├── .gitignore ├── LICENSE ├── README.md ├── SeeingThroughFog ├── LICENSE ├── README.md ├── splits │ ├── all.txt │ ├── dense_fog_day.txt │ ├── dense_fog_night.txt │ ├── light_fog_day.txt │ ├── light_fog_night.txt │ ├── snow_day.txt │ ├── snow_night.txt │ ├── test_clear_day.txt │ ├── test_clear_night.txt │ ├── train_clear_day.txt │ ├── train_clear_night.txt │ ├── val_clear_day.txt │ └── val_clear_night.txt ├── terms_of_use.txt ├── terms_of_use_de.txt └── tools │ ├── CreateTFRecords │ ├── __init__.py │ ├── create_generic_db2.py │ └── generic_tf_tools │ │ ├── __init__.py │ │ ├── data2example.py │ │ ├── resize.py │ │ └── tf_records.py │ ├── DatasetFoggification │ ├── beta_modification.py │ ├── example_data │ │ ├── DepthData │ │ │ └── 2019-09-11_19-13-44_00960.mat │ │ ├── ImageData │ │ │ └── 2019-09-11_19-13-44_00960.png │ │ └── LidarData │ │ │ └── 2019-09-11_19-13-44_00960.bin │ ├── image_foggification.py │ └── lidar_foggification.py │ ├── DatasetStatisticsTools │ ├── create_statistics.py │ └── lib_stats │ │ ├── __init__.py │ │ └── util.py │ ├── DatasetViewer │ ├── DataViewer_V2.py │ ├── README.md │ ├── calibs │ │ ├── calib_cam_stereo_left.json │ │ ├── calib_gated_bwv.json │ │ ├── calib_hdl64.txt │ │ ├── calib_tf_tree_full.json │ │ └── calib_vlp32.txt │ ├── lib │ │ ├── __init__.py │ │ ├── read.py │ │ ├── utils.py │ │ └── visualization.py │ ├── src │ │ ├── DataViewerGUI.ui │ │ ├── __init__.py │ │ └── utils.py │ ├── timestamps.json │ ├── topics.json │ └── utils_DataViewer.py │ ├── ProjectionTools │ ├── Gated2RGB │ │ ├── README.md │ │ ├── __init__.py │ │ ├── example_data │ │ │ ├── calib_cam_stereo_left.json │ │ │ ├── calib_cam_stereo_right.json │ │ │ ├── calib_gated_bwv.json │ │ │ ├── calib_tf_tree_full.json │ │ │ ├── cam_stereo_left │ │ │ │ └── 2018-02-06_14-25-51_00400.tiff │ │ │ ├── filtered_relevant_can_data │ │ │ │ ├── can_body_basic │ │ │ │ │ └── 2018-02-06_14-25-51_00400.json │ │ │ │ └── can_body_chassis │ │ │ │ │ └── 2018-02-06_14-25-51_00400.json │ │ │ ├── gated0_raw │ │ │ │ └── 2018-02-06_14-25-51_00400.tiff │ │ │ ├── gated1_raw │ │ │ │ └── 2018-02-06_14-25-51_00400.tiff │ │ │ ├── gated2_raw │ │ │ │ └── 2018-02-06_14-25-51_00400.tiff │ │ │ └── psmnet_sweden │ │ │ │ └── 2018-02-06_14-25-51_00400.npz │ │ ├── lib │ │ │ ├── __init__.py │ │ │ ├── camera_model.py │ │ │ ├── coresponding_points.txt │ │ │ ├── data_loader.py │ │ │ ├── image_transformer.py │ │ │ └── warp_gatedimage.py │ │ └── run_depth_warping.py │ ├── Lidar2RGB │ │ ├── __init__.py │ │ ├── lib │ │ │ ├── utils.py │ │ │ └── visi.py │ │ ├── run_2d_projection.py │ │ └── run_3d_illustration.py │ ├── Radar2RGB │ │ ├── run_2d_projection.py │ │ └── run_3d_illustration.py │ ├── Sweden2KittiCalib │ │ ├── kitti_gated_velodynehdl_calib.txt │ │ ├── kitti_gated_velodynevlp_calib.txt │ │ ├── kitti_stereo_velodynehdl_calib.txt │ │ ├── kitti_stereo_velodynevlp_calib.txt │ │ ├── lib │ │ │ └── utils.py │ │ └── transform_sweden2kitti_calib.py │ ├── __init__.py │ └── run_2d_projection_on_dataset.py │ ├── Raw2LUTImages │ ├── __init__.py │ ├── conversion_lib │ │ ├── __init__.py │ │ ├── basic_utils.py │ │ ├── decompand.py │ │ ├── pinhole_camera_model.py │ │ ├── plot_utils.py │ │ └── process.py │ ├── example_data │ │ ├── calib_cam_stereo_left.json │ │ ├── calib_cam_stereo_right.json │ │ ├── calib_gated_bwv.json │ │ ├── calib_tf_tree_full.json │ │ ├── cam_stereo_left │ │ │ └── 2018-02-12_15-39-23_00100.tiff │ │ ├── cam_stereo_left_lut │ │ │ └── 2018-02-12_15-39-23_00100.png │ │ └── labeltool_labels │ │ │ └── 2018-02-12_15-39-23_00100.json │ └── main.py │ └── __init__.py ├── Supplementary_Material_HRFuser.pdf ├── configs ├── _base_ │ ├── datasets │ │ ├── kitti_detection_2d_c1248.py │ │ ├── kitti_detection_2d_c1248_clrg_fusion.py │ │ ├── nuscenes_detection_r640.py │ │ └── nuscenes_detection_r640_clr_fusion.py │ ├── default_runtime.py │ ├── models │ │ ├── cascade_rcnn_hrformer_fpn_nus.py │ │ ├── cascade_rcnn_hrformer_fpn_stf.py │ │ ├── cascade_rcnn_hrfuser_fpn_nus_clr_fusion.py │ │ └── cascade_rcnn_hrfuser_fpn_stf_clrg_fusion.py │ └── schedules │ │ └── schedule_1x.py ├── hrformer │ ├── cascade_rcnn_hrformer_b_1x_nus_r640.py │ ├── cascade_rcnn_hrformer_b_1x_nus_r640_bn.py │ ├── cascade_rcnn_hrformer_t_1x_nus_r640.py │ ├── cascade_rcnn_hrformer_t_1x_nus_r640_bn.py │ ├── cascade_rcnn_hrformer_t_1x_stf_c1248.py │ └── cascade_rcnn_hrformer_t_1x_stf_c1248_bn.py └── hrfuser │ ├── cascade_rcnn_hrfuser_b_1x_nus_r640_l_r_fusion.py │ ├── cascade_rcnn_hrfuser_b_1x_nus_r640_l_r_fusion_bn.py │ ├── cascade_rcnn_hrfuser_t_1x_nus_r640_l_r_fusion.py │ ├── cascade_rcnn_hrfuser_t_1x_nus_r640_l_r_fusion_bn.py │ ├── cascade_rcnn_hrfuser_t_1x_stf_r1248_4mod.py │ └── cascade_rcnn_hrfuser_t_1x_stf_r1248_4mod_bn.py ├── mmdet ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ ├── anchor_generator.py │ │ ├── builder.py │ │ ├── point_generator.py │ │ └── utils.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ ├── approx_max_iou_assigner.py │ │ │ ├── assign_result.py │ │ │ ├── atss_assigner.py │ │ │ ├── base_assigner.py │ │ │ ├── center_region_assigner.py │ │ │ ├── grid_assigner.py │ │ │ ├── hungarian_assigner.py │ │ │ ├── max_iou_assigner.py │ │ │ ├── point_assigner.py │ │ │ ├── region_assigner.py │ │ │ ├── sim_ota_assigner.py │ │ │ └── uniform_assigner.py │ │ ├── box_np_ops.py │ │ ├── builder.py │ │ ├── coder │ │ │ ├── __init__.py │ │ │ ├── base_bbox_coder.py │ │ │ ├── bucketing_bbox_coder.py │ │ │ ├── delta_xywh_bbox_coder.py │ │ │ ├── distance_point_bbox_coder.py │ │ │ ├── legacy_delta_xywh_bbox_coder.py │ │ │ ├── pseudo_bbox_coder.py │ │ │ ├── tblr_bbox_coder.py │ │ │ └── yolo_bbox_coder.py │ │ ├── demodata.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── iou2d_calculator.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── match_cost.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ ├── base_sampler.py │ │ │ ├── combined_sampler.py │ │ │ ├── instance_balanced_pos_sampler.py │ │ │ ├── iou_balanced_neg_sampler.py │ │ │ ├── ohem_sampler.py │ │ │ ├── pseudo_sampler.py │ │ │ ├── random_sampler.py │ │ │ ├── sampling_result.py │ │ │ └── score_hlr_sampler.py │ │ └── transforms.py │ ├── data_structures │ │ ├── __init__.py │ │ ├── general_data.py │ │ └── instance_data.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── bbox_overlaps.py │ │ ├── class_names.py │ │ ├── eval_hooks.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── mean_ap.py │ │ └── recall.py │ ├── export │ │ ├── __init__.py │ │ ├── model_wrappers.py │ │ ├── onnx_helper.py │ │ └── pytorch2onnx.py │ ├── hook │ │ ├── __init__.py │ │ ├── checkloss_hook.py │ │ ├── ema.py │ │ ├── sync_norm_hook.py │ │ ├── sync_random_size_hook.py │ │ ├── yolox_lrupdater_hook.py │ │ └── yolox_mode_switch_hook.py │ ├── mask │ │ ├── __init__.py │ │ ├── mask_target.py │ │ ├── structures.py │ │ └── utils.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── bbox_nms.py │ │ ├── matrix_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── dist_utils.py │ │ └── misc.py │ └── visualization │ │ ├── __init__.py │ │ └── image.py ├── datasets │ ├── __init__.py │ ├── api_wrappers │ │ ├── __init__.py │ │ ├── coco_api.py │ │ └── panoptic_evaluation.py │ ├── builder.py │ ├── builder_3d.py │ ├── cityscapes.py │ ├── coco.py │ ├── coco_panoptic.py │ ├── custom.py │ ├── dataset_wrappers.py │ ├── deepfashion.py │ ├── kitti2d_dataset.py │ ├── lvis.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── auto_augment.py │ │ ├── compose.py │ │ ├── formating.py │ │ ├── instaboost.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── infinite_sampler.py │ ├── utils.py │ ├── voc.py │ ├── wider_face.py │ └── xml_style.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── csp_darknet.py │ │ ├── darknet.py │ │ ├── detectors_resnet.py │ │ ├── detectors_resnext.py │ │ ├── hourglass.py │ │ ├── hrformer.py │ │ ├── hrfuser_hrformer_based.py │ │ ├── hrfuser_hrnet_based.py │ │ ├── hrnet.py │ │ ├── mobilenet_v2.py │ │ ├── pvt.py │ │ ├── regnet.py │ │ ├── res2net.py │ │ ├── resnest.py │ │ ├── resnet.py │ │ ├── resnext.py │ │ ├── ssd_vgg.py │ │ ├── swin.py │ │ └── trident_resnet.py │ ├── builder.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor_free_head.py │ │ ├── anchor_head.py │ │ ├── atss_head.py │ │ ├── autoassign_head.py │ │ ├── base_dense_head.py │ │ ├── base_mask_head.py │ │ ├── cascade_rpn_head.py │ │ ├── centernet_head.py │ │ ├── centripetal_head.py │ │ ├── corner_head.py │ │ ├── deformable_detr_head.py │ │ ├── dense_test_mixins.py │ │ ├── detr_head.py │ │ ├── embedding_rpn_head.py │ │ ├── fcos_head.py │ │ ├── fovea_head.py │ │ ├── free_anchor_retina_head.py │ │ ├── fsaf_head.py │ │ ├── ga_retina_head.py │ │ ├── ga_rpn_head.py │ │ ├── gfl_head.py │ │ ├── guided_anchor_head.py │ │ ├── lad_head.py │ │ ├── ld_head.py │ │ ├── nasfcos_head.py │ │ ├── paa_head.py │ │ ├── pisa_retinanet_head.py │ │ ├── pisa_ssd_head.py │ │ ├── reppoints_head.py │ │ ├── retina_head.py │ │ ├── retina_sepbn_head.py │ │ ├── rpn_head.py │ │ ├── sabl_retina_head.py │ │ ├── solo_head.py │ │ ├── ssd_head.py │ │ ├── vfnet_head.py │ │ ├── yolact_head.py │ │ ├── yolo_head.py │ │ ├── yolof_head.py │ │ └── yolox_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── atss.py │ │ ├── autoassign.py │ │ ├── base.py │ │ ├── cascade_rcnn.py │ │ ├── centernet.py │ │ ├── cornernet.py │ │ ├── deformable_detr.py │ │ ├── detr.py │ │ ├── fast_rcnn.py │ │ ├── faster_rcnn.py │ │ ├── fcos.py │ │ ├── fovea.py │ │ ├── fsaf.py │ │ ├── gfl.py │ │ ├── grid_rcnn.py │ │ ├── htc.py │ │ ├── kd_one_stage.py │ │ ├── lad.py │ │ ├── mask_rcnn.py │ │ ├── mask_scoring_rcnn.py │ │ ├── nasfcos.py │ │ ├── paa.py │ │ ├── panoptic_fpn.py │ │ ├── panoptic_two_stage_segmentor.py │ │ ├── point_rend.py │ │ ├── queryinst.py │ │ ├── reppoints_detector.py │ │ ├── retinanet.py │ │ ├── rpn.py │ │ ├── scnet.py │ │ ├── single_stage.py │ │ ├── single_stage_instance_seg.py │ │ ├── solo.py │ │ ├── sparse_rcnn.py │ │ ├── trident_faster_rcnn.py │ │ ├── two_stage.py │ │ ├── vfnet.py │ │ ├── yolact.py │ │ ├── yolo.py │ │ ├── yolof.py │ │ └── yolox.py │ ├── losses │ │ ├── __init__.py │ │ ├── accuracy.py │ │ ├── ae_loss.py │ │ ├── balanced_l1_loss.py │ │ ├── cross_entropy_loss.py │ │ ├── dice_loss.py │ │ ├── focal_loss.py │ │ ├── gaussian_focal_loss.py │ │ ├── gfocal_loss.py │ │ ├── ghm_loss.py │ │ ├── iou_loss.py │ │ ├── kd_loss.py │ │ ├── mse_loss.py │ │ ├── pisa_loss.py │ │ ├── seesaw_loss.py │ │ ├── smooth_l1_loss.py │ │ ├── utils.py │ │ └── varifocal_loss.py │ ├── necks │ │ ├── __init__.py │ │ ├── bfp.py │ │ ├── channel_mapper.py │ │ ├── ct_resnet_neck.py │ │ ├── dilated_encoder.py │ │ ├── fpg.py │ │ ├── fpn.py │ │ ├── fpn_carafe.py │ │ ├── hrfpn.py │ │ ├── nas_fpn.py │ │ ├── nasfcos_fpn.py │ │ ├── pafpn.py │ │ ├── rfp.py │ │ ├── ssd_neck.py │ │ ├── yolo_neck.py │ │ └── yolox_pafpn.py │ ├── plugins │ │ ├── __init__.py │ │ └── dropblock.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_roi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── bbox_head.py │ │ │ ├── convfc_bbox_head.py │ │ │ ├── dii_head.py │ │ │ ├── double_bbox_head.py │ │ │ ├── sabl_head.py │ │ │ └── scnet_bbox_head.py │ │ ├── cascade_roi_head.py │ │ ├── double_roi_head.py │ │ ├── dynamic_roi_head.py │ │ ├── grid_roi_head.py │ │ ├── htc_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── coarse_mask_head.py │ │ │ ├── dynamic_mask_head.py │ │ │ ├── fcn_mask_head.py │ │ │ ├── feature_relay_head.py │ │ │ ├── fused_semantic_head.py │ │ │ ├── global_context_head.py │ │ │ ├── grid_head.py │ │ │ ├── htc_mask_head.py │ │ │ ├── mask_point_head.py │ │ │ ├── maskiou_head.py │ │ │ ├── scnet_mask_head.py │ │ │ └── scnet_semantic_head.py │ │ ├── mask_scoring_roi_head.py │ │ ├── pisa_roi_head.py │ │ ├── point_rend_roi_head.py │ │ ├── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── base_roi_extractor.py │ │ │ ├── generic_roi_extractor.py │ │ │ └── single_level_roi_extractor.py │ │ ├── scnet_roi_head.py │ │ ├── shared_heads │ │ │ ├── __init__.py │ │ │ └── res_layer.py │ │ ├── sparse_roi_head.py │ │ ├── standard_roi_head.py │ │ ├── test_mixins.py │ │ └── trident_roi_head.py │ ├── seg_heads │ │ ├── __init__.py │ │ ├── base_semantic_head.py │ │ ├── panoptic_fpn_head.py │ │ └── panoptic_fusion_heads │ │ │ ├── __init__.py │ │ │ ├── base_panoptic_fusion_head.py │ │ │ └── heuristic_fusion_head.py │ └── utils │ │ ├── __init__.py │ │ ├── brick_wrappers.py │ │ ├── builder.py │ │ ├── ckpt_convert.py │ │ ├── conv_upsample.py │ │ ├── csp_layer.py │ │ ├── gaussian_target.py │ │ ├── inverted_residual.py │ │ ├── make_divisible.py │ │ ├── misc.py │ │ ├── normed_predictor.py │ │ ├── positional_encoding.py │ │ ├── res_layer.py │ │ ├── se_layer.py │ │ └── transformer.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── contextmanagers.py │ ├── logger.py │ ├── profiling.py │ ├── util_mixins.py │ └── util_random.py └── version.py ├── requirements.txt ├── requirements ├── build.txt ├── docs.txt ├── hrfuser.txt ├── mminstall.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── resources ├── HRFuser_architecture.png ├── coco_test_12510.jpg ├── corruptions_sev_3.png ├── data_pipeline.png ├── loss_curve.png ├── mmdet-logo.png ├── qq_group_qrcode.jpg └── zhihu_qrcode.jpg ├── setup.cfg ├── setup.py └── tools ├── create_data.py ├── create_data.sh ├── data_converter ├── __init__.py ├── create_gt_database.py ├── nuscenes_converter.py └── nuscenes_explorer.py ├── deployment ├── mmdet2torchserve.py ├── mmdet_handler.py ├── onnx2tensorrt.py ├── pytorch2onnx.py ├── test.py └── test_torchserver.py ├── dist_test.sh ├── dist_train.sh ├── misc ├── browse_dataset.py ├── browse_dataset_nus_vis.py └── print_config.py ├── model_converters ├── 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