├── .gitignore ├── README.md ├── compare.py ├── configs └── centerpoint │ ├── nusc_centerpoint_forecast_n0_detection.py │ ├── nusc_centerpoint_forecast_n3_detection.py │ ├── nusc_centerpoint_forecast_n3dtf_detection.py │ ├── nusc_centerpoint_forecast_n3dtfm_detection.py │ ├── nusc_centerpoint_pedestrian_forecast_n0_detection.py │ ├── nusc_centerpoint_pedestrian_forecast_n3_detection.py │ ├── nusc_centerpoint_pedestrian_forecast_n3dtf_detection.py │ ├── nusc_centerpoint_pedestrian_forecast_n3dtfm_detection.py │ ├── nusc_centerpoint_pp_forecast_n3dtf_detection.py │ └── nusc_centerpoint_pp_pedestrian_forecast_n3dtf_detection.py ├── det3d ├── __init__.py ├── builder.py ├── core │ ├── __init__.py │ ├── bbox │ │ ├── __init__.py │ │ ├── box_np_ops.py │ │ ├── box_torch_ops.py │ │ └── geometry.py │ ├── input │ │ ├── __init__.py │ │ └── voxel_generator.py │ ├── sampler │ │ ├── __init__.py │ │ ├── preprocess.py │ │ └── sample_ops.py │ └── utils │ │ ├── __init__.py │ │ ├── center_utils.py │ │ ├── circle_nms_jit.py │ │ ├── dist_utils.py │ │ └── misc.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom.py │ ├── dataset_factory.py │ ├── dataset_wrappers.py │ ├── loader │ │ ├── __init__.py │ │ ├── build_loader.py │ │ └── sampler.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── nusc_common.py │ │ └── nuscenes.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── preprocess.py │ │ └── test_aug.py │ ├── registry.py │ ├── utils │ │ ├── create_gt_database.py │ │ ├── distributed.py │ │ ├── eval.py │ │ └── oss.py │ └── waymo │ │ ├── __init__.py │ │ ├── waymo.py │ │ ├── waymo_common.py │ │ ├── waymo_converter.py │ │ └── waymo_decoder.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ └── scn.py │ ├── bbox_heads │ │ ├── __init__.py │ │ └── center_head.py │ ├── builder.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── point_pillars.py │ │ ├── single_stage.py │ │ ├── two_stage.py │ │ └── voxelnet.py │ ├── losses │ │ ├── __init__.py │ │ └── centernet_loss.py │ ├── necks │ │ ├── __init__.py │ │ └── rpn.py │ ├── readers │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ └── voxel_encoder.py │ ├── registry.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── roi_head.py │ │ ├── roi_head_template.py │ │ └── target_assigner │ │ │ └── proposal_target_layer.py │ ├── second_stage │ │ ├── __init__.py │ │ └── bird_eye_view.py │ └── utils │ │ ├── __init__.py │ │ ├── conv_module.py │ │ ├── conv_ws.py │ │ ├── finetune_utils.py │ │ ├── misc.py │ │ ├── norm.py │ │ ├── scale.py │ │ └── weight_init.py ├── ops │ ├── dcn │ │ ├── __init__.py │ │ ├── build │ │ │ └── temp.linux-x86_64-cpython-37 │ │ │ │ └── src │ │ │ │ ├── deform_conv_cuda.o │ │ │ │ └── deform_conv_cuda_kernel.o │ │ ├── deform_conv.py │ │ ├── setup.py │ │ └── src │ │ │ ├── deform_conv_cuda.cpp │ │ │ ├── deform_conv_cuda_kernel.cu │ │ │ ├── deform_pool_cuda.cpp │ │ │ └── deform_pool_cuda_kernel.cu │ ├── iou3d_nms │ │ ├── __init__.py │ │ ├── build │ │ │ └── temp.linux-x86_64-cpython-37 │ │ │ │ └── src │ │ │ │ ├── iou3d_cpu.o │ │ │ │ ├── iou3d_nms.o │ │ │ │ ├── iou3d_nms_api.o │ │ │ │ └── iou3d_nms_kernel.o │ │ ├── iou3d_nms_utils.py │ │ ├── setup.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ └── point_cloud │ │ ├── __init__.py │ │ ├── bev_ops.py │ │ └── point_cloud_ops.py ├── solver │ ├── __init__.py │ ├── background.py │ ├── fastai_optim.py │ ├── learning_schedules.py │ ├── learning_schedules_fastai.py │ └── optim.py ├── torchie │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── env.py │ │ └── train.py │ ├── cnn │ │ ├── __init__.py │ │ ├── alexnet.py │ │ ├── resnet.py │ │ ├── vgg.py │ │ └── weight_init.py │ ├── fileio │ │ ├── __init__.py │ │ ├── handlers │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── json_handler.py │ │ │ ├── pickle_handler.py │ │ │ └── yaml_handler.py │ │ ├── io.py │ │ └── parse.py │ ├── parallel │ │ ├── __init__.py │ │ ├── _functions.py │ │ ├── collate.py │ │ ├── data_container.py │ │ ├── data_parallel.py │ │ ├── distributed.py │ │ └── scatter_gather.py │ ├── trainer │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── hooks │ │ │ ├── __init__.py │ │ │ ├── checkpoint.py │ │ │ ├── closure.py │ │ │ ├── hook.py │ │ │ ├── iter_timer.py │ │ │ ├── logger │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── pavi.py │ │ │ │ ├── tensorboard.py │ │ │ │ └── text.py │ │ │ ├── lr_updater.py │ │ │ ├── memory.py │ │ │ ├── optimizer.py │ │ │ └── sampler_seed.py │ │ ├── log_buffer.py │ │ ├── parallel_test.py │ │ ├── priority.py │ │ ├── trainer.py │ │ └── utils.py │ └── utils │ │ ├── __init__.py │ │ ├── config.py │ │ ├── misc.py │ │ ├── path.py │ │ ├── progressbar.py │ │ └── timer.py └── utils │ ├── __init__.py │ ├── buildtools │ ├── __init__.py │ ├── command.py │ └── pybind11_build.py │ ├── check.py │ ├── checkpoint.py │ ├── config_tool.py │ ├── dist │ ├── collect_env.py │ ├── dist_common.py │ └── logger.py │ ├── find.py │ ├── flops_counter.py │ ├── imports.py │ ├── loader.py │ ├── print_utils.py │ ├── registry.py │ └── utils.py ├── docs ├── demo.gif ├── demo.png └── pipeline.png ├── evaluate.py ├── requirements.txt ├── setup.sh ├── statistics.py ├── tools ├── create_data.py ├── dist_test.py └── train.py ├── train.py ├── trajectory.py └── visualize.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/neeharperi/FutureDet/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/neeharperi/FutureDet/HEAD/README.md -------------------------------------------------------------------------------- /compare.py: -------------------------------------------------------------------------------- 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