── setup.py ├── tests ├── test_data │ ├── test_datasets │ │ ├── test_dataset_wrappers.py │ │ ├── test_kitti_dataset.py │ │ ├── test_kitti_mono_dataset.py │ │ ├── test_lyft_dataset.py │ │ ├── test_nuscene_dataset.py │ │ ├── test_nuscenes_mono_dataset.py │ │ ├── test_s3dis_dataset.py │ │ ├── test_scannet_dataset.py │ │ ├── test_semantickitti_dataset.py │ │ ├── test_sunrgbd_dataset.py │ │ └── test_waymo_dataset.py │ └── test_pipelines │ │ ├── test_augmentations │ │ ├── test_data_augment_utils.py │ │ ├── test_test_augment_utils.py │ │ └── test_transforms_3d.py │ │ ├── test_indoor_pipeline.py │ │ ├── test_indoor_sample.py │ │ ├── test_loadings │ │ ├── test_load_images_from_multi_views.py │ │ ├── test_load_points_from_multi_sweeps.py │ │ └── test_loading.py │ │ └── test_outdoor_pipeline.py ├── test_metrics │ ├── test_indoor_eval.py │ ├── test_kitti_eval.py │ ├── test_losses.py │ └── test_seg_eval.py ├── test_models │ ├── test_backbones.py │ ├── test_common_modules │ │ ├── test_middle_encoders.py │ │ ├── test_paconv_modules.py │ │ ├── test_paconv_ops.py │ │ ├── test_pointnet_modules.py │ │ ├── test_pointnet_ops.py │ │ ├── test_roiaware_pool3d.py │ │ ├── test_sparse_unet.py │ │ └── test_vote_module.py │ ├── test_detectors.py │ ├── test_forward.py │ ├── test_fusion │ │ ├── test_fusion_coord_trans.py │ │ ├── test_point_fusion.py │ │ └── test_vote_fusion.py │ ├── test_heads │ │ ├── test_heads.py │ │ ├── test_paconv_decode_head.py │ │ ├── test_parta2_bbox_head.py │ │ ├── test_pointnet2_decode_head.py │ │ ├── test_roi_extractors.py │ │ └── test_semantic_heads.py │ ├── test_necks │ │ ├── test_fpn.py │ │ └── test_necks.py │ ├── test_segmentors.py │ └── test_voxel_encoder │ │ ├── test_dynamic_scatter.py │ │ ├── test_voxel_encoders.py │ │ ├── test_voxel_generator.py │ │ └── test_voxelize.py ├── test_runtime │ ├── test_apis.py │ └── test_config.py ├── test_samples │ └── parta2_roihead_inputs.npz └── test_utils │ ├── test_anchors.py │ ├── test_assigners.py │ ├── test_bbox_coders.py │ ├── test_box3d.py │ ├── test_box_np_ops.py │ ├── test_coord_3d_mode.py │ ├── test_merge_augs.py │ ├── test_nms.py │ ├── test_points.py │ ├── test_samplers.py │ └── test_utils.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py ├── get_flops.py └── vis.py ├── 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