├── .gitignore ├── LICENSE ├── README.md ├── data_converter ├── config_path.py ├── convert │ ├── __init__.py │ ├── argo2kitti.py │ ├── lyft2kitti.py │ ├── nusc2kitti.py │ └── waymo2kitti.py ├── download │ ├── __init__.py │ ├── argo.py │ ├── kitti.py │ ├── utils.py │ └── waymo.py ├── evaluate │ ├── eval2.py │ ├── eval_old.py │ ├── evaluate.py │ ├── kitti_common.py │ └── rotate_iou.py ├── notebooks │ ├── argo2kitti.py │ ├── prepare_datasets.ipynb │ └── stat_norm.ipynb ├── scripts │ ├── convert.py │ ├── convert_requirements.txt │ ├── download.py │ └── gen_car_split.py ├── split │ ├── __init__.py │ ├── argo │ │ ├── train.txt │ │ └── val.txt │ ├── kitti │ │ ├── train.txt │ │ └── val.txt │ ├── lyft │ │ ├── train.txt │ │ └── val.txt │ ├── nusc │ │ ├── train.txt │ │ └── val.txt │ ├── replace_split.py │ └── waymo │ │ ├── train.txt │ │ └── val.txt ├── stat_norm │ ├── __init__.py │ ├── car_sales │ │ ├── germany.json │ │ └── us.json │ ├── norm.py │ ├── stat.py │ └── visualize.py └── utils │ ├── __init__.py │ ├── kitti_common.py │ ├── kitti_util.py │ ├── object_3d.py │ └── plotly_utils.py ├── depth_to_lidar.py ├── docs ├── Aydiv_framework.png └── voxel_rcnn_framework.jpg ├── lidar_to_depth.py ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── augmentor_utils_sfd.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ └── database_sampler_aydiv.py │ ├── dataset.py │ ├── nuscenes │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── waymo_dataset.py │ │ ├── waymo_dataset_aydiv.py │ │ └── waymo_object_eval_python │ │ ├── LICENSE │ │ ├── README.md │ │ ├── eval.py │ │ ├── evaluate.py │ │ ├── rotate_iou.py │ │ └── waymo_common.py ├── models │ ├── __init__.py │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── base_bev_backbone.py │ │ ├── easy_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── height_compression.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_unet.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.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 │ ├── detectors │ │ ├── PartA2_net.py │ │ ├── __init__.py │ │ ├── aydiv.py │ │ ├── detector3d_template.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── second_net.py │ │ └── voxel_rcnn.py │ ├── model_utils │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── aydiv_head.py │ │ ├── aydiv_head_utils.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ ├── target_assigner │ │ └── proposal_target_layer.py │ │ └── voxelrcnn_head.py ├── ops │ ├── iou3d │ │ ├── LICENSE │ │ ├── box_intersection_2d.py │ │ ├── cuda_op │ │ │ ├── cuda_ext.py │ │ │ ├── cuda_utils.h │ │ │ ├── setup.py │ │ │ ├── sort_vert.cpp │ │ │ ├── sort_vert.h │ │ │ ├── sort_vert_kernel.cu │ │ │ └── utils.h │ │ ├── demo.py │ │ ├── image │ │ │ └── iou.png │ │ ├── min_enclosing_box.py │ │ ├── oriented_iou_loss.py │ │ ├── readme.md │ │ ├── test_box_intersection_2d.py │ │ ├── test_corner_cases.py │ │ └── utiles.py │ ├── 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 │ ├── 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_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 │ │ │ ├── voxel_query.cpp │ │ │ ├── voxel_query_gpu.cu │ │ │ └── voxel_query_gpu.h │ │ │ ├── voxel_pool_modules.py │ │ │ └── voxel_query_utils.py │ ├── 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 ├── utils │ ├── box_coder_utils.py │ ├── box_np_ops.py │ ├── box_utils.py │ ├── calibration_waymo.py │ ├── common_utils.py │ ├── loss_utils.py │ ├── object3d_waymo.py │ └── spconv_utils.py └── version.py ├── setup.py ├── tools ├── analysis_tools │ ├── analyze_logs.py │ ├── benchmark.py │ └── eval_nus_json.py ├── argo │ ├── SO3.py │ ├── Untitled-1.ipynb │ ├── argo2mmdet.py │ ├── create_argo_gt_database.py │ ├── create_roi_mask.py │ ├── eval_feather.py │ ├── gather_argo2_anno_feather.py │ ├── get_argo_object_size.py │ └── utils.py ├── cfgs │ └── argo2 │ │ ├── argo_onestage_12e.py │ │ └── argo_segmentation_pretrain.py ├── data_converter │ ├── __init__.py │ ├── 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