├── .gitignore ├── .vscode └── launch.json ├── LICENSE ├── README.md ├── adzoo ├── __init__.py ├── bevformer │ ├── apis │ │ ├── __init__.py │ │ ├── mmdet_train.py │ │ ├── test.py │ │ └── train.py │ └── mmdet3d_plugin │ │ ├── bevformer │ │ ├── __init__.py │ │ ├── apis │ │ │ ├── __init__.py │ │ │ ├── mmdet_train.py │ │ │ ├── test.py │ │ │ └── train.py │ │ └── hooks │ │ │ ├── __init__.py │ │ │ └── custom_hooks.py │ │ ├── dd3d │ │ ├── __init__.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── nuscenes.py │ │ │ └── transform_utils.py │ │ ├── layers │ │ │ ├── iou_loss.py │ │ │ ├── normalization.py │ │ │ └── smooth_l1_loss.py │ │ ├── modeling │ │ │ ├── __init__.py │ │ │ ├── core.py │ │ │ ├── disentangled_box3d_loss.py │ │ │ ├── fcos2d.py │ │ │ ├── fcos3d.py │ │ │ ├── nuscenes_dd3d.py │ │ │ └── prepare_targets.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── boxes3d.py │ │ │ ├── image_list.py │ │ │ ├── pose.py │ │ │ └── transform3d.py │ │ └── utils │ │ │ ├── comm.py │ │ │ ├── geometry.py │ │ │ ├── tasks.py │ │ │ ├── tensor2d.py │ │ │ └── visualization.py │ │ └── models │ │ └── hooks │ │ ├── __init__.py │ │ └── hooks.py └── vad │ ├── analysis_tools │ ├── __init__.py │ ├── analyze_logs.py │ ├── benchmark.py │ ├── get_flops.py │ ├── get_params.py │ └── visualization.py │ ├── apis │ ├── __init__.py │ ├── mmdet_train.py │ ├── test.py │ └── train.py │ ├── configs │ ├── VAD │ │ ├── VAD_baseline_config.py │ │ └── VADv2_voca4096_config.py │ ├── _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 │ └── datasets │ │ ├── custom_lyft-3d.py │ │ ├── custom_nus-3d.py │ │ └── custom_waymo-3d.py │ ├── create_data.py │ ├── data_converter │ ├── __init__.py │ ├── create_gt_database.py │ └── vad_nuscenes_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 │ ├── test.py │ ├── test_scenario.py │ └── train.py ├── data ├── sample_data │ ├── eval_map.json │ ├── nuplan │ │ └── dataset │ │ │ ├── maps │ │ │ └── expansion │ │ │ │ └── us-nv-las-vegas-strip.json │ │ │ └── sensor_blobs │ │ │ └── 2021.05.12.22.28.35_veh-35_00350_00568 │ │ │ ├── CAM_B0 │ │ │ ├── 0eb015a9ea3a5a8e.jpg │ │ │ ├── 1248c66870df5da7.jpg │ │ │ ├── 4ba4b501be5a54a8.jpg │ │ │ ├── 5cffc6c46e29534b.jpg │ │ │ ├── 685845f8304b5a8f.jpg │ │ │ ├── c26bc4cd6d41542b.jpg │ │ │ ├── d2b8c98e5aa65a6d.jpg │ │ │ ├── d750e7d692495f10.jpg │ │ │ ├── feef3a0ad24059fb.jpg │ │ │ └── ff83db719b26503f.jpg │ │ │ ├── CAM_F0 │ │ │ ├── 0bf32c67a35f5063.jpg │ │ │ ├── 1b0b34600b1e5791.jpg │ │ │ ├── 1be8ba2dfa225299.jpg │ │ │ ├── 34cd91e141f1553a.jpg │ │ │ ├── 60e6b342a27453fb.jpg │ │ │ ├── 70cdb5d998b05ac7.jpg │ │ │ ├── 72cfe32eabd350d5.jpg │ │ │ ├── 9cb2368a4f025ba7.jpg │ │ │ ├── cf939e6a027a5311.jpg │ │ │ └── f0e4b6f330245b34.jpg │ │ │ ├── CAM_L0 │ │ │ ├── 0411e9dc86a25eea.jpg │ │ │ ├── 0830fc03e5875026.jpg │ │ │ ├── 2ce7d7437a5b5b40.jpg │ │ │ ├── 40923926eadf5532.jpg │ │ │ ├── 500f4569f8a05e2c.jpg │ │ │ ├── 92ab01922abd5546.jpg │ │ │ ├── af5385e75e055746.jpg │ │ │ ├── c6278397e3b75fa8.jpg │ │ │ ├── e5f810a7048f5dd3.jpg │ │ │ └── f6053db3b6445511.jpg │ │ │ ├── CAM_L1 │ │ │ ├── 4a6dbb3490995ed2.jpg │ │ │ ├── 6565078033875be4.jpg │ │ │ ├── 6f17126db6345eb2.jpg │ │ │ ├── 738047361feb5cad.jpg │ │ │ ├── 8eb125dac61f5f12.jpg │ │ │ ├── 8fc84ba9114c5bd0.jpg │ │ │ ├── 96445d0d49ab5060.jpg │ │ │ ├── 9889f239bee85189.jpg │ │ │ ├── b3011c0d63ed599a.jpg │ │ │ └── c226b3bd7ddd57cd.jpg │ │ │ ├── CAM_L2 │ │ │ ├── 0725cbf8ffda5a2d.jpg │ │ │ ├── 0f9f443b9b1556aa.jpg │ │ │ ├── 101723626d865afb.jpg │ │ │ ├── 225f843569b05008.jpg │ │ │ ├── 3f9bef8205475ce1.jpg │ │ │ ├── 4f27a397df94539d.jpg │ │ │ ├── 80514fff65a55221.jpg │ │ │ ├── ac74f8c2388d58ce.jpg │ │ │ ├── bc87dd1489ae51f1.jpg │ │ │ └── f531b620a9d2527f.jpg │ │ │ ├── CAM_R0 │ │ │ ├── 19701ccbd26b5cf0.jpg │ │ │ ├── 1d2a26bb64b55316.jpg │ │ │ ├── 37bb55acd34952ad.jpg │ │ │ ├── 3c26d484246750d7.jpg │ │ │ ├── 41fa2dcb57f45346.jpg │ │ │ ├── 4bed78f03d2755a6.jpg │ │ │ ├── 5dd27c199d8f5b8e.jpg │ │ │ ├── 86d6d4e861975f24.jpg │ │ │ ├── 9d83448019265815.jpg │ │ │ └── eac2a7c867a951b5.jpg │ │ │ ├── CAM_R1 │ │ │ ├── 2896fbf42b5a5975.jpg │ │ │ ├── 29c9e9fae09b58b8.jpg │ │ │ ├── 85dea088fa685923.jpg │ │ │ ├── 8923f708d1705dd8.jpg │ │ │ ├── 89656d1596565463.jpg │ │ │ ├── b06a594261ff5cc6.jpg │ │ │ ├── b9e624686c2d53e1.jpg │ │ │ ├── cd9cd3c694955b2b.jpg │ │ │ ├── e1f558a5971e56ea.jpg │ │ │ └── effa29de78f752a3.jpg │ │ │ └── CAM_R2 │ │ │ ├── 1a309c144723522a.jpg │ │ │ ├── 1bcfde16d5ec5d7b.jpg │ │ │ ├── 2f54daf4c054502d.jpg │ │ │ ├── 7012df8dede5562f.jpg │ │ │ ├── 7c3bc5295e685ec3.jpg │ │ │ ├── 8c54889949655847.jpg │ │ │ ├── 8f43360b1179528b.jpg │ │ │ ├── b266e4bb00f7552e.jpg │ │ │ ├── cf4f8ccb0ac25b88.jpg │ │ │ └── fbf207a647c755a7.jpg │ └── sample_ann.pkl └── traj_clusters │ └── 4096 │ ├── cluster_centers_ori.npy │ ├── cluster_centers_residual.npy │ ├── cluster_centroids.png │ └── kmeans_model.pkl ├── docs ├── asset │ ├── VADv2.gif │ ├── VADv2.mp4 │ ├── cluster_centroids.png │ ├── frameworkv2_00.png │ └── vadv2_baseline │ │ ├── ADE_car_comparison.png │ │ ├── ADE_pedestrian_comparison.png │ │ ├── FDE_car_comparison.png │ │ ├── FDE_pedestrian_comparison.png │ │ ├── fp_car_comparison.png │ │ ├── fp_pedestrian_comparison.png │ │ ├── plan_L2_1s_comparison.png │ │ ├── plan_L2_2s_comparison.png │ │ ├── plan_L2_3s_comparison.png │ │ ├── plan_obj_box_col_1s_comparison.png │ │ ├── plan_obj_box_col_2s_comparison.png │ │ └── plan_obj_box_col_3s_comparison.png ├── env_install.md └── train_test.md ├── mmcv ├── __init__.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ ├── anchor_3d_generator.py │ │ ├── anchor_generator.py │ │ ├── builder.py │ │ ├── point_generator.py │ │ └── utils.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── assign_result.py │ │ │ ├── base_assigner.py │ │ │ ├── hungarian_assigner.py │ │ │ ├── hungarian_assigner_3d.py │ │ │ ├── hungarian_assigner_3d_track.py │ │ │ └── map_hungarian_assigner_3d.py │ │ ├── box_np_ops.py │ │ ├── builder.py │ │ ├── coder │ │ │ ├── __init__.py │ │ │ ├── base_bbox_coder.py │ │ │ ├── detr3d_track_coder.py │ │ │ ├── fut_nms_free_coder.py │ │ │ ├── map_nms_free_coder.py │ │ │ └── nms_free_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── iou2d_calculator.py │ │ │ └── iou3d_calculator.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── match_cost.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── base_sampler.py │ │ │ ├── pseudo_sampler.py │ │ │ └── sampling_result.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ ├── nuscenes_box.py │ │ │ └── utils.py │ │ ├── transforms.py │ │ └── util.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── bbox_overlaps.py │ │ ├── class_names.py │ │ ├── eval_hooks.py │ │ ├── indoor_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── mean_ap.py │ │ ├── metric_motion.py │ │ ├── metrics.py │ │ ├── recall.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ └── prediction_kitti_to_waymo.py │ ├── mask │ │ ├── __init__.py │ │ ├── mask_target.py │ │ ├── structures.py │ │ └── utils.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── bbox_nms.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── dist_utils.py │ │ ├── gaussian.py │ │ └── misc.py │ ├── visualization │ │ ├── __init__.py │ │ └── image.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── api_wrappers │ │ ├── __init__.py │ │ └── coco_api.py │ ├── builder.py │ ├── custom.py │ ├── custom_3d.py │ ├── data_utils │ │ ├── data_utils.py │ │ ├── rasterize.py │ │ ├── trajectory_api.py │ │ └── vector_map.py │ ├── dataset_wrappers.py │ ├── eval_utils │ │ ├── eval_utils.py │ │ ├── map_api.py │ │ ├── metric_utils.py │ │ ├── nuscenes_eval.py │ │ └── nuscenes_eval_motion.py │ ├── image_prefetcher.py │ ├── map_utils │ │ ├── mean_ap.py │ │ ├── struct.py │ │ ├── tpfp.py │ │ └── tpfp_chamfer.py │ ├── nuscenes_dataset.py │ ├── nuscenes_eval.py │ ├── nuscenes_vad_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── occflow_label.py │ │ ├── test_time_aug.py │ │ ├── transforms.py │ │ └── transforms_3d.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ ├── utils.py │ ├── vad_custom_nuscenes_eval.py │ ├── vad_nusc_detection_cvpr_2019.json │ └── vis_utils.py ├── fileio │ ├── __init__.py │ ├── file_client.py │ ├── handlers │ │ ├── __init__.py │ │ ├── base.py │ │ ├── db_handler.py │ │ ├── dir_handler.py │ │ ├── json_handler.py │ │ └── pickle_handler.py │ ├── io.py │ └── parse.py ├── image │ ├── __init__.py │ ├── colorspace.py │ ├── geometric.py │ ├── io.py │ ├── misc.py │ └── photometric.py ├── layers │ ├── __init__.py │ ├── aspp.py │ ├── batch_norm.py │ ├── blocks.py │ ├── csrc │ │ ├── README.md │ │ ├── ROIAlignRotated │ │ │ ├── ROIAlignRotated.h │ │ │ ├── ROIAlignRotated_cpu.cpp │ │ │ └── ROIAlignRotated_cuda.cu │ │ ├── box_iou_rotated │ │ │ ├── box_iou_rotated.h │ │ │ ├── box_iou_rotated_cpu.cpp │ │ │ ├── box_iou_rotated_cuda.cu │ │ │ └── box_iou_rotated_utils.h │ │ ├── cocoeval │ │ │ ├── cocoeval.cpp │ │ │ └── cocoeval.h │ │ ├── cuda_version.cu │ │ ├── deformable │ │ │ ├── deform_conv.h │ │ │ ├── deform_conv_cuda.cu │ │ │ └── deform_conv_cuda_kernel.cu │ │ ├── nms_rotated │ │ │ ├── nms_rotated.h │ │ │ ├── nms_rotated_cpu.cpp │ │ │ └── nms_rotated_cuda.cu │ │ └── vision.cpp │ ├── deform_conv.py │ ├── losses.py │ ├── mask_ops.py │ ├── nms.py │ ├── roi_align.py │ ├── roi_align_rotated.py │ ├── rotated_boxes.py │ ├── shape_spec.py │ └── wrappers.py ├── losses │ ├── __init__.py │ ├── dice_loss.py │ ├── focal_loss.py │ ├── fvcore_smooth_l1_loss.py │ ├── occflow_loss.py │ ├── planning_loss.py │ ├── track_loss.py │ └── traj_loss.py ├── metrics │ ├── classification.py │ ├── compositional.py │ ├── distributed.py │ ├── metric.py │ ├── reduction.py │ └── utils.py ├── modeling │ └── postprocessing.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_module.py │ │ ├── resnet.py │ │ ├── vgg.py │ │ └── vovnet.py │ ├── bricks │ │ ├── __init__.py │ │ ├── activation.py │ │ ├── conv.py │ │ ├── conv_module.py │ │ ├── drop.py │ │ ├── norm.py │ │ ├── padding.py │ │ ├── plugin.py │ │ ├── registry.py │ │ ├── transformer.py │ │ └── wrappers.py │ ├── builder.py │ ├── dense_heads │ │ ├── VAD_head.py │ │ ├── VADv2_head.py │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── anchor_free_head.py │ │ ├── anchor_head.py │ │ ├── base_dense_head.py │ │ ├── bev_head.py │ │ ├── bevformer_head.py │ │ ├── dense_test_mixins.py │ │ ├── detr_head.py │ │ ├── free_anchor3d_head.py │ │ ├── ga_rpn_head.py │ │ ├── guided_anchor_head.py │ │ ├── motion_head.py │ │ ├── motion_head_plugin │ │ │ ├── __init__.py │ │ │ ├── base_motion_head.py │ │ │ ├── modules.py │ │ │ ├── motion_deformable_attn.py │ │ │ ├── motion_optimization.py │ │ │ └── motion_utils.py │ │ ├── occ_head.py │ │ ├── occ_head_plugin │ │ │ ├── __init__.py │ │ │ ├── metrics.py │ │ │ ├── modules.py │ │ │ └── utils.py │ │ ├── panseg_head.py │ │ ├── planning_head.py │ │ ├── planning_head_plugin │ │ │ ├── __init__.py │ │ │ ├── collision_optimization.py │ │ │ ├── metric_stp3.py │ │ │ └── planning_metrics.py │ │ ├── rpn_head.py │ │ ├── seg_head_plugin │ │ │ ├── __init__.py │ │ │ ├── seg_assigner.py │ │ │ ├── seg_deformable_transformer.py │ │ │ ├── seg_detr_head.py │ │ │ ├── seg_mask_head.py │ │ │ └── seg_utils.py │ │ ├── track_head.py │ │ ├── track_head_plugin │ │ │ ├── __init__.py │ │ │ ├── modules.py │ │ │ ├── track_instance.py │ │ │ └── tracker.py │ │ └── train_mixins.py │ ├── detectors │ │ ├── VAD.py │ │ ├── VAD_trt.py │ │ ├── VADv2.py │ │ ├── __init__.py │ │ ├── base.py │ │ ├── mvx_two_stage.py │ │ ├── single_stage.py │ │ └── single_stage_mono3d.py │ ├── losses │ │ ├── __init__.py │ │ ├── cross_entropy_loss.py │ │ ├── focal_loss.py │ │ ├── iou_loss.py │ │ ├── smooth_l1_loss.py │ │ └── utils.py │ ├── modules │ │ ├── VAD_transformer.py │ │ ├── __init__.py │ │ ├── custom_base_transformer_layer.py │ │ ├── decoder.py │ │ ├── encoder.py │ │ ├── group_attention.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── spatial_cross_attention.py │ │ ├── temporal_self_attention.py │ │ ├── transformer.py │ │ ├── transformerV2.py │ │ ├── vote_module.py │ │ └── vqvae.py │ ├── necks │ │ ├── __init__.py │ │ ├── fpn.py │ │ └── fpn_seg.py │ ├── opt │ │ ├── __init__.py │ │ └── adamw.py │ ├── roi_heads │ │ └── mask_heads │ │ │ ├── __init__.py │ │ │ └── fused_semantic_head.py │ ├── segmentors │ │ ├── __init__.py │ │ └── base.py │ ├── utils │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── functional.py │ │ ├── fuse_conv_bn.py │ │ ├── grid_mask.py │ │ ├── positional_encoding.py │ │ ├── res_layer.py │ │ ├── transformer.py │ │ └── weight_init.py │ └── vad_utils │ │ ├── CD_loss.py │ │ ├── __init__.py │ │ ├── map_utils.py │ │ ├── plan_loss.py │ │ └── traj_lr_warmup.py ├── nuscenes │ ├── __init__.py │ ├── can_bus │ │ └── can_bus_api.py │ ├── eval │ │ ├── __init__.py │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── data_classes.py │ │ │ ├── loaders.py │ │ │ ├── render.py │ │ │ └── utils.py │ │ ├── detection │ │ │ ├── __init__.py │ │ │ ├── algo.py │ │ │ ├── config.py │ │ │ ├── configs │ │ │ │ └── detection_cvpr_2019.json │ │ │ ├── constants.py │ │ │ ├── data_classes.py │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_algo.py │ │ │ │ ├── test_data_classes.py │ │ │ │ ├── test_evaluate.py │ │ │ │ ├── test_loader.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── lidarseg │ │ │ ├── __init__.py │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ │ └── __init__.py │ │ │ ├── utils.py │ │ │ └── validate_submission.py │ │ ├── panoptic │ │ │ ├── __init__.py │ │ │ ├── baselines.py │ │ │ ├── evaluate.py │ │ │ ├── get_panoptic_from_seg_det_or_track.py │ │ │ ├── panoptic_seg_evaluator.py │ │ │ ├── panoptic_track_evaluator.py │ │ │ └── utils.py │ │ ├── prediction │ │ │ ├── __init__.py │ │ │ ├── baseline_model_inference.py │ │ │ ├── compute_metrics.py │ │ │ ├── config.py │ │ │ ├── configs │ │ │ │ └── predict_2020_icra.json │ │ │ ├── data_classes.py │ │ │ ├── metrics.py │ │ │ ├── splits.py │ │ │ ├── submission │ │ │ │ ├── __init__.py │ │ │ │ └── do_inference.py │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_dataclasses.py │ │ │ │ └── test_metrics.py │ │ └── tracking │ │ │ ├── __init__.py │ │ │ ├── algo.py │ │ │ ├── configs │ │ │ └── tracking_nips_2019.json │ │ │ ├── constants.py │ │ │ ├── data_classes.py │ │ │ ├── evaluate.py │ │ │ ├── loaders.py │ │ │ ├── metrics.py │ │ │ ├── mot.py │ │ │ ├── render.py │ │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── scenarios.py │ │ │ ├── test_algo.py │ │ │ └── test_evaluate.py │ │ │ └── utils.py │ ├── lidarseg │ │ ├── __init__.py │ │ ├── class_histogram.py │ │ └── lidarseg_utils.py │ ├── map_expansion │ │ ├── __init__.py │ │ ├── arcline_path_utils.py │ │ ├── bitmap.py │ │ ├── map_api.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── test_all_maps.py │ │ │ └── test_arcline_path_utils.py │ │ └── utils.py │ ├── nuscenes.py │ ├── panoptic │ │ ├── __init__.py │ │ ├── generate_panoptic_labels.py │ │ └── panoptic_utils.py │ ├── prediction │ │ ├── __init__.py │ │ ├── helper.py │ │ ├── input_representation │ │ │ ├── __init__.py │ │ │ ├── agents.py │ │ │ ├── combinators.py │ │ │ ├── interface.py │ │ │ ├── static_layers.py │ │ │ ├── tests │ │ │ │ ├── __init__.py │ │ │ │ ├── test_agents.py │ │ │ │ ├── test_combinators.py │ │ │ │ ├── test_static_layers.py │ │ │ │ └── test_utils.py │ │ │ └── utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── backbone.py │ │ │ ├── covernet.py │ │ │ ├── mtp.py │ │ │ └── physics.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── run_covernet.py │ │ │ ├── run_image_generation.py │ │ │ ├── run_mtp.py │ │ │ ├── test_backbone.py │ │ │ ├── test_covernet.py │ │ │ ├── test_mtp.py │ │ │ ├── test_mtp_loss.py │ │ │ ├── test_physics_models.py │ │ │ └── test_predict_helper.py │ ├── scripts │ │ ├── __init__.py │ │ ├── export_2d_annotations_as_json.py │ │ ├── export_egoposes_on_map.py │ │ ├── export_instance_videos.py │ │ ├── export_kitti.py │ │ ├── export_pointclouds_as_obj.py │ │ ├── export_poses.py │ │ └── export_scene_videos.py │ ├── tests │ │ ├── __init__.py │ │ ├── assert_download.py │ │ ├── test_lidarseg.py │ │ ├── test_nuscenes.py │ │ └── test_predict_helper.py │ └── utils │ │ ├── __init__.py │ │ ├── color_map.py │ │ ├── data_classes.py │ │ ├── data_io.py │ │ ├── geometry_utils.py │ │ ├── kitti.py │ │ ├── map_mask.py │ │ ├── splits.py │ │ └── tests │ │ ├── __init__.py │ │ ├── test_data_classes.py │ │ ├── test_geometry_utils.py │ │ └── test_map_mask.py ├── ops │ ├── __init__.py │ ├── csrc │ │ ├── common │ │ │ ├── box_iou_rotated_utils.hpp │ │ │ ├── cuda │ │ │ │ ├── assign_score_withk_cuda_kernel.cuh │ │ │ │ ├── ball_query_cuda_kernel.cuh │ │ │ │ ├── bbox_overlaps_cuda_kernel.cuh │ │ │ │ ├── border_align_cuda_kernel.cuh │ │ │ │ ├── box_iou_rotated_cuda.cuh │ │ │ │ ├── carafe_cuda_kernel.cuh │ │ │ │ ├── carafe_naive_cuda_kernel.cuh │ │ │ │ ├── common_cuda_helper.hpp │ │ │ │ ├── correlation_cuda.cuh │ │ │ │ ├── deform_conv_cuda_kernel.cuh │ │ │ │ ├── deform_roi_pool_cuda_kernel.cuh │ │ │ │ ├── furthest_point_sample_cuda_kernel.cuh │ │ │ │ ├── gather_points_cuda_kernel.cuh │ │ │ │ ├── group_points_cuda_kernel.cuh │ │ │ │ ├── iou3d_cuda_kernel.cuh │ │ │ │ ├── knn_cuda_kernel.cuh │ │ │ │ ├── masked_conv2d_cuda_kernel.cuh │ │ │ │ ├── modulated_deform_conv_cuda_kernel.cuh │ │ │ │ ├── ms_deform_attn_cuda_kernel.cuh │ │ │ │ ├── nms_cuda_kernel.cuh │ │ │ │ ├── nms_rotated_cuda.cuh │ │ │ │ ├── points_in_boxes_cuda_kernel.cuh │ │ │ │ ├── psamask_cuda_kernel.cuh │ │ │ │ ├── roi_align_cuda_kernel.cuh │ │ │ │ ├── roi_align_rotated_cuda_kernel.cuh │ │ │ │ ├── roi_pool_cuda_kernel.cuh │ │ │ │ ├── roiaware_pool3d_cuda_kernel.cuh │ │ │ │ ├── roipoint_pool3d_cuda_kernel.cuh │ │ │ │ ├── scatter_points_cuda_kernel.cuh │ │ │ │ ├── sigmoid_focal_loss_cuda_kernel.cuh │ │ │ │ ├── softmax_focal_loss_cuda_kernel.cuh │ │ │ │ ├── sync_bn_cuda_kernel.cuh │ │ │ │ ├── three_interpolate_cuda_kernel.cuh │ │ │ │ ├── three_nn_cuda_kernel.cuh │ │ │ │ ├── tin_shift_cuda_kernel.cuh │ │ │ │ └── voxelization_cuda_kernel.cuh │ │ │ ├── pytorch_cpp_helper.hpp │ │ │ ├── pytorch_cuda_helper.hpp │ │ │ └── pytorch_device_registry.hpp │ │ └── pytorch │ │ │ ├── assign_score_withk.cpp │ │ │ ├── ball_query.cpp │ │ │ ├── bbox_overlaps.cpp │ │ │ ├── border_align.cpp │ │ │ ├── box_iou_rotated.cpp │ │ │ ├── carafe.cpp │ │ │ ├── carafe_naive.cpp │ │ │ ├── contour_expand.cpp │ │ │ ├── corner_pool.cpp │ │ │ ├── correlation.cpp │ │ │ ├── cpu │ │ │ ├── box_iou_rotated.cpp │ │ │ ├── deform_conv.cpp │ │ │ ├── modulated_deform_conv.cpp │ │ │ ├── nms.cpp │ │ │ ├── nms_rotated.cpp │ │ │ ├── pixel_group.cpp │ │ │ ├── points_in_boxes.cpp │ │ │ ├── psamask.cpp │ │ │ ├── roi_align.cpp │ │ │ ├── roi_align_rotated.cpp │ │ │ └── voxelization.cpp │ │ │ ├── cuda │ │ │ ├── assign_score_withk_cuda.cu │ │ │ ├── ball_query_cuda.cu │ │ │ ├── bbox_overlaps_cuda.cu │ │ │ ├── border_align_cuda.cu │ │ │ ├── box_iou_rotated_cuda.cu │ │ │ ├── carafe_cuda.cu │ │ │ ├── carafe_naive_cuda.cu │ │ │ ├── correlation_cuda.cu │ │ │ ├── cudabind.cpp │ │ │ ├── deform_conv_cuda.cu │ │ │ ├── deform_roi_pool_cuda.cu │ │ │ ├── focal_loss_cuda.cu │ │ │ ├── furthest_point_sample_cuda.cu │ │ │ ├── fused_bias_leakyrelu_cuda.cu │ │ │ ├── gather_points_cuda.cu │ │ │ ├── group_points_cuda.cu │ │ │ ├── iou3d_cuda.cu │ │ │ ├── knn_cuda.cu │ │ │ ├── masked_conv2d_cuda.cu │ │ │ ├── modulated_deform_conv_cuda.cu │ │ │ ├── ms_deform_attn_cuda.cu │ │ │ ├── nms_cuda.cu │ │ │ ├── nms_rotated_cuda.cu │ │ │ ├── points_in_boxes_cuda.cu │ │ │ ├── psamask_cuda.cu │ │ │ ├── roi_align_cuda.cu │ │ │ ├── roi_align_rotated_cuda.cu │ │ │ ├── roi_pool_cuda.cu │ │ │ ├── roiaware_pool3d_cuda.cu │ │ │ ├── roipoint_pool3d_cuda.cu │ │ │ ├── scatter_points_cuda.cu │ │ │ ├── sync_bn_cuda.cu │ │ │ ├── three_interpolate_cuda.cu │ │ │ ├── three_nn_cuda.cu │ │ │ ├── tin_shift_cuda.cu │ │ │ ├── upfirdn2d_kernel.cu │ │ │ └── voxelization_cuda.cu │ │ │ ├── deform_conv.cpp │ │ │ ├── deform_roi_pool.cpp │ │ │ ├── focal_loss.cpp │ │ │ ├── furthest_point_sample.cpp │ │ │ ├── fused_bias_leakyrelu.cpp │ │ │ ├── gather_points.cpp │ │ │ ├── group_points.cpp │ │ │ ├── info.cpp │ │ │ ├── iou3d.cpp │ │ │ ├── knn.cpp │ │ │ ├── masked_conv2d.cpp │ │ │ ├── modulated_deform_conv.cpp │ │ │ ├── ms_deform_attn.cpp │ │ │ ├── nms.cpp │ │ │ ├── nms_rotated.cpp │ │ │ ├── pixel_group.cpp │ │ │ ├── points_in_boxes.cpp │ │ │ ├── psamask.cpp │ │ │ ├── pybind.cpp │ │ │ ├── roi_align.cpp │ │ │ ├── roi_align_rotated.cpp │ │ │ ├── roi_pool.cpp │ │ │ ├── roiaware_pool3d.cpp │ │ │ ├── roipoint_pool3d.cpp │ │ │ ├── scatter_points.cpp │ │ │ ├── sync_bn.cpp │ │ │ ├── three_interpolate.cpp │ │ │ ├── three_nn.cpp │ │ │ ├── tin_shift.cpp │ │ │ ├── upfirdn2d.cpp │ │ │ └── voxelization.cpp │ ├── deform_conv.py │ ├── focal_loss.py │ ├── iou3d.py │ ├── iou3d_det │ │ ├── __init__.py │ │ ├── iou3d_utils.py │ │ └── src │ │ │ ├── iou3d.cpp │ │ │ └── iou3d_kernel.cu │ ├── masked_conv.py │ ├── modulated_deform_conv.py │ ├── multi_scale_deform_attn.py │ ├── nms.py │ ├── roi_align.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 │ └── voxelize.py ├── optims │ ├── __init__.py │ ├── adamw.py │ └── optimizer.py ├── parallel │ ├── __init__.py │ ├── collate.py │ ├── data_container.py │ ├── registry.py │ └── utils.py ├── runner │ ├── __init__.py │ ├── base_runner.py │ ├── builder.py │ ├── epoch_based_runner.py │ ├── hooks │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── evaluation.py │ │ ├── hook.py │ │ ├── iter_timer.py │ │ ├── logger │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── tensorboard.py │ │ │ ├── text.py │ │ │ └── wandb.py │ │ ├── lr_updater.py │ │ ├── optimizer.py │ │ ├── sampler_seed.py │ │ └── vad_hooks.py │ └── iter_based_runner.py ├── structures │ ├── __init__.py │ ├── boxes.py │ ├── image_list.py │ ├── instances.py │ ├── keypoints.py │ ├── masks.py │ └── rotated_boxes.py └── utils │ ├── __init__.py │ ├── bricks.py │ ├── checkpoint.py │ ├── collect_env.py │ ├── config.py │ ├── contextmanagers.py │ ├── ext_loader.py │ ├── fp16_utils.py │ ├── grid_mask.py │ ├── hub.py │ ├── log_buffer.py │ ├── logger.py │ ├── logging.py │ ├── memory.py │ ├── misc.py │ ├── path.py │ ├── position_embedding.py │ ├── priority.py │ ├── progressbar.py │ ├── registry.py │ ├── runner_utils.py │ ├── timer.py │ ├── util_mixins.py │ ├── version_utils.py │ └── visual.py ├── preinstall_requirements.txt ├── requirements.txt ├── setup.py ├── test └── scenario_test │ ├── VAD_baseline │ ├── accelerating │ │ └── evaluation_results.json │ ├── behind │ │ └── evaluation_results.json │ ├── changing_lane │ │ └── evaluation_results.json │ ├── following_lane │ │ └── evaluation_results.json │ ├── high │ │ └── evaluation_results.json │ ├── low_magnitude_speed │ │ └── evaluation_results.json │ ├── medium_magnitude_speed │ │ └── evaluation_results.json │ ├── near │ │ └── evaluation_results.json │ ├── on │ │ └── evaluation_results.json │ ├── starting │ │ └── evaluation_results.json │ ├── stationary │ │ └── evaluation_results.json │ ├── stopping │ │ └── evaluation_results.json │ ├── traversing │ │ └── evaluation_results.json │ └── waiting_for_pedestrian_to_cross │ │ └── evaluation_results.json │ └── VADv2 │ ├── accelerating │ └── evaluation_results.json │ ├── behind │ └── evaluation_results.json │ ├── changing_lane │ └── evaluation_results.json │ ├── combined_metrics.json │ ├── following_lane │ └── evaluation_results.json │ ├── high │ └── evaluation_results.json │ ├── low_magnitude_speed │ └── evaluation_results.json │ ├── medium_magnitude_speed │ └── evaluation_results.json │ ├── near │ └── evaluation_results.json │ ├── on │ └── evaluation_results.json │ ├── starting │ └── evaluation_results.json │ ├── stationary │ └── evaluation_results.json │ ├── stopping │ └── evaluation_results.json │ ├── traversing │ └── evaluation_results.json │ └── waiting_for_pedestrian_to_cross │ └── evaluation_results.json └── tools ├── bev_viz.py ├── convert_gt_map_json.py ├── scenarios_compare_vis.py └── traj_clustering.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priest-yang/VADv2/HEAD/.gitignore -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priest-yang/VADv2/HEAD/.vscode/launch.json 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