├── .gitignore ├── LICENSE ├── README.md ├── second ├── __init__.py ├── builder │ ├── __init__.py │ ├── anchor_generator_builder.py │ ├── dataset_builder.py │ ├── dbsampler_builder.py │ ├── preprocess_builder.py │ ├── similarity_calculator_builder.py │ ├── target_assigner_builder.py │ └── voxel_builder.py ├── configs │ ├── car.fhd.config │ ├── cyclist.fhd.config │ └── pedestrian.fhd.config ├── core │ ├── __init__.py │ ├── anchor_generator.py │ ├── box_coders.py │ ├── box_np_ops.py │ ├── geometry.py │ ├── inference.py │ ├── non_max_suppression │ │ ├── __init__.py │ │ ├── nms_cpu.py │ │ └── nms_gpu.py │ ├── preprocess.py │ ├── region_similarity.py │ ├── sample_ops.py │ ├── target_assigner.py │ └── target_ops.py ├── create_data.py ├── data │ ├── ImageSets │ │ ├── test.txt │ │ ├── test_old.txt │ │ ├── train.txt │ │ ├── trainval.txt │ │ └── val.txt │ ├── __init__.py │ ├── dataset.py │ ├── kitti_common.py │ ├── preprocess.py │ └── preprocess_stage2.py ├── kittiviewer │ ├── __init__.py │ ├── backend.py │ ├── control_panel.py │ ├── frontend │ │ ├── css │ │ │ └── main.css │ │ ├── index.html │ │ ├── js │ │ │ ├── KittiViewer.js │ │ │ ├── MapControls.js │ │ │ ├── SimplePlot.js │ │ │ ├── Toast.js │ │ │ ├── libs │ │ │ │ ├── jquery-3.3.1.min.js │ │ │ │ └── js.cookie.min.js │ │ │ ├── postprocessing │ │ │ │ ├── BloomPass.js │ │ │ │ ├── EffectComposer.js │ │ │ │ ├── FilmPass.js │ │ │ │ ├── MaskPass.js │ │ │ │ ├── RenderPass.js │ │ │ │ ├── ShaderPass.js │ │ │ │ └── UnrealBloomPass.js │ │ │ ├── renderers │ │ │ │ └── CSS2DRenderer.js │ │ │ └── shaders │ │ │ │ ├── ConvolutionShader.js │ │ │ │ ├── CopyShader.js │ │ │ │ ├── FilmShader.js │ │ │ │ ├── FocusShader.js │ │ │ │ └── LuminosityHighPassShader.js │ │ └── textures │ │ │ └── sprites │ │ │ └── disc.png │ ├── glwidget.py │ └── viewer.py ├── protos │ ├── __init__.py │ ├── anchors.proto │ ├── anchors_pb2.py │ ├── box_coder.proto │ ├── box_coder_pb2.py │ ├── input_reader.proto │ ├── input_reader_pb2.py │ ├── losses.proto │ ├── losses_pb2.py │ ├── model.proto │ ├── model_pb2.py │ ├── optimizer.proto │ ├── optimizer_pb2.py │ ├── pipeline.proto │ ├── pipeline_pb2.py │ ├── preprocess.proto │ ├── preprocess_pb2.py │ ├── sampler.proto │ ├── sampler_pb2.py │ ├── second.proto │ ├── second_pb2.py │ ├── similarity.proto │ ├── similarity_pb2.py │ ├── target.proto │ ├── target_pb2.py │ ├── train.proto │ ├── train_pb2.py │ ├── voxel_generator.proto │ └── voxel_generator_pb2.py ├── pytorch │ ├── __init__.py │ ├── builder │ │ ├── __init__.py │ │ ├── box_coder_builder.py │ │ ├── input_reader_builder.py │ │ ├── losses_builder.py │ │ ├── lr_scheduler_builder.py │ │ ├── optimizer_builder.py │ │ └── second_builder.py │ ├── core │ │ ├── __init__.py │ │ ├── box_coders.py │ │ ├── box_torch_ops.py │ │ └── losses.py │ ├── inference.py │ ├── models │ │ ├── __init__.py │ │ ├── fusion.py │ │ ├── middle.py │ │ ├── resnet.py │ │ ├── rpn.py │ │ ├── voxel_encoder.py │ │ └── voxelnet.py │ └── train.py └── utils │ ├── __init__.py │ ├── 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