├── .gitignore ├── LICENSE ├── README.md ├── kitti_split1 ├── devkit │ ├── cpp │ │ ├── CMakeLists.txt │ │ ├── build.sh │ │ ├── evaluate_object │ │ ├── evaluate_object.cpp │ │ ├── evaluate_object_evaltrain.cpp │ │ ├── evaluate_train │ │ └── mail.h │ ├── mapping │ │ ├── train_mapping.txt │ │ └── train_rand.txt │ ├── matlab │ │ ├── computeBox3D.m │ │ ├── computeOrientation3D.m │ │ ├── drawBox2D.m │ │ ├── drawBox3D.m │ │ ├── projectToImage.m │ │ ├── readCalibration.m │ │ ├── readLabels.m │ │ ├── run_demo.m │ │ ├── run_readWriteDemo.m │ │ ├── run_statistics.m │ │ ├── visualization.m │ │ └── writeLabels.m │ └── readme.txt ├── setup_split.py ├── test.txt ├── train.txt ├── trainval.txt └── val.txt ├── lib ├── augmentations.py ├── core.py ├── dataloader.py ├── eval │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── eval.py │ ├── evaluate.py │ ├── kitti_common.py │ ├── nms_gpu.py │ └── rotate_iou.py ├── imdb_util.py ├── loss │ └── rpn_3d.py ├── nms │ ├── Makefile │ ├── cpu_nms.c │ ├── cpu_nms.pyx │ ├── gpu_nms.cpp │ ├── gpu_nms.hpp │ ├── gpu_nms.pyx │ ├── nms_kernel.cu │ ├── py_cpu_nms.py │ └── setup.py ├── rpn_util.py ├── scheduler.py ├── util.py └── utils │ ├── bbox_transform.py │ ├── calibration.py │ ├── iou3d │ ├── iou3d_utils.py │ ├── setup.py │ └── src │ │ ├── iou3d.cpp │ │ └── iou3d_kernel.cu │ ├── kitti_utils.py │ ├── loss_utils.py │ ├── object3d.py │ └── roipool3d │ ├── roipool3d_utils.py │ ├── setup.py │ └── src │ ├── roipool3d.cpp │ └── roipool3d_kernel.cu ├── model ├── DCNv2 │ ├── .gitignore │ ├── README.md │ ├── __init__.py │ ├── build.py │ ├── build_double.py │ ├── dcn_v2.py │ ├── dcn_v2_func.py │ ├── make.sh │ ├── src │ │ ├── cuda │ │ │ ├── dcn_v2_im2col_cuda.cu │ │ │ ├── dcn_v2_im2col_cuda.h │ │ │ ├── dcn_v2_im2col_cuda_double.cu │ │ │ ├── dcn_v2_im2col_cuda_double.h │ │ │ ├── dcn_v2_psroi_pooling_cuda.cu │ │ │ ├── dcn_v2_psroi_pooling_cuda.h │ │ │ ├── dcn_v2_psroi_pooling_cuda_double.cu │ │ │ └── dcn_v2_psroi_pooling_cuda_double.h │ │ ├── dcn_v2.c │ 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