├── .gitignore ├── LICENSE ├── README.md ├── assets ├── sample_frame.png └── teaser.pdf ├── opencood ├── .gitignore ├── LICENSE ├── environment.yml ├── opencood │ ├── __init__.py │ ├── data_utils │ │ ├── __init__.py │ │ ├── augmentor │ │ │ ├── __init__.py │ │ │ ├── augment_utils.py │ │ │ └── data_augmentor.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── basedataset.py │ │ │ └── lidar │ │ │ │ ├── __init__.py │ │ │ │ ├── early_fusion_dataset.py │ │ │ │ ├── early_fusion_vis_dataset.py │ │ │ │ ├── intermediate_fusion_dataset.py │ │ │ │ └── late_fusion_dataset.py │ │ ├── post_processor │ │ │ ├── __init__.py │ │ │ ├── base_postprocessor.py │ │ │ ├── bev_postprocessor.py │ │ │ ├── camera_bev_postprocessor.py │ │ │ ├── ciassd_postprocessor.py │ │ │ ├── fpvrcnn_postprocessor.py │ │ │ └── voxel_postprocessor.py │ │ └── pre_processor │ │ │ ├── __init__.py │ │ │ ├── base_preprocessor.py │ │ │ ├── bev_preprocessor.py │ │ │ ├── rgb_preprocessor.py │ │ │ ├── sp_voxel_preprocessor.py │ │ │ └── voxel_preprocessor.py │ ├── hypes_yaml │ │ ├── lidar │ │ │ ├── __init__.py │ │ │ └── sis_train_c1_c2_test_c3_cobevt.yaml │ │ └── yaml_utils.py │ ├── loss │ │ ├── __init__.py │ │ ├── ciassd_loss.py │ │ ├── fpvrcnn_loss.py │ │ ├── pixor_loss.py │ │ ├── point_pillar_loss.py │ │ └── vanilla_seg_loss.py │ ├── models │ │ ├── __init__.py │ │ ├── fusion_modules │ │ │ ├── V2VAM.py │ │ │ ├── __init__.py │ │ │ ├── coalign_fuse.py │ │ │ ├── disconet_fuse.py │ │ │ ├── f_cooper_fuse.py │ │ │ ├── fuse_utils.py │ │ │ ├── hmsa.py │ │ │ ├── mswin.py │ │ │ ├── self_attn.py │ │ │ ├── split_attn.py │ │ │ ├── swap_fusion_modules.py │ │ │ ├── v2v_fuse.py │ │ │ ├── v2xvit_basic.py │ │ │ └── where2comm_fuse.py │ │ ├── lidar │ │ │ ├── ciassd.py │ │ │ ├── fpvrcnn.py │ │ │ ├── pixor.py │ │ │ ├── pixor_intermediate.py │ │ │ ├── point_pillar.py │ │ │ ├── point_pillar_cobevt.py │ │ │ ├── point_pillar_fcooper.py │ │ │ ├── point_pillar_intermediate.py │ │ │ ├── point_pillar_transformer.py │ │ │ ├── point_pillar_v2vnet.py │ │ │ ├── point_pillar_where2comm.py │ │ │ ├── second.py │ │ │ ├── second_intermediate.py │ │ │ ├── voxel_net.py │ │ │ └── voxel_net_intermediate.py │ │ └── sub_modules │ │ │ ├── att_bev_backbone.py │ │ │ ├── auto_encoder.py │ │ │ ├── base_bev_backbone.py │ │ │ ├── base_transformer.py │ │ │ ├── bev_seg_head.py │ │ │ ├── cia_ssd_utils.py │ │ │ ├── convgru.py │ │ │ ├── cvt_modules.py │ │ │ ├── downsample_conv.py │ │ │ ├── fax_modules.py │ │ │ ├── fuse_utils.py │ │ │ ├── height_compression.py │ │ │ ├── matcher.py │ │ │ ├── mean_vfe.py │ │ │ ├── naive_compress.py │ │ │ ├── naive_decoder.py │ │ │ ├── pillar_vfe.py │ │ │ ├── point_pillar_scatter.py │ │ │ ├── res_bev_backbone.py │ │ │ ├── resblock.py │ │ │ ├── roi_head.py │ │ │ ├── sparse_backbone_3d.py │ │ │ ├── split_attn.py │ │ │ ├── torch_transformation_utils.py │ │ │ └── vsa.py │ ├── pcdet_utils │ │ ├── __init__.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 │ │ ├── roiaware_pool3d │ │ │ ├── roiaware_pool3d_utils.py │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ └── setup.py │ ├── tools │ │ ├── __init__.py │ │ ├── debug_utils.py │ │ ├── inference.py │ │ ├── inference_utils.py │ │ ├── multi_gpu_utils.py │ │ ├── train.py │ │ └── train_utils.py │ ├── utils │ │ ├── __init__.py │ │ ├── bev_creation.py │ │ ├── box_overlaps.c │ │ ├── box_overlaps.pyx │ │ ├── box_utils.py │ │ ├── camera_utils.py │ │ ├── common_utils.py │ │ ├── draco_compression.py │ │ ├── eval_utils.py │ │ ├── max_consensus.py │ │ ├── pcd_utils.py │ │ ├── seg_utils.py │ │ ├── setup.py │ │ ├── transformation_utils.py │ │ └── visulizor.py │ ├── version.py │ └── visualization │ │ ├── __init__.py │ │ ├── vis_data_sequence.py │ │ └── vis_utils.py ├── requirements.txt └── setup.py ├── scripts ├── create_nuscenes_format.py ├── create_opencood_format.py ├── create_opencood_splits.py ├── open3d_visualizer.py ├── plot_utils.py ├── requirements.txt ├── utils.py └── video_creation.py ├── tutorial.ipynb └── urbaning ├── __init__.py ├── api_readme.md ├── pyproject.toml └── urbaning ├── __init__.py ├── converters ├── __init__.py ├── opencood.py └── utils.py ├── data ├── __init__.py ├── camera_data.py ├── dataset.py ├── download.py ├── frame.py ├── info.py ├── infrastructure.py ├── labels.py ├── lanelet_map.py ├── lidar_data.py ├── object_label.py ├── registry.py ├── sequence.py ├── unzip.py ├── utils.py ├── vehicle.py └── vehicle_state.py └── visualizer ├── __init__.py ├── bev_visualizer.py ├── camera_data_visualizer.py ├── frame_visualizer.py ├── utils.py └── visualizers.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thi-ad/UrbanIng-V2X/HEAD/.gitignore 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