├── LICENSE ├── README.md ├── docs └── GETTING_STARTED.md ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ ├── ssl_data_augmentor.py │ │ └── ssl_database_sampler.py │ ├── dataset.py │ ├── huawei │ │ ├── __init__.py │ │ ├── huawei_dataset.py │ │ ├── huawei_eval │ │ │ ├── eval_utils.py │ │ │ ├── evaluation.py │ │ │ ├── iou_utils.py │ │ │ └── old_evaluation.py │ │ ├── huawei_semi_dataset.py │ │ ├── huawei_toolkits.py │ │ └── once.py │ ├── kitti │ │ ├── kitti_dataset.py │ │ └── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ ├── nuscenes │ │ ├── nusc_proj.py │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── processor │ │ ├── data_processor.py │ │ ├── data_processor_prev.py │ │ └── point_feature_encoder.py │ ├── semi_dataset.py │ ├── waymo │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ └── waymo_utils.py │ └── waymo_range │ │ ├── range_image_utils.py │ │ ├── waymo_eval.py │ │ ├── waymo_np.py │ │ ├── waymo_range_dataset.py │ │ ├── waymo_range_utils.py │ │ └── waymo_test_dataset.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ ├── bev_nets.py │ │ ├── cross_fpn.py │ │ ├── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ │ ├── sparse_bev_backbone.py │ │ ├── swin_helpers.py │ │ ├── swin_transformer.py │ │ └── yolof.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── centernet_backbone.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ ├── roi_aware_sa.py │ │ │ ├── simple_fusion.py │ │ │ ├── voxel_group.py │ │ │ ├── voxel_group_all.py │ │ │ └── voxel_set_abstraction.py │ │ ├── point_voxel_backbone.py │ │ ├── pointnet2_backbone.py │ │ ├── rsn_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_unet.py │ │ ├── spv3d.py │ │ ├── vfe │ │ │ ├── __init__.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ │ ├── votr_backbone.py │ │ └── votr_slim.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_multi_seg.py │ │ ├── anchor_head_seg.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.py │ │ ├── e2e_fusion_modules.py │ │ ├── e2e_modules.py │ │ ├── e2e_seq_head.py │ │ ├── e2e_seqfuse_head.py │ │ ├── point_head_box.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_intra_part_head.py │ │ ├── target_assigner │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ ├── axis_aligned_target_assigner.py │ │ │ ├── bundle_assigner.py │ │ │ ├── center_assigner.py │ │ │ ├── merged_assigner.py │ │ │ └── mm_assigner.py │ │ └── utils.py │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── center_points.py │ │ ├── center_rcnn.py │ │ ├── center_rcnn_fix.py │ │ ├── center_rcnn_zero.py │ │ ├── detector3d_template.py │ │ ├── e2e_2stage.py │ │ ├── e2e_2stage_pv.py │ │ ├── e2e_2stage_v2.py │ │ ├── e2enet.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── pv_rcnn_nus.py │ │ └── second_net.py │ ├── model_utils │ │ ├── center_utils.py │ │ ├── centernet_box_utils.py │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── center_rcnn_head.py │ │ ├── center_rcnn_head_zero.py │ │ ├── center_rcnn_tasks.py │ │ ├── e2e_pvrcnn_head.py │ │ ├── e2e_pvrcnn_headv2.py │ │ ├── e2e_pvrcnn_headv3.py │ │ ├── e2e_roi_fusion_head.py │ │ ├── e2e_roi_fusion_headv2.py │ │ ├── e2e_roi_fusion_headv3.py │ │ ├── e2e_roi_head.py │ │ ├── e2e_roi_headv2.py │ │ ├── e2e_roi_headv3.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── pvrcnn_head_sample.py │ │ ├── pyramid_head.py │ │ ├── roi_fusion_head.py │ │ ├── roi_head_template.py │ │ └── target_assigner │ │ ├── center_target_layer.py │ │ ├── center_target_layer_mtasks.py │ │ └── proposal_target_layer.py ├── ops │ ├── center_ops │ │ └── src │ │ │ ├── center_ops_api.cpp │ │ │ ├── center_rotate_nms.cpp │ │ │ ├── center_rotate_nms_kernel.cu │ │ │ ├── draw_all.cpp │ │ │ ├── draw_all_kernel.cu │ │ │ ├── draw_center.cpp │ │ │ ├── draw_center_kernel.cu │ │ │ └── draw_heatmap.cpp │ ├── dcn │ │ ├── __init__.py │ │ ├── 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 │ │ ├── iou3d_nms_utils.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── iou3d_nms_diff │ │ ├── iou3d_nms_diff_utils.py │ │ ├── numerical_jaccobian.py │ │ └── src │ │ │ ├── iou3d_cpu.cpp │ │ │ ├── iou3d_cpu.h │ │ │ ├── iou3d_nms.cpp │ │ │ ├── iou3d_nms.h │ │ │ ├── iou3d_nms_api.cpp │ │ │ └── iou3d_nms_kernel.cu │ ├── point_voxel_ops │ │ ├── pv_modules.py │ │ ├── pv_utils.py │ │ └── src │ │ │ ├── fill_dense.cpp │ │ │ ├── fill_dense_gpu.cu │ │ │ ├── fill_dense_gpu.h │ │ │ ├── fill_dense_hash.cpp │ │ │ ├── fill_dense_hash_gpu.cu │ │ │ ├── fill_dense_hash_gpu.h │ │ │ ├── fill_dense_simple.cpp │ │ │ ├── fill_dense_simple_gpu.cu │ │ │ ├── fill_dense_simple_gpu.h │ │ │ ├── point_to_voxel.cpp │ │ │ ├── point_to_voxel_bin.cpp │ │ │ ├── point_to_voxel_bin_gpu.cu │ │ │ ├── point_to_voxel_bin_gpu.h │ │ │ ├── point_to_voxel_gpu.cu │ │ │ ├── point_to_voxel_gpu.h │ │ │ ├── point_to_voxel_hash.cpp │ │ │ ├── point_to_voxel_hash_gpu.cu │ │ │ ├── point_to_voxel_hash_gpu.h │ │ │ ├── pv_api.cpp │ │ │ ├── pv_cuda_utils.h │ │ │ ├── voxel_to_point.cpp │ │ │ ├── voxel_to_point_bin.cpp │ │ │ ├── voxel_to_point_bin_gpu.cu │ │ │ ├── voxel_to_point_bin_gpu.h │ │ │ ├── voxel_to_point_gpu.cu │ │ │ ├── voxel_to_point_gpu.h │ │ │ ├── voxel_to_point_hash.cpp │ │ │ ├── voxel_to_point_hash_gpu.cu │ │ │ ├── voxel_to_point_hash_gpu.h │ │ │ ├── voxel_to_point_simple.cpp │ │ │ ├── voxel_to_point_simple_gpu.cu │ │ │ └── voxel_to_point_simple_gpu.h │ ├── pointnet2 │ │ ├── pointnet2_batch │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ └── pointnet2_stack │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_bin.cpp │ │ │ ├── ball_query_bin_gpu.cu │ │ │ ├── ball_query_bin_gpu.h │ │ │ ├── ball_query_deform.cpp │ │ │ ├── ball_query_deform_gpu.cu │ │ │ ├── ball_query_deform_gpu.h │ │ │ ├── ball_query_gpu.cu │ │ │ ├── ball_query_gpu.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── group_points_gpu.h │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── interpolate_gpu.h │ │ │ ├── pointnet2_api.cpp │ │ │ ├── sampling.cpp │ │ │ ├── sampling_gpu.cu │ │ │ └── sampling_gpu.h │ ├── roiaware_pool3d │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ ├── roipoint_pool3d │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ │ ├── roipoint_pool3d.cpp │ │ │ └── roipoint_pool3d_kernel.cu │ ├── roipoint_pool3d_stack │ │ ├── roipoint_pool3d_stack_utils.py │ │ └── src │ │ │ ├── roipoint_pool3d_stack.cpp │ │ │ └── roipoint_pool3d_stack_kernel.cu │ └── votr_ops │ │ ├── src │ │ ├── build_attention_indices.cpp │ │ ├── build_attention_indices_gpu.cu │ │ ├── build_attention_indices_gpu.h │ │ ├── build_attention_indices_gpu_bckup.cu │ │ ├── build_mapping.cpp │ │ ├── build_mapping_gpu.cu │ │ ├── build_mapping_gpu.h │ │ ├── group_features.cpp │ │ ├── group_features_gpu.cu │ │ ├── group_features_gpu.h │ │ ├── votr_api.cpp │ │ └── votr_cuda_utils.h │ │ └── votr_utils.py ├── utils │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── loss_utils.py │ ├── matcher.py │ ├── object3d_kitti.py │ ├── sa │ │ ├── functional.py │ │ ├── functions │ │ │ ├── __init__.py │ │ │ ├── aggregation_refpad.py │ │ │ ├── aggregation_zeropad.py │ │ │ ├── subtraction2_refpad.py │ │ │ ├── subtraction2_zeropad.py │ │ │ ├── subtraction_refpad.py │ │ │ ├── subtraction_zeropad.py │ │ │ └── utils.py │ │ └── modules │ │ │ ├── __init__.py │ │ │ ├── aggregation.py │ │ │ ├── subtraction.py │ │ │ └── subtraction2.py │ └── set_crit.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── cfgs ├── once_p2s.yaml └── waymo_p2s.yaml ├── demo.py ├── eval_utils └── eval_utils.py ├── plot_waymo_bev.py ├── scripts ├── dist_test.sh ├── dist_train.sh ├── slurm_test_mgpu.sh ├── slurm_test_single.sh └── 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