├── .gitignore ├── LICENSE ├── README.md ├── data ├── kitti │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt ├── lyft │ └── ImageSets │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt └── waymo │ ├── ImageSets │ ├── train.txt │ └── val.txt │ ├── waymo_processed_data_v0_5_0_infos_train.pkl │ ├── waymo_processed_data_v0_5_0_infos_val.pkl │ └── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl ├── diagram.jpg ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── dataset.py │ ├── kitti │ │ ├── kitti_dataset.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ └── kitti_utils.py │ ├── lyft │ │ ├── lyft_dataset.py │ │ ├── lyft_mAP_eval │ │ │ └── lyft_eval.py │ │ └── lyft_utils.py │ ├── nuscenes │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.py │ ├── pandaset │ │ └── pandaset_dataset.py │ ├── processor │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ └── waymo_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 │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── spconv_unet.py │ │ └── vfe │ │ │ ├── __init__.py │ │ │ ├── dynamic_mean_vfe.py │ │ │ ├── dynamic_pillar_vfe.py │ │ │ ├── image_vfe.py │ │ │ ├── image_vfe_modules │ │ │ ├── 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 │ │ │ └── voxset.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_template.py │ │ ├── center_head.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 │ │ ├── caddn.py │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── pv_rcnn_plusplus.py │ │ ├── second_net.py │ │ ├── second_net_iou.py │ │ └── voxel_rcnn.py │ ├── model_utils │ │ ├── basic_block_2d.py │ │ ├── centernet_utils.py │ │ ├── ctrans.py │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── partA2_head.py │ │ ├── pointrcnn_head.py │ │ ├── pvrcnn_head.py │ │ ├── roi_head_template.py │ │ ├── second_head.py │ │ ├── target_assigner │ │ └── proposal_target_layer.py │ │ └── voxelrcnn_head.py ├── ops │ ├── 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 │ │ │ ├── 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 │ │ ├── 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 │ └── voxel │ │ ├── __init__.py │ │ ├── scatter_points.py │ │ ├── setup.py │ │ ├── src │ │ ├── scatter_points_cpu.cpp │ │ ├── scatter_points_cuda.cu │ │ ├── voxelization.cpp │ │ ├── voxelization.h │ │ ├── voxelization_cpu.cpp │ │ └── voxelization_cuda.cu │ │ └── voxelize.py ├── utils │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── loss_utils.py │ ├── object3d_kitti.py │ ├── spconv_utils.py │ └── transform_utils.py └── version.py ├── requirements.txt ├── setup.py └── tools ├── _init_path.py ├── cfgs ├── dataset_configs │ ├── kitti_dataset.yaml │ ├── lyft_dataset.yaml │ ├── nuscenes_dataset.yaml │ ├── pandaset_dataset.yaml │ └── waymo_dataset.yaml ├── kitti_models │ ├── CaDDN.yaml │ ├── PartA2.yaml │ ├── PartA2_free.yaml │ ├── pointpillar.yaml │ ├── pointpillar_newaugs.yaml │ ├── pointpillar_pyramid_aug.yaml │ ├── pointrcnn.yaml │ ├── pointrcnn_iou.yaml │ ├── pv_rcnn.yaml │ ├── second.yaml │ ├── second_iou.yaml │ ├── second_multihead.yaml │ ├── voxel_rcnn_car.yaml │ └── voxset.yaml ├── lyft_models │ ├── cbgs_second-nores_multihead.yaml │ └── cbgs_second_multihead.yaml ├── nuscenes_models │ ├── cbgs_dyn_pp_centerpoint.yaml │ ├── cbgs_pp_multihead.yaml │ ├── cbgs_second_multihead.yaml │ ├── cbgs_voxel0075_res3d_centerpoint.yaml │ └── cbgs_voxel01_res3d_centerpoint.yaml └── waymo_models │ ├── PartA2.yaml │ ├── centerpoint.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── centerpoint_pillar_1x.yaml │ ├── centerpoint_voxset_1x.yaml │ ├── centerpoint_without_resnet.yaml │ ├── pointpillar_1x.yaml │ ├── pv_rcnn.yaml │ ├── pv_rcnn_plusplus.yaml │ ├── pv_rcnn_plusplus_resnet.yaml │ ├── pv_rcnn_with_centerhead_rpn.yaml │ ├── second.yaml │ └── voxel_rcnn_with_centerhead_dyn_voxel.yaml ├── demo.py ├── eval_utils └── eval_utils.py ├── scripts ├── dist_test.sh ├── dist_train.sh ├── slurm_test_mgpu.sh ├── slurm_test_single.sh └── slurm_train.sh ├── test.py ├── train.py ├── train_utils ├── 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