├── .github └── workflows │ └── close_stale_issues.yml ├── .gitignore ├── LICENSE ├── README.md ├── data ├── kitti │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt └── waymo │ └── ImageSets │ ├── train.txt │ └── val.txt ├── docker ├── Dockerfile └── README.md ├── docs ├── CUSTOM_DATASET_TUTORIAL.md ├── DEMO.md ├── GETTING_STARTED.md ├── INSTALL.md ├── changelog.md ├── dataset_vs_model.png ├── demo.png ├── guidelines_of_approaches │ └── mppnet.md ├── media │ ├── lately_fusion.png │ ├── qualitative_results.gif │ └── qualitative_static.png ├── model_framework.png ├── multiple_models_demo.png └── open_mmlab.png ├── gen_nusc_database.sh ├── gen_nuscenes_database.sh ├── output └── demo │ └── placeholder ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── __init__.py │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── custom │ │ ├── __init__.py │ │ └── custom_dataset.py │ ├── dataset.py │ ├── kitti │ │ ├── __init__.py │ │ ├── kitti_dataset.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ └── kitti_utils.py │ ├── nuscenes │ │ ├── __init__.py │ │ ├── _legacy_tools_box.py │ │ ├── nuscenes_dataset.py │ │ ├── nuscenes_eval_utils.py │ │ ├── nuscenes_map_utils.py │ │ ├── nuscenes_temporal_utils.py │ │ ├── nuscenes_utils.py │ │ └── rev_get_sweeps_instance_centric.py │ ├── processor │ │ ├── __init__.py │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── v2x_sim │ │ ├── __init__.py │ │ ├── v2x_sim_dataset_car.py │ │ ├── v2x_sim_dataset_ego.py │ │ ├── v2x_sim_dataset_ego_disco.py │ │ ├── v2x_sim_dataset_ego_early.py │ │ ├── v2x_sim_dataset_ego_late.py │ │ ├── v2x_sim_dataset_rsu.py │ │ ├── v2x_sim_eval_utils.py │ │ └── v2x_sim_utils.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── conv2d_collapse.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── focal_sparse_conv │ │ │ ├── SemanticSeg │ │ │ │ ├── basic_blocks.py │ │ │ │ ├── pyramid_ffn.py │ │ │ │ └── sem_deeplabv3.py │ │ │ ├── focal_sparse_conv.py │ │ │ └── focal_sparse_utils.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_backbone_2d.py │ │ ├── spconv_backbone_focal.py │ │ ├── spconv_unet.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── dynamic_mean_vfe.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── image_vfe.py │ │ │ ├── image_vfe_modules │ │ │ ├── __init__.py │ │ │ ├── f2v │ │ │ │ ├── __init__.py │ │ │ │ ├── frustum_grid_generator.py │ │ │ │ ├── frustum_to_voxel.py │ │ │ │ └── sampler.py │ │ │ └── ffn │ │ │ │ ├── __init__.py │ │ │ │ ├── ddn │ │ │ │ ├── __init__.py │ │ │ │ ├── ddn_deeplabv3.py │ │ │ │ └── ddn_template.py │ │ │ │ ├── ddn_loss │ │ │ │ ├── __init__.py │ │ │ │ ├── balancer.py │ │ │ │ └── ddn_loss.py │ │ │ │ └── depth_ffn.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── bev_layers │ │ ├── bev_maker.py │ │ ├── hunter_jr.py │ │ ├── hunter_toolbox.py │ │ ├── oracle_corrector.py │ │ └── v2x_fusion_disco.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── box_utils.py │ │ ├── center_head.py │ │ ├── point_head_box.py │ │ ├── point_head_simple.py │ │ ├── point_head_template.py │ │ ├── point_intra_part_head.py │ │ └── target_assigner │ │ │ ├── __init__.py │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── caddn.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── mppnet.py │ │ ├── mppnet_e2e.py │ │ ├── obj_discoverer.py │ │ ├── pillarnet.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── pv_rcnn_plusplus.py │ │ ├── second_net.py │ │ ├── second_net_iou.py │ │ ├── v2x_late_fusion.py │ │ └── voxel_rcnn.py │ ├── loss_fnc │ │ ├── lovasz_softmax.py │ │ └── pcaccum_ce_lovasz_loss.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── basic_block_2d.py │ │ ├── centernet_utils.py │ │ ├── model_nms_utils.py │ │ └── mppnet_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── mppnet_head.py │ │ ├── mppnet_memory_bank_e2e.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ ├── second_head.py │ │ ├── target_assigner │ │ ├── __init__.py │ │ └── proposal_target_layer.py │ │ └── voxelrcnn_head.py ├── ops │ ├── __init__.py │ ├── iou3d_nms │ │ ├── __init__.py │ │ ├── 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 │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── pointnet2_batch │ │ │ ├── __init__.py │ │ │ ├── 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 │ │ │ ├── __init__.py │ │ │ ├── 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 │ │ │ ├── vector_pool.cpp │ │ │ ├── vector_pool_gpu.cu │ │ │ ├── vector_pool_gpu.h │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ │ │ ├── voxel_pool_modules.py │ │ │ └── voxel_query_utils.py │ ├── roiaware_pool3d │ │ ├── __init__.py │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ └── roipoint_pool3d │ │ ├── __init__.py │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ ├── roipoint_pool3d.cpp │ │ └── roipoint_pool3d_kernel.cu └── utils │ ├── __init__.py │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── loss_utils.py │ ├── object3d_custom.py │ ├── object3d_kitti.py │ ├── spconv_utils.py │ └── transform_utils.py ├── requirements.txt ├── setup.py ├── test_space ├── cfgs │ ├── pointpillar_jr.yaml │ ├── pointpillar_jr_av2.yaml │ └── uda_pp_basic.yaml ├── test_disconet.py ├── test_transform_bev_img.py ├── test_v2x_dataset.py ├── test_v2x_dataset_eval.py ├── test_v2x_exchange.py ├── test_v2x_late_fusion.py ├── tools.py ├── try_segformer.py └── utils_4testing_corrector.py ├── tools ├── _init_path.py ├── cfgs │ ├── custom_models │ │ ├── pv_rcnn.yaml │ │ └── second.yaml │ ├── dataset_configs │ │ ├── kitti_dataset.yaml │ │ ├── nuscenes_dataset.yaml │ │ ├── v2x_sim_dataset_car.yaml │ │ ├── v2x_sim_dataset_ego.yaml │ │ ├── v2x_sim_dataset_ego_early.yaml │ │ ├── v2x_sim_dataset_ego_late.yaml │ │ └── v2x_sim_dataset_rsu.yaml │ ├── nuscenes_models │ │ ├── oracle_pointpillar_jr_withmap.yaml │ │ ├── pointpillar_jr_corr_withmap.yaml │ │ ├── pointpillar_jr_corr_withmap_teacher.yaml │ │ ├── pointpillar_jr_nomap.yaml │ │ └── pointpillar_jr_withmap.yaml │ └── v2x_sim_models │ │ ├── v2x_late_fusion.yaml │ │ ├── v2x_pointpillar_basic_car.yaml │ │ ├── v2x_pointpillar_basic_ego.yaml │ │ ├── v2x_pointpillar_basic_ego_early.yaml │ │ ├── v2x_pointpillar_basic_rsu.yaml │ │ ├── v2x_pointpillar_disco.yaml │ │ ├── v2x_second_car.yaml │ │ ├── v2x_second_ego.yaml │ │ └── v2x_second_rsu.yaml ├── create_sample_batch_dict.py ├── demo.py ├── eval_utils │ └── eval_utils.py ├── idr_log │ └── placeholder.txt ├── pretrained_models │ └── placeholder ├── process_tools │ └── create_integrated_database.py ├── scripts │ ├── dist_test.sh │ ├── dist_train.sh │ ├── idr_test_pp.sh │ ├── idr_train.sh │ ├── slurm_test_mgpu.sh │ ├── slurm_test_single.sh │ ├── slurm_train.sh │ └── torch_train.sh ├── test.py ├── train.py ├── train_utils │ ├── optimization │ │ ├── __init__.py │ │ ├── fastai_optim.py │ │ └── learning_schedules_fastai.py │ └── train_utils.py └── visual_utils │ ├── open3d_vis_utils.py │ └── visualize_utils.py └── workspace ├── measure_exchange_size.py ├── nuscenes_map_generating.py ├── o3d_visualization.py ├── sc_conv.py ├── teacher.py ├── v2x_gen_exchange_database.py ├── visualization ├── for_journal │ ├── make_fig_mix_pillar_second_performance.py │ ├── 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