├── .dockerignore ├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── configs ├── old_training │ ├── kitti │ │ └── 71_kitti_point_mask_lower_lr_finer.yml │ ├── semantic_kitti │ │ └── 21_point_mask_data_aug_gentle.yml │ └── waymo │ │ └── 01_waymo_point_mask_data_aug_gentle.yml ├── semantic_kitti │ ├── semantic-kitti-all.yaml │ ├── semantic-kitti-mos.yaml │ └── semantic-kitti.yaml └── training │ ├── kitti │ ├── 00_quick_test.yml │ ├── 01_kitti_point_mask_lower_lr_finer.yml │ └── 02_kitti_point_mask_lower_lr_no_abs.yml │ ├── semantic_kitti │ ├── 00_quick_test.yml │ ├── 01_point_mask_data_aug_gentle.yml │ ├── 02_point_mask_low_lr_data_aug_gentle.yml │ ├── 03_point_mask_bigger_encoder_gentle.yml │ └── 04_point_mask_enc_bottleneck_more_patch_gentle.yml │ └── waymo │ ├── 00_quick_test.yml │ ├── 01_waymo_point_mask_data_aug_gentle.yml │ └── 02_waymo_point_mask_data_aug_gentle_finer_grid.yml ├── data └── .gitkeep ├── docker-compose.yml ├── docs ├── CONFIGURATION.md ├── DATASETS.md ├── INSTALLATION.md ├── TESTING.md ├── TRAINING.md └── VALERIA.md ├── mask_bev ├── __init__.py ├── augmentations │ ├── __init__.py │ ├── kitti_mask_augmentations.py │ ├── rand_augment.py │ ├── semantic_kitti_mask_augmentations.py │ └── waymo_mask_augmentations.py ├── datasets │ ├── __init__.py │ ├── apply_transform.py │ ├── collate_type.py │ ├── kitti │ │ ├── __init__.py │ │ ├── kitti_data_module.py │ │ ├── kitti_dataset.py │ │ ├── kitti_rasterizer.py │ │ └── kitti_transforms.py │ ├── semantic_kitti │ │ ├── __init__.py │ │ ├── semantic_kitti_dataset.py │ │ ├── semantic_kitti_mask_data_module.py │ │ ├── semantic_kitti_mask_dataset.py │ │ ├── semantic_kitti_rasterizer.py │ │ ├── semantic_kitti_scene.py │ │ ├── semantic_kitti_stable_points_data_module.py │ │ └── semantic_kitti_transforms.py │ └── waymo │ │ ├── __init__.py │ │ ├── waymo_data_module.py │ │ ├── waymo_rasterizer.py │ │ └── waymo_transforms.py ├── evaluation │ ├── __init__.py │ ├── average_precision.py │ ├── detection_metric.py │ ├── kitti_eval.py │ └── rotate_iou.py ├── mask_bev_module.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ └── mask_bev_backbone.py │ ├── decoders │ │ └── __init__.py │ ├── encoders │ │ ├── __init__.py │ │ └── mask_bev_encoders.py │ ├── head │ │ ├── __init__.py │ │ └── mask_bev_panoptic_head.py │ ├── networks │ │ ├── __init__.py │ │ ├── dgcnn │ │ │ ├── __init__.py │ │ │ └── dgcnn.py │ │ ├── fkaconv │ │ │ ├── __init__.py │ │ │ └── fkaconv.py │ │ ├── mask2former_head │ │ │ ├── __init__.py │ │ │ └── mask2former_head.py │ │ └── swin │ │ │ ├── __init__.py │ │ │ └── swin.py │ ├── positional_encoding │ │ ├── __init__.py │ │ └── learnable_fourier_positional_encoding.py │ ├── sheduler │ │ ├── __init__.py │ │ └── poly_lr_scheduler.py │ └── training_types.py ├── utils │ ├── __init__.py │ ├── config.py │ ├── optuna_prune_callback.py │ └── pipeline.py └── visualization │ ├── README.md │ ├── __init__.py │ ├── point_cloud_viz.py │ └── shaders │ ├── box_fragment.frag │ ├── box_vertex.vert │ ├── fragment.frag │ └── vertex.vert ├── mask_bev_figures ├── __init__.py ├── test_figures.py └── test_video_kitti.py ├── mask_bev_test ├── __init__.py ├── augmentations │ ├── __init__.py │ ├── test_kitti_mask_augmentations.py │ ├── test_semantic_kitti_mask_augmentations.py │ └── test_waymo_mask_augmentations.py ├── datasets │ ├── __init__.py │ ├── kitti │ │ ├── __init__.py │ │ ├── test_kitti_data_module.py │ │ ├── test_kitti_dataset.py │ │ └── test_kitti_rasterizer.py │ ├── semantic_kitti │ │ ├── __init__.py │ │ ├── test_semantic_kitti_data_module.py │ │ ├── test_semantic_kitti_dataset.py │ │ ├── test_semantic_kitti_mask_dataset.py │ │ ├── test_semantic_kitti_rasterizer.py │ │ └── test_semantic_kitti_scene.py │ └── waymo │ │ ├── __init__.py │ │ ├── test_waymo_data_module.py │ │ ├── test_waymo_dataset.py │ │ └── test_waymo_rasterizer.py ├── evaluation │ ├── __init__.py │ ├── test_average_precision.py │ └── test_kitti_eval.py └── models │ ├── __init__.py │ ├── kitti │ ├── __init__.py │ ├── test_kitti_point_mask_backbone.py │ ├── test_kitti_point_mask_encoders.py │ └── test_kitti_point_mask_panoptic_head.py │ ├── semantic_kitti │ ├── __init__.py │ ├── test_point_mask_backbone.py │ ├── test_point_mask_encoders.py │ └── test_point_mask_panoptic_head.py │ └── waymo │ ├── __init__.py │ ├── test_waymo_point_mask_backbone.py │ ├── test_waymo_point_mask_encoders.py │ └── test_waymo_point_mask_panoptic_head.py ├── requirements-valeria.txt ├── requirements-visualization.txt ├── requirements.txt ├── scripts ├── convert_waymo.sh ├── figures │ ├── __init__.py │ ├── compute_area_completion.py │ ├── compute_area_no_completion.py │ ├── compute_area_pred.py │ └── compute_area_stats.py ├── generate_kitti_object_sampler.py ├── generate_semantic_kitti_mask_cache.py ├── slurm_convert_waymo.sh ├── slurm_generate_kitti_samples.sh ├── slurm_generate_masks.sh └── valeria │ ├── slurm_generate_masks.sh │ ├── slurm_train_00.sh │ ├── slurm_train_01.sh │ ├── slurm_train_02.sh │ 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