├── .gitignore ├── EPro-PnP-6DoF ├── README.md ├── architecture.png ├── lib │ ├── __init__.py │ ├── config.py │ ├── datasets │ │ └── lm.py │ ├── model.py │ ├── models │ │ ├── CDPN.py │ │ ├── __init__.py │ │ ├── monte_carlo_pose_loss.py │ │ ├── resnet_backbone.py │ │ ├── resnet_rot_head.py │ │ └── resnet_trans_head.py │ ├── ops │ │ ├── __init__.py │ │ ├── pnp │ │ │ ├── __init__.py │ │ │ ├── camera.py │ │ │ ├── common.py │ │ │ ├── cost_fun.py │ │ │ ├── distributions.py │ │ │ ├── epropnp.py │ │ │ └── levenberg_marquardt.py │ │ └── rotation_conversions.py │ ├── ref.py │ ├── test.py │ ├── train.py │ └── utils │ │ ├── __init__.py │ │ ├── draw_orient_density.py │ │ ├── eval.py │ │ ├── fancy_logger.py │ │ ├── fs.py │ │ ├── img.py │ │ ├── io.py │ │ ├── tictoc.py │ │ ├── transform3d.py │ │ └── utils.py ├── tools │ ├── _init_paths.py │ ├── exps_cfg │ │ ├── epropnp_basic.yaml │ │ ├── epropnp_cdpn_init.yaml │ │ ├── epropnp_cdpn_init_long.yaml │ │ └── epropnp_reg_loss.yaml │ └── main.py └── viz.gif ├── EPro-PnP-Det ├── INSTALL.md ├── README.md ├── configs │ ├── epropnp_det_basic.py │ ├── epropnp_det_coord_regr.py │ ├── epropnp_det_coord_regr_trainval.py │ ├── epropnp_det_no_reproj.py │ ├── epropnp_det_v1b_220312.py │ └── epropnp_det_v1b_220411.py ├── demo │ ├── demo.jpg │ ├── infer_imgs.py │ ├── infer_nuscenes_sequence.py │ └── nus_cam_front.csv ├── epropnp_det │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── inference.py │ │ └── test.py │ ├── core │ │ ├── __init__.py │ │ ├── bbox_3d │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── center_target.py │ │ │ ├── dim_coder │ │ │ │ ├── __init__.py │ │ │ │ └── multiclass_log_dim_coder.py │ │ │ ├── iou_calculators │ │ │ │ ├── __init__.py │ │ │ │ ├── bbox3d_iou_calculator.py │ │ │ │ ├── rotate_iou_calculator.py │ │ │ │ └── rotate_iou_kernel.py │ │ │ ├── misc.py │ │ │ └── proj_error_coder │ │ │ │ ├── __init__.py │ │ │ │ └── dist_dim_proj_error_coder.py │ │ ├── evaluation │ │ │ ├── __init__.py │ │ │ └── kitti_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── eval.py │ │ │ │ └── rotate_iou.py │ │ └── visualizer │ │ │ ├── __init__.py │ │ │ ├── deformable_point_vis.py │ │ │ └── image_bev_vis.py │ ├── datasets │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── dataset_wrappers.py │ │ ├── kitti3d_dataset.py │ │ ├── kitti3dcar_dataset.py │ │ ├── nuscenes3d_dataset.py │ │ └── pipelines │ │ │ ├── __init__.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ └── transforms.py │ ├── models │ │ ├── __init__.py │ │ ├── dense_heads │ │ │ ├── __init__.py │ │ │ ├── deform_pnp_head.py │ │ │ └── fcos_emb_head.py │ │ ├── detectors │ │ │ ├── __init__.py │ │ │ └── epropnp_det.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ ├── cosine_angle_loss.py │ │ │ ├── monte_carlo_pose_loss.py │ │ │ ├── mvd_gaussian_mixture_nll_loss.py │ │ │ └── smooth_l1_loss.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ └── positional_encoding.py │ ├── ops │ │ ├── __init__.py │ │ ├── deformable_attention_sampler.py │ │ ├── group_linear.py │ │ ├── inter_roi_ops.py │ │ ├── iou3d │ │ │ ├── __init__.py │ │ │ ├── iou3d_utils.py │ │ │ └── src │ │ │ │ ├── iou3d.cpp │ │ │ │ └── iou3d_kernel.cu │ │ └── pnp │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── camera.py │ │ │ ├── common.py │ │ │ ├── cost_fun.py │ │ │ ├── distributions.py │ │ │ ├── epropnp.py │ │ │ └── levenberg_marquardt.py │ ├── runner │ │ ├── __init__.py │ │ └── hooks │ │ │ ├── __init__.py │ │ │ ├── model_updater.py │ │ │ └── optimizer.py │ └── utils │ │ ├── __init__.py │ │ └── timer.py ├── requirements.txt ├── resources │ ├── architecture.png │ └── viz.gif ├── setup.py ├── test.py ├── tools │ ├── checkpoint_cleaner.py │ ├── data_converter │ │ └── nuscenes_converter.py │ ├── test.py │ └── train.py └── train.py ├── LICENSE ├── README.md ├── demo └── fit_identity.ipynb ├── epropnp ├── __init__.py ├── camera.py ├── common.py ├── cost_fun.py ├── distributions.py ├── epropnp.py └── levenberg_marquardt.py └── intro.png /.gitignore: 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