├── LICENSE ├── LightningTools ├── basemodel.py ├── dataset_dm.py ├── metric.py ├── pl_model.py └── utils.py ├── README.md ├── configs ├── CGFormer-Efficient-Swin-KITTI360.py ├── CGFormer-Efficient-Swin-SemanticKITTI-Pretrain.py └── CGFormer-Efficient-Swin-SemanticKITTI.py ├── debug.py ├── docs ├── Fig_architecture.png ├── KITTI360.png ├── SemanticKITTI.png ├── dataset.md ├── install.md ├── requirements.txt ├── train_and_eval.md └── visualization.md ├── main.py ├── misc.py ├── mmdet3d_plugin ├── __init__.py ├── datasets │ ├── __init__.py │ ├── kitti360.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formating.py │ │ ├── learning_map.py │ │ ├── lidar2depth.py │ │ ├── loading_annotation_occ.py │ │ └── loading_multiview_imgs.py │ └── semantic_kitti.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── CustomEfficientNet.py │ │ ├── CustomResNet.py │ │ ├── __init__.py │ │ └── resnet3d.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── occ_head.py │ │ └── plugin_segmentation_head.py │ ├── detectors │ │ ├── CGFormer.py │ │ ├── CGFormerSegDepth.py │ │ └── __init__.py │ ├── img2bev │ │ ├── GeometryDepth_Net.py │ │ ├── LSSViewTransformer.py │ │ ├── LSSViewTransformerLight.py │ │ ├── VoxFormerHead.py │ │ ├── VoxelProposalLayer.py │ │ ├── __init__.py │ │ ├── modules │ │ │ ├── Mono_DepthNet_modules.py │ │ │ ├── NeighborhoodAttention.py │ │ │ ├── Stereo_Depth_Net_modules.py │ │ │ └── utils.py │ │ └── transformer_utils │ │ │ ├── __init__.py │ │ │ ├── custom_base_transformer_layer.py │ │ │ ├── deformable_cross_attention.py │ │ │ ├── deformable_self_attention.py │ │ │ ├── encoder.py │ │ │ ├── multi_scale_3ddeformable_attn_function.py │ │ │ ├── multi_scale_deformable_attn_function.py │ │ │ └── transformer.py │ ├── necks │ │ ├── __init__.py │ │ ├── generalizedfpn.py │ │ └── secondfpn3d.py │ └── tpvbranch │ │ ├── LocalAggregator.py │ │ ├── TPVGlobalAggregator.py │ │ ├── __init__.py │ │ ├── fuser.py │ │ ├── modules │ │ ├── swin_utils.py │ │ └── typing_utils.py │ │ └── swin.py └── utils │ ├── BECLoss.py │ ├── gaussian.py │ ├── lovasz_softmax.py │ └── semkitti.py ├── organize_ckpt.py ├── packages ├── DFA3D │ ├── dfa3D │ │ ├── __init__.py │ │ ├── ext_loader.py │ │ └── ops │ │ │ ├── __init__.py │ │ │ ├── csrc │ │ │ ├── common │ │ │ │ ├── box_iou_rotated_utils.hpp │ │ │ │ ├── cuda │ │ │ │ │ ├── common_cuda_helper.hpp │ │ │ │ │ ├── ms_depth_score_sample_cuda_kernel.cuh │ │ │ │ │ └── wms_deform_attn_cuda_kernel.cuh │ │ │ │ ├── parrots_cpp_helper.hpp │ │ │ │ ├── parrots_cuda_helper.hpp │ │ │ │ ├── pytorch_cpp_helper.hpp │ │ │ │ ├── pytorch_cuda_helper.hpp │ │ │ │ └── pytorch_device_registry.hpp │ │ │ ├── cuda │ │ │ │ ├── cudabind.cpp │ │ │ │ ├── ms_depth_score_sample_cuda.cu │ │ │ │ └── wms_deform_attn_cuda.cu │ │ │ ├── ms_depth_score_sample.cpp │ │ │ ├── pybind.cpp │ │ │ └── wms_deform_attn.cpp │ │ │ └── multi_scale_3D_deform_attn.py │ ├── setup.py │ └── setup.sh ├── mmdetection3d │ ├── .dev_scripts │ │ ├── gather_models.py │ │ ├── gen_benchmark_script.py │ │ ├── linter.sh │ │ ├── test_benchmark.sh │ │ └── train_benchmark.sh │ ├── .pre-commit-config.yaml │ ├── .readthedocs.yml │ ├── CITATION.cff │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.md │ ├── README_zh-CN.md │ ├── configs │ │ ├── 3dssd │ │ │ ├── 3dssd_4x4_kitti-3d-car.py │ │ │ ├── README.md │ │ │ └── metafile.yml │ │ ├── _base_ │ │ │ ├── datasets │ │ │ │ ├── coco_instance.py │ │ │ │ ├── kitti-3d-3class.py │ │ │ │ ├── kitti-3d-car.py │ │ │ │ ├── lyft-3d.py │ │ │ │ ├── nuim_instance.py │ │ │ │ ├── nus-3d.py │ │ │ │ ├── nus-mono3d.py │ │ │ │ ├── range100_lyft-3d.py │ │ │ │ ├── s3dis-3d-5class.py │ │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ │ ├── scannet-3d-18class.py │ │ │ │ ├── scannet_seg-3d-20class.py │ │ │ │ ├── sunrgbd-3d-10class.py │ │ │ │ ├── waymoD5-3d-3class.py │ │ │ │ └── waymoD5-3d-car.py │ │ │ ├── default_runtime.py │ │ │ ├── models │ │ │ │ ├── 3dssd.py │ │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ │ ├── fcos3d.py │ │ │ │ ├── groupfree3d.py │ │ │ │ ├── h3dnet.py │ │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ │ ├── imvotenet_image.py │ │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ │ ├── paconv_cuda_ssg.py │ │ │ │ ├── paconv_ssg.py │ │ │ │ ├── parta2.py │ │ │ │ ├── pointnet2_msg.py │ │ │ │ ├── pointnet2_ssg.py │ │ │ │ └── votenet.py │ │ │ └── schedules │ │ │ │ ├── cosine.py │ │ │ │ ├── cyclic_20e.py │ │ │ │ ├── cyclic_40e.py │ │ │ │ ├── mmdet_schedule_1x.py │ │ │ │ ├── schedule_2x.py │ │ │ │ ├── schedule_3x.py │ │ │ │ ├── seg_cosine_150e.py │ │ │ │ ├── seg_cosine_200e.py │ │ │ │ └── seg_cosine_50e.py │ │ ├── benchmark │ │ │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ │ │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ │ │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ │ │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ │ ├── centerpoint │ │ │ ├── README.md │ │ │ ├── centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py │ │ │ ├── centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ │ ├── centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ │ └── metafile.yml │ │ ├── dynamic_voxelization │ │ │ ├── README.md │ │ │ ├── dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ │ │ ├── dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py │ │ │ ├── dv_second_secfpn_6x8_80e_kitti-3d-car.py │ │ │ └── metafile.yml │ │ ├── fcos3d │ │ │ ├── README.md │ │ │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ │ │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune.py │ │ │ └── metafile.yml │ │ ├── fp16 │ │ │ ├── README.md │ │ │ ├── hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py │ │ │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py │ │ │ └── metafile.yml │ │ ├── free_anchor │ │ │ ├── README.md │ │ │ ├── hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ └── metafile.yml │ │ ├── groupfree3d │ │ │ ├── README.md │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-L12-O256.py │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-L6-O256.py │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O256.py │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O512.py │ │ │ └── metafile.yml │ │ ├── h3dnet │ │ │ ├── README.md │ │ │ ├── h3dnet_3x8_scannet-3d-18class.py │ │ │ └── metafile.yml │ │ ├── imvotenet │ │ │ ├── README.md │ │ │ ├── imvotenet_faster_rcnn_r50_fpn_2x4_sunrgbd-3d-10class.py │ │ │ ├── imvotenet_stage2_16x8_sunrgbd-3d-10class.py │ │ │ └── metafile.yml │ │ ├── imvoxelnet │ │ │ ├── README.md │ │ │ ├── imvoxelnet_4x8_kitti-3d-car.py │ │ │ └── metafile.yml │ │ ├── mvxnet │ │ │ ├── README.md │ │ │ ├── dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py │ │ │ └── metafile.yml │ │ ├── nuimages │ │ │ ├── README.md │ │ │ ├── cascade_mask_rcnn_r101_fpn_1x_nuim.py │ │ │ ├── cascade_mask_rcnn_r50_fpn_1x_nuim.py │ │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_1x_nuim.py │ │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim.py │ │ │ ├── cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ │ ├── htc_r50_fpn_1x_nuim.py │ │ │ ├── htc_r50_fpn_coco-20e_1x_nuim.py │ │ │ ├── htc_r50_fpn_coco-20e_20e_nuim.py │ │ │ ├── htc_without_semantic_r50_fpn_1x_nuim.py │ │ │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim.py │ │ │ ├── mask_rcnn_r101_fpn_1x_nuim.py │ │ │ ├── mask_rcnn_r50_caffe_fpn_1x_nuim.py │ │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ │ │ ├── mask_rcnn_r50_fpn_1x_nuim.py │ │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nuim.py │ │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ │ │ ├── mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ │ └── metafile.yml │ │ ├── paconv │ │ │ ├── README.md │ │ │ ├── metafile.yml │ │ │ ├── paconv_cuda_ssg_8x8_cosine_200e_s3dis_seg-3d-13class.py │ │ │ └── paconv_ssg_8x8_cosine_150e_s3dis_seg-3d-13class.py │ │ ├── parta2 │ │ │ ├── README.md │ │ │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py │ │ │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py │ │ │ └── metafile.yml │ │ ├── pointnet2 │ │ │ ├── README.md │ │ │ ├── metafile.yml │ │ │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ │ │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ │ │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ │ │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ │ │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ │ │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py │ │ ├── pointpillars │ │ │ ├── README.md │ │ │ ├── hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py │ │ │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ │ │ ├── hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py │ │ │ └── metafile.yml │ │ ├── regnet │ │ │ ├── README.md │ │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py │ │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ └── metafile.yml │ │ ├── second │ │ │ ├── README.md │ │ │ ├── hv_second_secfpn_6x8_80e_kitti-3d-3class.py │ │ │ ├── hv_second_secfpn_6x8_80e_kitti-3d-car.py │ │ │ ├── hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ │ │ └── metafile.yml │ │ ├── ssn │ │ │ ├── README.md │ │ │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py │ │ │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py │ │ │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py │ │ │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py │ │ │ └── metafile.yml │ │ └── votenet │ │ │ ├── README.md │ │ │ ├── metafile.yml │ │ │ ├── votenet_16x8_sunrgbd-3d-10class.py │ │ │ ├── votenet_8x8_scannet-3d-18class.py │ │ │ └── votenet_iouloss_8x8_scannet-3d-18class.py │ ├── demo │ │ ├── inference_demo.ipynb │ │ ├── mono_det_demo.py │ │ ├── multi_modality_demo.py │ │ ├── pc_seg_demo.py │ │ └── pcd_demo.py │ ├── docker │ │ └── Dockerfile │ ├── docs │ │ ├── 1_exist_data_model.md │ │ ├── 2_new_data_model.md │ │ ├── Makefile │ │ ├── _static │ │ │ ├── css │ │ │ │ └── readthedocs.css │ │ │ └── image │ │ │ │ └── mmdet3d-logo.png │ │ ├── api.rst │ │ ├── benchmarks.md │ │ ├── changelog.md │ │ ├── compatibility.md │ │ ├── conf.py │ │ ├── data_preparation.md │ │ ├── datasets │ │ │ ├── index.rst │ │ │ ├── kitti_det.md │ │ │ ├── lyft_det.md │ │ │ ├── nuscenes_det.md │ │ │ ├── s3dis_sem_seg.md │ │ │ ├── scannet_det.md │ │ │ ├── scannet_sem_seg.md │ │ │ ├── sunrgbd_det.md │ │ │ └── waymo_det.md │ │ ├── demo.md │ │ ├── faq.md │ │ ├── getting_started.md │ │ ├── index.rst │ │ ├── make.bat │ │ ├── model_zoo.md │ │ ├── stat.py │ │ ├── supported_tasks │ │ │ ├── index.rst │ │ │ ├── lidar_det3d.md │ │ │ ├── lidar_sem_seg3d.md │ │ │ └── vision_det3d.md │ │ ├── switch_language.md │ │ ├── tutorials │ │ │ ├── config.md │ │ │ ├── customize_dataset.md │ │ │ ├── customize_models.md │ │ │ ├── customize_runtime.md │ │ │ ├── data_pipeline.md │ │ │ └── index.rst │ │ └── useful_tools.md │ ├── docs_zh-CN │ │ ├── 1_exist_data_model.md │ │ ├── 2_new_data_model.md │ │ ├── Makefile │ │ ├── _static │ │ │ ├── css │ │ │ │ └── readthedocs.css │ │ │ └── image │ │ │ │ └── mmdet3d-logo.png │ │ ├── api.rst │ │ ├── benchmarks.md │ │ ├── changelog.md │ │ ├── compatibility.md │ │ ├── conf.py │ │ ├── data_preparation.md │ │ ├── datasets │ │ │ ├── index.rst │ │ │ ├── lyft_det.md │ │ │ ├── nuscenes_det.md │ │ │ ├── s3dis_sem_seg.md │ │ │ ├── scannet_det.md │ │ │ ├── scannet_sem_seg.md │ │ │ ├── sunrgbd_det.md │ │ │ └── waymo_det.md │ │ ├── demo.md │ │ ├── faq.md │ │ ├── getting_started.md │ │ ├── index.rst │ │ ├── make.bat │ │ ├── model_zoo.md │ │ ├── stat.py │ │ ├── supported_tasks │ │ │ ├── index.rst │ │ │ ├── lidar_det3d.md │ │ │ ├── lidar_sem_seg3d.md │ │ │ └── vision_det3d.md │ │ ├── switch_language.md │ │ ├── tutorials │ │ │ ├── config.md │ │ │ ├── customize_dataset.md │ │ │ ├── customize_models.md │ │ │ ├── customize_runtime.md │ │ │ ├── data_pipeline.md │ │ │ └── index.rst │ │ └── useful_tools.md │ ├── mmdet3d │ │ ├── .mim │ │ │ ├── configs │ │ │ │ ├── 3dssd │ │ │ │ │ ├── 3dssd_4x4_kitti-3d-car.py │ │ │ │ │ ├── README.md │ │ │ │ │ └── metafile.yml │ │ │ │ ├── _base_ │ │ │ │ │ ├── datasets │ │ │ │ │ │ ├── coco_instance.py │ │ │ │ │ │ ├── kitti-3d-3class.py │ │ │ │ │ │ ├── kitti-3d-car.py │ │ │ │ │ │ ├── lyft-3d.py │ │ │ │ │ │ ├── nuim_instance.py │ │ │ │ │ │ ├── nus-3d.py │ │ │ │ │ │ ├── nus-mono3d.py │ │ │ │ │ │ ├── range100_lyft-3d.py │ │ │ │ │ │ ├── s3dis-3d-5class.py │ │ │ │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ │ │ │ ├── scannet-3d-18class.py │ │ │ │ │ │ ├── scannet_seg-3d-20class.py │ │ │ │ │ │ ├── sunrgbd-3d-10class.py │ │ │ │ │ │ ├── waymoD5-3d-3class.py │ │ │ │ │ │ └── waymoD5-3d-car.py │ │ │ │ │ ├── default_runtime.py │ │ │ │ │ ├── models │ │ │ │ │ │ ├── 3dssd.py │ │ │ │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ │ │ │ ├── fcos3d.py │ │ │ │ │ │ ├── groupfree3d.py │ │ │ │ │ │ ├── h3dnet.py │ │ │ │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ │ │ │ ├── imvotenet_image.py │ │ │ │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ │ │ │ ├── paconv_cuda_ssg.py │ │ │ │ │ │ ├── paconv_ssg.py │ │ │ │ │ │ ├── parta2.py │ │ │ │ │ │ ├── pointnet2_msg.py │ │ │ │ │ │ ├── pointnet2_ssg.py │ │ │ │ │ │ └── votenet.py │ │ │ │ │ └── schedules │ │ │ │ │ │ ├── cosine.py │ │ │ │ │ │ ├── cyclic_20e.py │ │ │ │ │ │ ├── cyclic_40e.py │ │ │ │ │ │ ├── mmdet_schedule_1x.py │ │ │ │ │ │ ├── schedule_2x.py │ │ │ │ │ │ ├── schedule_3x.py │ │ │ │ │ │ ├── seg_cosine_150e.py │ │ │ │ │ │ ├── seg_cosine_200e.py │ │ │ │ │ │ └── seg_cosine_50e.py │ │ │ │ ├── benchmark │ │ │ │ │ ├── hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py │ │ │ │ │ ├── hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py │ │ │ │ │ ├── hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ │ │ │ │ └── hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py │ │ │ │ ├── centerpoint │ │ │ │ │ ├── README.md │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_flip-tta_20e_nus.py │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_tta_20e_nus.py │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_flip-tta_20e_nus.py │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py │ │ │ │ │ ├── centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── dynamic_voxelization │ │ │ │ │ ├── README.md │ │ │ │ │ ├── dv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ │ │ │ │ ├── dv_second_secfpn_2x8_cosine_80e_kitti-3d-3class.py │ │ │ │ │ ├── dv_second_secfpn_6x8_80e_kitti-3d-car.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── fcos3d │ │ │ │ │ ├── README.md │ │ │ │ │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d.py │ │ │ │ │ ├── fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── fp16 │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d.py │ │ │ │ │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py │ │ │ │ │ ├── hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── free_anchor │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── groupfree3d │ │ │ │ │ ├── README.md │ │ │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-L12-O256.py │ │ │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-L6-O256.py │ │ │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O256.py │ │ │ │ │ ├── groupfree3d_8x4_scannet-3d-18class-w2x-L12-O512.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── h3dnet │ │ │ │ │ ├── README.md │ │ │ │ │ ├── h3dnet_3x8_scannet-3d-18class.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── imvotenet │ │ │ │ │ ├── README.md │ │ │ │ │ ├── imvotenet_faster_rcnn_r50_fpn_2x4_sunrgbd-3d-10class.py │ │ │ │ │ ├── imvotenet_stage2_16x8_sunrgbd-3d-10class.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── imvoxelnet │ │ │ │ │ ├── README.md │ │ │ │ │ ├── imvoxelnet_4x8_kitti-3d-car.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── mvxnet │ │ │ │ │ ├── README.md │ │ │ │ │ ├── dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── nuimages │ │ │ │ │ ├── README.md │ │ │ │ │ ├── cascade_mask_rcnn_r101_fpn_1x_nuim.py │ │ │ │ │ ├── cascade_mask_rcnn_r50_fpn_1x_nuim.py │ │ │ │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_1x_nuim.py │ │ │ │ │ ├── cascade_mask_rcnn_r50_fpn_coco-20e_20e_nuim.py │ │ │ │ │ ├── cascade_mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ │ │ │ ├── htc_r50_fpn_1x_nuim.py │ │ │ │ │ ├── htc_r50_fpn_coco-20e_1x_nuim.py │ │ │ │ │ ├── htc_r50_fpn_coco-20e_20e_nuim.py │ │ │ │ │ ├── htc_without_semantic_r50_fpn_1x_nuim.py │ │ │ │ │ ├── htc_x101_64x4d_fpn_dconv_c3-c5_coco-20e_16x1_20e_nuim.py │ │ │ │ │ ├── mask_rcnn_r101_fpn_1x_nuim.py │ │ │ │ │ ├── mask_rcnn_r50_caffe_fpn_1x_nuim.py │ │ │ │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_1x_nuim.py │ │ │ │ │ ├── mask_rcnn_r50_caffe_fpn_coco-3x_20e_nuim.py │ │ │ │ │ ├── mask_rcnn_r50_fpn_1x_nuim.py │ │ │ │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nuim.py │ │ │ │ │ ├── mask_rcnn_r50_fpn_coco-2x_1x_nus-2d.py │ │ │ │ │ ├── mask_rcnn_x101_32x4d_fpn_1x_nuim.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── paconv │ │ │ │ │ ├── README.md │ │ │ │ │ ├── metafile.yml │ │ │ │ │ ├── paconv_cuda_ssg_8x8_cosine_200e_s3dis_seg-3d-13class.py │ │ │ │ │ └── paconv_ssg_8x8_cosine_150e_s3dis_seg-3d-13class.py │ │ │ │ ├── parta2 │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py │ │ │ │ │ ├── hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-car.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── pointnet2 │ │ │ │ │ ├── README.md │ │ │ │ │ ├── metafile.yml │ │ │ │ │ ├── pointnet2_msg_16x2_cosine_250e_scannet_seg-3d-20class.py │ │ │ │ │ ├── pointnet2_msg_16x2_cosine_80e_s3dis_seg-3d-13class.py │ │ │ │ │ ├── pointnet2_msg_xyz-only_16x2_cosine_250e_scannet_seg-3d-20class.py │ │ │ │ │ ├── pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class.py │ │ │ │ │ ├── pointnet2_ssg_16x2_cosine_50e_s3dis_seg-3d-13class.py │ │ │ │ │ └── pointnet2_ssg_xyz-only_16x2_cosine_200e_scannet_seg-3d-20class.py │ │ │ │ ├── pointpillars │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class.py │ │ │ │ │ ├── hv_pointpillars_secfpn_6x8_160e_kitti-3d-car.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ │ │ │ │ ├── hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── regnet │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_pointpillars_regnet-1.6gf_fpn_sbn-all_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_fpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_2x8_2x_lyft-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py │ │ │ │ │ ├── hv_pointpillars_regnet-400mf_secfpn_sbn-all_range100_2x8_2x_lyft-3d.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── second │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_second_secfpn_6x8_80e_kitti-3d-3class.py │ │ │ │ │ ├── hv_second_secfpn_6x8_80e_kitti-3d-car.py │ │ │ │ │ ├── hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class.py │ │ │ │ │ └── metafile.yml │ │ │ │ ├── ssn │ │ │ │ │ ├── README.md │ │ │ │ │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py │ │ │ │ │ ├── hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py │ │ │ │ │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py │ │ │ │ │ ├── hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py │ │ │ │ │ └── metafile.yml │ │ │ │ └── votenet │ │ │ │ │ ├── README.md │ │ │ │ │ ├── metafile.yml │ │ │ │ │ ├── votenet_16x8_sunrgbd-3d-10class.py │ │ │ │ │ ├── votenet_8x8_scannet-3d-18class.py │ │ │ │ │ └── votenet_iouloss_8x8_scannet-3d-18class.py │ │ │ ├── model-index.yml │ │ │ └── tools │ │ │ │ ├── analysis_tools │ │ │ │ ├── analyze_logs.py │ │ │ │ ├── benchmark.py │ │ │ │ └── get_flops.py │ │ │ │ ├── create_data.py │ │ │ │ ├── create_data.sh │ │ │ │ ├── data_converter │ │ │ │ ├── __init__.py │ │ │ │ ├── create_gt_database.py │ │ │ │ ├── indoor_converter.py │ │ │ │ ├── kitti_converter.py │ │ │ │ ├── kitti_data_utils.py │ │ │ │ ├── lyft_converter.py │ │ │ │ ├── lyft_data_fixer.py │ │ │ │ ├── nuimage_converter.py │ │ │ │ ├── nuscenes_converter.py │ │ │ │ ├── s3dis_data_utils.py │ │ │ │ ├── scannet_data_utils.py │ │ │ │ ├── sunrgbd_data_utils.py │ │ │ │ └── waymo_converter.py │ │ │ │ ├── dist_test.sh │ │ │ │ ├── dist_train.sh │ │ │ │ ├── misc │ │ │ │ ├── browse_dataset.py │ │ │ │ ├── fuse_conv_bn.py │ │ │ │ ├── print_config.py │ │ │ │ └── visualize_results.py │ │ │ │ ├── model_converters │ │ │ │ ├── convert_votenet_checkpoints.py │ │ │ │ ├── publish_model.py │ │ │ │ └── regnet2mmdet.py │ │ │ │ ├── slurm_test.sh │ │ │ │ ├── slurm_train.sh │ │ │ │ ├── test.py │ │ │ │ └── train.py │ │ ├── __init__.py │ │ ├── apis │ │ │ ├── __init__.py │ │ │ ├── inference.py │ │ │ ├── test.py │ │ │ └── train.py │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── anchor │ │ │ │ ├── __init__.py │ │ │ │ └── anchor_3d_generator.py │ │ │ ├── bbox │ │ │ │ ├── __init__.py │ │ │ │ ├── assigners │ │ │ │ │ └── __init__.py │ │ │ │ ├── box_np_ops.py │ │ │ │ ├── coders │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── anchor_free_bbox_coder.py │ │ │ │ │ ├── centerpoint_bbox_coders.py │ │ │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ │ │ └── partial_bin_based_bbox_coder.py │ │ │ │ ├── iou_calculators │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── iou3d_calculator.py │ │ │ │ ├── samplers │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── iou_neg_piecewise_sampler.py │ │ │ │ ├── structures │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base_box3d.py │ │ │ │ │ ├── box_3d_mode.py │ │ │ │ │ ├── cam_box3d.py │ │ │ │ │ ├── coord_3d_mode.py │ │ │ │ │ ├── depth_box3d.py │ │ │ │ │ ├── lidar_box3d.py │ │ │ │ │ └── utils.py │ │ │ │ └── transforms.py │ │ │ ├── evaluation │ │ │ │ ├── __init__.py │ │ │ │ ├── indoor_eval.py │ │ │ │ ├── kitti_utils │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── eval.py │ │ │ │ │ └── rotate_iou.py │ │ │ │ ├── lyft_eval.py │ │ │ │ ├── seg_eval.py │ │ │ │ └── waymo_utils │ │ │ │ │ └── prediction_kitti_to_waymo.py │ │ │ ├── points │ │ │ │ ├── __init__.py │ │ │ │ ├── base_points.py │ │ │ │ ├── cam_points.py │ │ │ │ ├── depth_points.py │ │ │ │ └── lidar_points.py │ │ │ ├── post_processing │ │ │ │ ├── __init__.py │ │ │ │ ├── box3d_nms.py │ │ │ │ └── merge_augs.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ └── gaussian.py │ │ │ ├── visualizer │ │ │ │ ├── __init__.py │ │ │ │ ├── image_vis.py │ │ │ │ ├── open3d_vis.py │ │ │ │ └── show_result.py │ │ │ └── voxel │ │ │ │ ├── __init__.py │ │ │ │ ├── builder.py │ │ │ │ └── voxel_generator.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── custom_3d.py │ │ │ ├── custom_3d_seg.py │ │ │ ├── dataset_wrappers.py │ │ │ ├── kitti2d_dataset.py │ │ │ ├── kitti_dataset.py │ │ │ ├── kitti_mono_dataset.py │ │ │ ├── lyft_dataset.py │ │ │ ├── nuscenes_dataset.py │ │ │ ├── nuscenes_mono_dataset.py │ │ │ ├── pipelines │ │ │ │ ├── __init__.py │ │ │ │ ├── data_augment_utils.py │ │ │ │ ├── dbsampler.py │ │ │ │ ├── formating.py │ │ │ │ ├── loading.py │ │ │ │ ├── test_time_aug.py │ │ │ │ └── transforms_3d.py │ │ │ ├── s3dis_dataset.py │ │ │ ├── scannet_dataset.py │ │ │ ├── semantickitti_dataset.py │ │ │ ├── sunrgbd_dataset.py │ │ │ ├── utils.py │ │ │ └── waymo_dataset.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── backbones │ │ │ │ ├── __init__.py │ │ │ │ ├── base_pointnet.py │ │ │ │ ├── multi_backbone.py │ │ │ │ ├── nostem_regnet.py │ │ │ │ ├── pointnet2_sa_msg.py │ │ │ │ ├── pointnet2_sa_ssg.py │ │ │ │ └── second.py │ │ │ ├── builder.py │ │ │ ├── decode_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── decode_head.py │ │ │ │ ├── paconv_head.py │ │ │ │ └── pointnet2_head.py │ │ │ ├── dense_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor3d_head.py │ │ │ │ ├── anchor_free_mono3d_head.py │ │ │ │ ├── base_conv_bbox_head.py │ │ │ │ ├── base_mono3d_dense_head.py │ │ │ │ ├── centerpoint_head.py │ │ │ │ ├── fcos_mono3d_head.py │ │ │ │ ├── free_anchor3d_head.py │ │ │ │ ├── groupfree3d_head.py │ │ │ │ ├── parta2_rpn_head.py │ │ │ │ ├── shape_aware_head.py │ │ │ │ ├── ssd_3d_head.py │ │ │ │ ├── train_mixins.py │ │ │ │ └── vote_head.py │ │ │ ├── detectors │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── centerpoint.py │ │ │ │ ├── dynamic_voxelnet.py │ │ │ │ ├── fcos_mono3d.py │ │ │ │ ├── groupfree3dnet.py │ │ │ │ ├── h3dnet.py │ │ │ │ ├── imvotenet.py │ │ │ │ ├── imvoxelnet.py │ │ │ │ ├── mvx_faster_rcnn.py │ │ │ │ ├── mvx_two_stage.py │ │ │ │ ├── parta2.py │ │ │ │ ├── single_stage.py │ │ │ │ ├── single_stage_mono3d.py │ │ │ │ ├── ssd3dnet.py │ │ │ │ ├── two_stage.py │ │ │ │ ├── votenet.py │ │ │ │ └── voxelnet.py │ │ │ ├── fusion_layers │ │ │ │ ├── __init__.py │ │ │ │ ├── coord_transform.py │ │ │ │ ├── point_fusion.py │ │ │ │ └── vote_fusion.py │ │ │ ├── losses │ │ │ │ ├── __init__.py │ │ │ │ ├── axis_aligned_iou_loss.py │ │ │ │ ├── chamfer_distance.py │ │ │ │ └── paconv_regularization_loss.py │ │ │ ├── middle_encoders │ │ │ │ ├── __init__.py │ │ │ │ ├── pillar_scatter.py │ │ │ │ ├── sparse_encoder.py │ │ │ │ └── sparse_unet.py │ │ │ ├── model_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── transformer.py │ │ │ │ └── vote_module.py │ │ │ ├── necks │ │ │ │ ├── __init__.py │ │ │ │ ├── imvoxel_neck.py │ │ │ │ └── second_fpn.py │ │ │ ├── roi_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── base_3droi_head.py │ │ │ │ ├── bbox_heads │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── h3d_bbox_head.py │ │ │ │ │ └── parta2_bbox_head.py │ │ │ │ ├── h3d_roi_head.py │ │ │ │ ├── mask_heads │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── pointwise_semantic_head.py │ │ │ │ │ └── primitive_head.py │ │ │ │ ├── part_aggregation_roi_head.py │ │ │ │ └── roi_extractors │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── single_roiaware_extractor.py │ │ │ ├── segmentors │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ └── encoder_decoder.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── clip_sigmoid.py │ │ │ │ └── mlp.py │ │ │ └── voxel_encoders │ │ │ │ ├── __init__.py │ │ │ │ ├── pillar_encoder.py │ │ │ │ ├── utils.py │ │ │ │ └── voxel_encoder.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── ball_query │ │ │ │ ├── __init__.py │ │ │ │ ├── ball_query.py │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ └── ball_query_cuda.cu │ │ │ ├── bev_pool │ │ │ │ ├── __init__.py │ │ │ │ ├── bev_pool.py │ │ │ │ └── src │ │ │ │ │ ├── bev_pool.cpp │ │ │ │ │ └── bev_pool_cuda.cu │ │ │ ├── furthest_point_sample │ │ │ │ ├── __init__.py │ │ │ │ ├── furthest_point_sample.py │ │ │ │ ├── points_sampler.py │ │ │ │ ├── src │ │ │ │ │ ├── furthest_point_sample.cpp │ │ │ │ │ └── furthest_point_sample_cuda.cu │ │ │ │ └── utils.py │ │ │ ├── gather_points │ │ │ │ ├── __init__.py │ │ │ │ ├── gather_points.py │ │ │ │ └── src │ │ │ │ │ ├── gather_points.cpp │ │ │ │ │ └── gather_points_cuda.cu │ │ │ ├── group_points │ │ │ │ ├── __init__.py │ │ │ │ ├── group_points.py │ │ │ │ └── src │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ └── group_points_cuda.cu │ │ │ ├── interpolate │ │ │ │ ├── __init__.py │ │ │ │ ├── src │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── three_interpolate_cuda.cu │ │ │ │ │ └── three_nn_cuda.cu │ │ │ │ ├── three_interpolate.py │ │ │ │ └── three_nn.py │ │ │ ├── iou3d │ │ │ │ ├── __init__.py │ │ │ │ ├── iou3d_utils.py │ │ │ │ └── src │ │ │ │ │ ├── iou3d.cpp │ │ │ │ │ └── iou3d_kernel.cu │ │ │ ├── knn │ │ │ │ ├── __init__.py │ │ │ │ ├── knn.py │ │ │ │ └── src │ │ │ │ │ ├── knn.cpp │ │ │ │ │ └── knn_cuda.cu │ │ │ ├── norm.py │ │ │ ├── paconv │ │ │ │ ├── __init__.py │ │ │ │ ├── assign_score.py │ │ │ │ ├── paconv.py │ │ │ │ ├── src │ │ │ │ │ ├── assign_score_withk.cpp │ │ │ │ │ └── assign_score_withk_cuda.cu │ │ │ │ └── utils.py │ │ │ ├── pointnet_modules │ │ │ │ ├── __init__.py │ │ │ │ ├── builder.py │ │ │ │ ├── paconv_sa_module.py │ │ │ │ ├── point_fp_module.py │ │ │ │ └── point_sa_module.py │ │ │ ├── roiaware_pool3d │ │ │ │ ├── __init__.py │ │ │ │ ├── points_in_boxes.py │ │ │ │ ├── roiaware_pool3d.py │ │ │ │ └── src │ │ │ │ │ ├── points_in_boxes_cpu.cpp │ │ │ │ │ ├── points_in_boxes_cuda.cu │ │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ │ ├── sparse_block.py │ │ │ ├── spconv │ │ │ │ ├── __init__.py │ │ │ │ ├── conv.py │ │ │ │ ├── functional.py │ │ │ │ ├── include │ │ │ │ │ ├── paramsgrid.h │ │ │ │ │ ├── prettyprint.h │ │ │ │ │ ├── pybind11_utils.h │ │ │ │ │ ├── spconv │ │ │ │ │ │ ├── fused_spconv_ops.h │ │ │ │ │ │ ├── geometry.h │ │ │ │ │ │ ├── indice.cu.h │ │ │ │ │ │ ├── indice.h │ │ │ │ │ │ ├── maxpool.h │ │ │ │ │ │ ├── mp_helper.h │ │ │ │ │ │ ├── point2voxel.h │ │ │ │ │ │ ├── pool_ops.h │ │ │ │ │ │ ├── reordering.cu.h │ │ │ │ │ │ ├── reordering.h │ │ │ │ │ │ └── spconv_ops.h │ │ │ │ │ ├── tensorview │ │ │ │ │ │ ├── helper_kernel.cu.h │ │ │ │ │ │ ├── helper_launch.h │ │ │ │ │ │ └── tensorview.h │ │ │ │ │ ├── torch_utils.h │ │ │ │ │ └── utility │ │ │ │ │ │ └── timer.h │ │ │ │ ├── modules.py │ │ │ │ ├── ops.py │ │ │ │ ├── pool.py │ │ │ │ ├── src │ │ │ │ │ ├── all.cc │ │ │ │ │ ├── indice.cc │ │ │ │ │ ├── indice_cuda.cu │ │ │ │ │ ├── maxpool.cc │ │ │ │ │ ├── maxpool_cuda.cu │ │ │ │ │ ├── reordering.cc │ │ │ │ │ └── reordering_cuda.cu │ │ │ │ ├── structure.py │ │ │ │ └── test_utils.py │ │ │ ├── voxel │ │ │ │ ├── __init__.py │ │ │ │ ├── scatter_points.py │ │ │ │ ├── src │ │ │ │ │ ├── scatter_points_cpu.cpp │ │ │ │ │ ├── scatter_points_cuda.cu │ │ │ │ │ ├── voxelization.cpp │ │ │ │ │ ├── voxelization.h │ │ │ │ │ ├── voxelization_cpu.cpp │ │ │ │ │ └── voxelization_cuda.cu │ │ │ │ └── voxelize.py │ │ │ ├── voxel_pooling │ │ │ │ ├── __init__.py │ │ │ │ ├── src │ │ │ │ │ ├── voxel_pooling_forward.cpp │ │ │ │ │ └── voxel_pooling_forward_cuda.cu │ │ │ │ └── voxel_pooling.py │ │ │ └── voxel_pooling_stereo │ │ │ │ ├── __init__.py │ │ │ │ ├── src │ │ │ │ ├── voxel_pooling_forward.cpp │ │ │ │ └── voxel_pooling_forward_cuda.cu │ │ │ │ └── voxel_pooling.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── collect_env.py │ │ │ └── logger.py │ │ └── version.py │ ├── model-index.yml │ ├── requirements.txt │ ├── requirements │ │ ├── build.txt │ │ ├── docs.txt │ │ ├── mminstall.txt │ │ ├── optional.txt │ │ ├── readthedocs.txt │ │ ├── runtime.txt │ │ └── tests.txt │ ├── resources │ │ ├── browse_dataset_mono.png │ │ ├── browse_dataset_multi_modality.png │ │ ├── browse_dataset_seg.png │ │ ├── data_pipeline.png │ │ ├── loss_curve.png │ │ ├── mmdet3d-logo.png │ │ ├── mmdet3d_outdoor_demo.gif │ │ ├── nuimages_demo.gif │ │ ├── open3d_visual.gif │ │ ├── qq_group_qrcode.png │ │ └── zhihu_qrcode.jpg │ ├── setup.cfg │ ├── setup.py │ ├── tests │ │ ├── test_data │ │ │ ├── test_datasets │ │ │ │ ├── test_dataset_wrappers.py │ │ │ │ ├── test_kitti_dataset.py │ │ │ │ ├── test_kitti_mono_dataset.py │ │ │ │ ├── test_lyft_dataset.py │ │ │ │ ├── test_nuscene_dataset.py │ │ │ │ ├── test_nuscenes_mono_dataset.py │ │ │ │ ├── test_s3dis_dataset.py │ │ │ │ ├── test_scannet_dataset.py │ │ │ │ ├── test_semantickitti_dataset.py │ │ │ │ ├── test_sunrgbd_dataset.py │ │ │ │ └── test_waymo_dataset.py │ │ │ └── test_pipelines │ │ │ │ ├── test_augmentations │ │ │ │ ├── test_data_augment_utils.py │ │ │ │ ├── test_test_augment_utils.py │ │ │ │ └── test_transforms_3d.py │ │ │ │ ├── test_indoor_pipeline.py │ │ │ │ ├── test_indoor_sample.py │ │ │ │ ├── test_loadings │ │ │ │ ├── test_load_images_from_multi_views.py │ │ │ │ ├── test_load_points_from_multi_sweeps.py │ │ │ │ └── test_loading.py │ │ │ │ └── test_outdoor_pipeline.py │ │ ├── test_metrics │ │ │ ├── test_indoor_eval.py │ │ │ ├── test_kitti_eval.py │ │ │ ├── test_losses.py │ │ │ └── test_seg_eval.py │ │ ├── test_models │ │ │ ├── test_backbones.py │ │ │ ├── test_common_modules │ │ │ │ ├── test_middle_encoders.py │ │ │ │ ├── test_paconv_modules.py │ │ │ │ ├── test_paconv_ops.py │ │ │ │ ├── test_pointnet_modules.py │ │ │ │ ├── test_pointnet_ops.py │ │ │ │ ├── test_roiaware_pool3d.py │ │ │ │ ├── test_sparse_unet.py │ │ │ │ └── test_vote_module.py │ │ │ ├── test_detectors.py │ │ │ ├── test_forward.py │ │ │ ├── test_fusion │ │ │ │ ├── test_fusion_coord_trans.py │ │ │ │ ├── test_point_fusion.py │ │ │ │ └── test_vote_fusion.py │ │ │ ├── test_heads │ │ │ │ ├── test_heads.py │ │ │ │ ├── test_paconv_decode_head.py │ │ │ │ ├── test_parta2_bbox_head.py │ │ │ │ ├── test_pointnet2_decode_head.py │ │ │ │ ├── test_roi_extractors.py │ │ │ │ └── test_semantic_heads.py │ │ │ ├── test_necks │ │ │ │ ├── test_fpn.py │ │ │ │ └── test_necks.py │ │ │ ├── test_segmentors.py │ │ │ └── test_voxel_encoder │ │ │ │ ├── test_dynamic_scatter.py │ │ │ │ ├── test_voxel_encoders.py │ │ │ │ ├── test_voxel_generator.py │ │ │ │ └── test_voxelize.py │ │ ├── test_runtime │ │ │ ├── test_apis.py │ │ │ └── test_config.py │ │ ├── test_samples │ │ │ └── parta2_roihead_inputs.npz │ │ └── test_utils │ │ │ ├── test_anchors.py │ │ │ ├── test_assigners.py │ │ │ ├── test_bbox_coders.py │ │ │ ├── test_box3d.py │ │ │ ├── test_box_np_ops.py │ │ │ ├── test_coord_3d_mode.py │ │ │ ├── test_merge_augs.py │ │ │ ├── test_nms.py │ │ │ ├── test_points.py │ │ │ ├── test_samplers.py │ │ │ └── test_utils.py │ └── tools │ │ ├── analysis_tools │ │ ├── analyze_logs.py │ │ ├── benchmark.py │ │ └── get_flops.py │ │ ├── create_data.py │ │ ├── create_data.sh │ │ ├── data_converter │ │ ├── __init__.py │ │ ├── create_gt_database.py │ │ ├── indoor_converter.py │ │ ├── kitti_converter.py │ │ ├── kitti_data_utils.py │ │ ├── lyft_converter.py │ │ ├── lyft_data_fixer.py │ │ ├── nuimage_converter.py │ │ ├── nuscenes_converter.py │ │ ├── s3dis_data_utils.py │ │ ├── scannet_data_utils.py │ │ ├── sunrgbd_data_utils.py │ │ └── waymo_converter.py │ │ ├── dist_test.sh │ │ ├── dist_train.sh │ │ ├── misc │ │ ├── browse_dataset.py │ │ ├── fuse_conv_bn.py │ │ ├── print_config.py │ │ └── visualize_results.py │ │ ├── model_converters │ │ ├── convert_votenet_checkpoints.py │ │ ├── publish_model.py │ │ └── regnet2mmdet.py │ │ ├── slurm_test.sh │ │ ├── slurm_train.sh │ │ ├── test.py │ │ └── train.py └── setup.sh ├── preprocess ├── generating_files.py ├── image2depth_kitti360.sh ├── image2depth_semantickitti.sh └── mobilestereonet │ ├── LICENSE │ ├── MSNet3D_SF_DS_KITTI2015.ckpt │ ├── datasets │ ├── __init__.py │ ├── data_io.py │ └── dataset.py │ ├── filenames │ ├── 00.txt │ ├── 01.txt │ ├── 02.txt │ ├── 03.txt │ ├── 04.txt │ ├── 05.txt │ ├── 06.txt │ ├── 07.txt │ ├── 08.txt │ ├── 09.txt │ ├── 10.txt │ ├── 11.txt │ ├── 12.txt │ ├── 13.txt │ ├── 14.txt │ ├── 15.txt │ ├── 16.txt │ ├── 17.txt │ ├── 18.txt │ ├── 19.txt │ ├── 20.txt │ └── 21.txt │ ├── filenames_kitti360 │ ├── 2013_05_28_drive_0000_sync.txt │ ├── 2013_05_28_drive_0002_sync.txt │ ├── 2013_05_28_drive_0003_sync.txt │ ├── 2013_05_28_drive_0004_sync.txt │ ├── 2013_05_28_drive_0005_sync.txt │ ├── 2013_05_28_drive_0006_sync.txt │ ├── 2013_05_28_drive_0007_sync.txt │ ├── 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