├── .coveragerc ├── .gitignore ├── .gitmodules ├── .travis.yml ├── LICENSE ├── README.md ├── demos ├── augmentation │ └── check_flipped_pixel_errors.py ├── dataset │ ├── car_clustering.py │ ├── data_histograms.py │ └── data_mean.py ├── generate_anchors.py ├── kitti_bev_vis.py ├── show_predictions_2d.py ├── show_predictions_2d_avod_3d_panoptic.py ├── show_predictions_2d_avod_panoptic.py ├── show_predictions_2d_orientnet_panoptic.py └── show_predictions_2d_pplp_panoptic.py ├── pplp ├── __init__.py ├── builders │ ├── __init__.py │ ├── avod_fc_layers_builder.py │ ├── avod_loss_builder.py │ ├── bev_generator_builder.py │ ├── bev_generator_panoptic_3d_builder.py │ ├── bev_generator_panoptic_builder.py │ ├── config_builder_panoptic_util.py │ ├── config_builder_util.py │ ├── dataset_builder.py │ ├── dataset_panoptic_3d_builder.py │ ├── dataset_panoptic_builder.py │ ├── feature_extractor_builder.py │ ├── optimizer_builder.py │ ├── orientnet_layers_builder.py │ ├── orientnet_loss_builder.py │ ├── pplp_fc_layers_builder.py │ └── pplp_loss_builder.py ├── configs │ ├── avod_3d_pedestrian_panoptic.config │ ├── avod_cars_example.config │ ├── avod_pedestrian_kitti.config │ ├── avod_pedestrian_panoptic.config │ ├── avod_people_example.config │ ├── mb_preprocessing │ │ ├── rpn_cars.config │ │ ├── rpn_cyclists.config │ │ ├── rpn_panoptic.config │ │ ├── rpn_panoptic_3d.config │ │ ├── rpn_pedestrians.config │ │ └── rpn_people.config │ ├── orientation_pedestrian_panoptic.config │ ├── pplp_pedestrian_kitti.config │ ├── pplp_pedestrian_panoptic.config │ ├── pyramid_cars_example.config │ ├── pyramid_cars_with_aug_example.config │ ├── pyramid_people_example.config │ ├── unittest_model.config │ └── unittest_pipeline.config ├── core │ ├── __init__.py │ ├── anchor_encoder.py │ ├── anchor_encoder_test.py │ ├── anchor_filter.py │ ├── anchor_filter_test.py │ ├── anchor_generator.py │ ├── anchor_generators │ │ ├── __init__.py │ │ ├── grid_anchor_3d_generator.py │ │ └── grid_anchor_3d_generator_test.py │ ├── anchor_panoptic_encoder.py │ ├── anchor_panoptic_filter.py │ ├── anchor_panoptic_projector.py │ ├── anchor_projector.py │ ├── anchor_projector_test.py │ ├── avod_3d_panoptic_evaluator.py │ ├── avod_fc_layers │ │ ├── __init__.py │ │ ├── avod_fc_layer_utils.py │ │ ├── basic_fc_layers.py │ │ └── fusion_fc_layers.py │ ├── avod_panoptic_evaluator.py │ ├── bev_generators │ │ ├── __init__.py │ │ ├── bev_3d_slices.py │ │ ├── bev_generator.py │ │ ├── bev_panoptic_generator.py │ │ ├── bev_panoptic_slices.py │ │ ├── bev_slices.py │ │ ├── bresenham_height_map_visualization.py │ │ └── bresenham_line.py │ ├── box_3d_encoder.py │ ├── box_3d_encoder_test.py │ ├── box_3d_panoptic_encoder.py │ ├── box_3d_panoptic_projector.py │ ├── box_3d_projector.py │ ├── box_3d_projector_test.py │ ├── box_4c_encoder.py │ ├── box_4c_encoder_test.py │ ├── box_4c_panoptic_encoder.py │ ├── box_8c_encoder.py │ ├── box_8c_encoder_test.py │ ├── box_8c_panoptic_encoder.py │ ├── box_list.py │ ├── box_list_ops.py │ ├── box_list_ops_test.py │ ├── box_list_test.py │ ├── constants.py │ ├── evaluator.py │ ├── evaluator_panoptic_utils.py │ ├── evaluator_utils.py │ ├── feature_extractors │ │ ├── __init__.py │ │ ├── bev_feature_extractor.py │ │ ├── bev_vgg.py │ │ ├── bev_vgg_pyramid.py │ │ ├── bev_vgg_test.py │ │ ├── img_feature_extractor.py │ │ ├── img_vgg.py │ │ └── img_vgg_pyramid.py │ ├── format_checker.py │ ├── format_checker_test.py │ ├── format_panoptic_checker.py │ ├── label_cluster_panoptic_utils.py │ ├── label_cluster_utils.py │ ├── label_cluster_utils_test.py │ ├── losses.py │ ├── losses_test.py │ ├── maskrcnn │ │ ├── coco.py │ │ ├── maskrcnn_config.py │ │ ├── maskrcnn_utils.py │ │ └── visualize.py │ ├── mini_batch_panoptic_3d_preprocessor.py │ ├── mini_batch_panoptic_3d_utils.py │ ├── mini_batch_panoptic_preprocessor.py │ ├── mini_batch_panoptic_utils.py │ ├── mini_batch_preprocessor.py │ ├── mini_batch_utils.py │ ├── mini_batch_utils_test.py │ ├── minibatch_sampler.py │ ├── minibatch_sampler_test.py │ ├── minibatch_samplers │ │ ├── __init__.py │ │ ├── balanced_positive_negative_sampler.py │ │ └── balanced_positive_negative_sampler_test.py │ ├── model.py │ ├── models │ │ ├── __init__.py │ │ ├── avod_3d_panoptic_model.py │ │ ├── avod_model.py │ │ ├── avod_model_test.py │ │ ├── avod_panoptic_model.py │ │ ├── maskrcnn_model.py │ │ ├── orientnet_panoptic_model.py │ │ ├── pplp_kitti_model.py │ │ ├── pplp_panoptic_model.py │ │ ├── rpn_avod_3d_panoptic_model.py │ │ ├── rpn_avod_panoptic_model.py │ │ ├── rpn_model.py │ │ ├── rpn_model_test.py │ │ ├── rpn_pplp_kitti_model.py │ │ └── rpn_pplp_panoptic_model.py │ ├── ops.py │ ├── ops_test.py │ ├── orientation_encoder.py │ ├── orientation_encoder_test.py │ ├── orientnet_panoptic_evaluator.py │ ├── pplp_fc_layers │ │ ├── __init__.py │ │ ├── basic_fc_layers.py │ │ ├── fusion_fc_angle_cl_layers.py │ │ ├── fusion_fc_layers.py │ │ ├── ops.py │ │ ├── orientnet_resnet_layers.py │ │ ├── pplp_fc_layer_utils.py │ │ └── separate_fc_layers.py │ ├── pplp_kitti_evaluator.py │ ├── pplp_panoptic_evaluator.py │ ├── summary_utils.py │ ├── trainer.py │ ├── trainer_orientnet.py │ ├── trainer_test.py │ ├── trainer_utils.py │ └── trainer_utils_test.py ├── datasets │ ├── __init__.py │ ├── kitti │ │ ├── __init__.py │ │ ├── kitti_aug.py │ │ ├── kitti_aug_test.py │ │ ├── kitti_dataset.py │ │ ├── kitti_dataset_test.py │ │ ├── kitti_utils.py │ │ └── kitti_utils_test.py │ └── panoptic │ │ ├── __init__.py │ │ ├── panoptic_3d_dataset.py │ │ ├── panoptic_3d_utils.py │ │ ├── panoptic_aug.py │ │ ├── panoptic_aug_test.py │ │ ├── panoptic_dataset.py │ │ ├── panoptic_dataset_test.py │ │ ├── panoptic_utils.py │ │ └── panoptic_utils_test.py ├── experiments │ ├── __init__.py │ ├── run_avod_3d_panoptic_evaluation.py │ ├── run_avod_3d_panoptic_training.py │ ├── run_avod_panoptic_evaluation.py │ ├── run_avod_panoptic_training.py │ ├── run_evaluation.py │ ├── run_inference.py │ ├── run_orientnet_panoptic_evaluation.py │ ├── run_orientnet_panoptic_training.py │ ├── run_pplp_kitti_evaluation.py │ ├── run_pplp_kitti_training.py │ ├── run_pplp_panoptic_evaluation.py │ ├── run_pplp_panoptic_training.py │ └── run_training.py ├── protos │ ├── clear_protos.sh │ ├── eval.proto │ ├── kitti_dataset.proto │ ├── kitti_utils.proto │ ├── layers.proto │ ├── mini_batch.proto │ ├── model.proto │ ├── optimizer.proto │ ├── panoptic_dataset.proto │ ├── panoptic_pipeline.proto │ ├── panoptic_utils.proto │ ├── pipeline.proto │ ├── run_protoc.sh │ └── train.proto ├── tests │ ├── __init__.py │ ├── datasets │ │ └── Kitti │ │ │ └── object │ │ │ ├── test.txt │ │ │ ├── train.txt │ │ │ ├── training │ │ │ ├── calib │ │ │ │ ├── 000000.txt │ │ │ │ ├── 000001.txt │ │ │ │ ├── 000002.txt │ │ │ │ ├── 000003.txt │ │ │ │ ├── 000004.txt │ │ │ │ ├── 000005.txt │ │ │ │ ├── 000006.txt │ │ │ │ ├── 000007.txt │ │ │ │ ├── 000008.txt │ │ │ │ ├── 000009.txt │ │ │ │ ├── 000076.txt │ │ │ │ ├── 000142.txt │ │ │ │ └── 000217.txt │ │ │ ├── image_2 │ │ │ │ ├── 000000.png │ │ │ │ ├── 000001.png │ │ │ │ ├── 000002.png │ │ │ │ ├── 000003.png │ │ │ │ ├── 000004.png │ │ │ │ ├── 000005.png │ │ │ │ ├── 000006.png │ │ │ │ ├── 000007.png │ │ │ │ ├── 000008.png │ │ │ │ ├── 000009.png │ │ │ │ ├── 000076.png │ │ │ │ ├── 000142.png │ │ │ │ └── 000217.png │ │ │ ├── label_2 │ │ │ │ ├── 000000.txt │ │ │ │ ├── 000001.txt │ │ │ │ ├── 000002.txt │ │ │ │ ├── 000003.txt │ │ │ │ ├── 000004.txt │ │ │ │ ├── 000005.txt │ │ │ │ ├── 000006.txt │ │ │ │ ├── 000007.txt │ │ │ │ ├── 000008.txt │ │ │ │ ├── 000009.txt │ │ │ │ ├── 000076.txt │ │ │ │ ├── 000142.txt │ │ │ │ └── 000217.txt │ │ │ ├── planes │ │ │ │ ├── 000000.txt │ │ │ │ ├── 000001.txt │ │ │ │ ├── 000002.txt │ │ │ │ ├── 000003.txt │ │ │ │ ├── 000004.txt │ │ │ │ ├── 000005.txt │ │ │ │ ├── 000006.txt │ │ │ │ ├── 000007.txt │ │ │ │ ├── 000008.txt │ │ │ │ ├── 000009.txt │ │ │ │ ├── 000076.txt │ │ │ │ ├── 000142.txt │ │ │ │ └── 000217.txt │ │ │ └── velodyne │ │ │ │ ├── 000000.bin │ │ │ │ ├── 000001.bin │ │ │ │ ├── 000002.bin │ │ │ │ ├── 000003.bin │ │ │ │ ├── 000004.bin │ │ │ │ ├── 000005.bin │ │ │ │ ├── 000006.bin │ │ │ │ ├── 000007.bin │ │ │ │ ├── 000008.bin │ │ │ │ ├── 000009.bin │ │ │ │ ├── 000076.bin │ │ │ │ ├── 000142.bin │ │ │ │ └── 000217.bin │ │ │ ├── trainval.txt │ │ │ └── val.txt │ └── run_unit_tests.sh └── utils │ └── demo_utils.py ├── pplp_media ├── CMU-dataset.png ├── FMP-dataset.png ├── an_example.png ├── comparison.jpg ├── encoding.jpg └── overall_architecture.jpg ├── requirements.txt └── scripts ├── __init__.py ├── install ├── build_integral_image_lib.bash └── travis_install.bash ├── offline_eval ├── .gitignore ├── kitti_native_eval │ ├── Makefile │ ├── README.md │ ├── all_eval.sh │ ├── evaluate_object_3d.cpp │ ├── evaluate_object_3d_offline.cpp │ ├── evaluate_object_3d_offline_05_iou.cpp │ ├── mail.h │ ├── run_eval.sh │ ├── run_eval_05_iou.sh │ └── run_make.sh ├── panoptic_pplp_eval │ ├── Makefile │ ├── README.md │ ├── all_eval.sh │ 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