├── .dockerignore ├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── data └── lyft │ └── ImageSets │ ├── test.txt │ ├── train.txt │ └── val.txt ├── docs ├── DOCKER.md ├── GETTING_STARTED.md ├── INSTALL.md ├── codademo.gif ├── dataset_vs_model.png ├── framework.png ├── model_framework.png ├── multiple_models_demo.png ├── open_mmlab.png └── rosdemo.png ├── environment.yml ├── pcdet ├── __init__.py ├── config.py ├── datasets │ ├── __init__.py │ ├── augmentor │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ └── database_sampler.py │ ├── coda │ │ ├── __init__.py │ │ ├── coda_dataset.py │ │ ├── coda_dataset.py.bkp │ │ └── coda_utils.py │ ├── dataset.py │ ├── jrdb │ │ └── jrdb_dataset.py │ ├── kitti │ │ ├── kitti_dataset.py │ │ ├── kitti_eval.py │ │ ├── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── eval.py │ │ │ ├── eval_batch.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ └── kitti_utils.py │ ├── lyft │ │ ├── lyft_dataset.py │ │ └── lyft_utils.py │ ├── nuscenes │ │ ├── nuscenes_dataset.py │ │ └── nuscenes_utils.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 │ │ │ ├── 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_pillar_vfe.py │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.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 │ │ ├── centerpoint.py │ │ ├── detector3d_template.py │ │ ├── point_rcnn.py │ │ ├── pointpillar.py │ │ ├── pv_rcnn.py │ │ ├── second_net.py │ │ └── second_net_iou.py │ ├── model_utils │ │ ├── centernet_utils.py │ │ ├── dsnorm.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 ├── ops │ ├── __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 │ │ │ ├── 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 ├── utils │ ├── __init__.py │ ├── box_coder_utils.py │ ├── box_utils.py │ ├── cal_quality_utils.py │ ├── calibration_kitti.py │ ├── common_utils.py │ ├── commu_utils.py │ ├── loss_utils.py │ ├── memory_ensemble_utils.py │ ├── object3d_kitti.py │ ├── self_training_utils.py │ └── spconv_utils.py └── version.py ├── requirements.txt ├── rviz └── codaros.rviz ├── setup.py └── tools ├── _init_path.py ├── cfgs ├── coda_models │ ├── cbgs_pp_multihead.yaml │ ├── centerpoint.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── centerpoint_dyn_pillar_1xallclass.yaml │ ├── pointpillar_1x.yaml │ ├── pvrcnn_oracle.yaml │ ├── pvrcnn_oracle_3class128.yaml │ ├── pvrcnn_oracle_3class16.yaml │ ├── pvrcnn_oracle_3class32.yaml │ ├── pvrcnn_oracle_3class64.yaml │ ├── pvrcnn_oracle_allclass.yaml │ ├── pvrcnn_oracle_allclass32.yaml │ └── pvrcnn_oracle_dino.yaml ├── da-coda-coda_models │ ├── anchorheadsingle │ │ ├── pvrcnn_old_anchor_3class128eval.yaml │ │ ├── pvrcnn_old_anchor_3class16eval.yaml │ │ ├── pvrcnn_old_anchor_3class32eval.yaml │ │ └── pvrcnn_old_anchor_3class64eval.yaml │ ├── centerhead │ │ ├── pvrcnn_3class128finetune_head.yaml │ │ ├── pvrcnn_3class128finetune_headfull.yaml │ │ ├── pvrcnn_3class16finetune_head.yaml │ │ ├── pvrcnn_3class16finetune_headfull.yaml │ │ ├── pvrcnn_3class32finetune_head.yaml │ │ ├── pvrcnn_3class32finetune_headfull.yaml │ │ ├── pvrcnn_3class64finetune_head.yaml │ │ └── pvrcnn_3class64finetune_headfull.yaml │ └── waymocenterhead │ │ ├── pvrcnn_allclass128full_finetune_head.yaml │ │ ├── pvrcnn_allclass128full_finetune_headfull.yaml │ │ ├── pvrcnn_allclass16full_finetune_head.yaml │ │ ├── pvrcnn_allclass16full_finetune_headfull.yaml │ │ ├── pvrcnn_allclass32full_finetune_head.yaml │ │ ├── pvrcnn_allclass32full_finetune_headfull.yaml │ │ ├── pvrcnn_allclass64full_finetune_head.yaml │ │ └── pvrcnn_allclass64full_finetune_headfull.yaml ├── da-coda-jrdb_models │ └── centerhead_full │ │ ├── pvrcnn_32_pedonly.yaml │ │ └── pvrcnn_32_pedonly_finetune_headfull.yaml ├── da-coda-nuscenes_models │ ├── centerhead │ │ ├── pvrcnn_128oracle_coda.yaml │ │ ├── pvrcnn_128oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_32oracle_coda.yaml │ │ ├── pvrcnn_32oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_allclass128oracle_coda.yaml │ │ ├── pvrcnn_allclass128oracle_coda_finetune_head.yaml │ │ ├── pvrcnn_allclass128oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_allclass32oracle_coda.yaml │ │ ├── pvrcnn_allclass32oracle_coda_finetune_head.yaml │ │ └── pvrcnn_allclass32oracle_coda_finetune_headfull.yaml │ ├── centerhead_fullcoda │ │ ├── pvrcnn_128oracle_coda.yaml │ │ ├── pvrcnn_128oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_32oracle_coda.yaml │ │ └── pvrcnn_32oracle_coda_finetune_headfull.yaml │ ├── pvrcnn_128oracle_finetune_head.yaml │ ├── pvrcnn_128oracle_finetune_headfull.yaml │ ├── pvrcnn_32oracle_finetune_head.yaml │ └── pvrcnn_32oracle_finetune_headfull.yaml ├── da-coda-waymo_models │ ├── centerhead │ │ ├── pvrcnn_128oracle_coda.yaml │ │ ├── pvrcnn_128oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_32oracle_coda.yaml │ │ ├── pvrcnn_32oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_allclass128oracle_coda.yaml │ │ ├── pvrcnn_allclass128oracle_coda_finetune_head.yaml │ │ ├── pvrcnn_allclass128oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_allclass32oracle_coda.yaml │ │ ├── pvrcnn_allclass32oracle_coda_finetune_head.yaml │ │ └── pvrcnn_allclass32oracle_coda_finetune_headfull.yaml │ ├── centerhead_fullcoda │ │ ├── pvrcnn_128oracle_coda.yaml │ │ ├── pvrcnn_128oracle_coda_finetune_headfull.yaml │ │ ├── pvrcnn_32oracle_coda.yaml │ │ └── pvrcnn_32oracle_coda_finetune_headfull.yaml │ ├── pvrcnn_128oracle_finetune_head.yaml │ ├── pvrcnn_32oracle_finetune_head.yaml │ ├── pvrcnn_old_anchor_32finetune_head.yaml │ ├── pvrcnn_old_anchor_32finetune_headfull.yaml │ ├── pvrcnn_old_anchor_finetune_head.yaml │ └── pvrcnn_old_anchor_finetune_headfull.yaml ├── da-kitti-coda_models │ ├── cbgs_pp_multihead.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── da_centerpoint.yaml │ ├── da_pointpillar_1x.yaml │ ├── pointpillar_1x.yaml │ └── pvrcnn │ │ ├── da_pvrcnn.yaml │ │ ├── pv_rcnn.yaml │ │ └── pvrcnn_old_anchor.yaml ├── da-nus-jrdb_models │ └── centerhead_full │ │ └── pvrcnn_pedonly.yaml ├── da-nuscenes-coda_models │ ├── cbgs_pp_multihead.yaml │ ├── cbgs_voxel01_res3d_centerpoint.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── da_cbgs_voxel0075_res3d_centerpoint.yaml │ ├── da_cbgs_voxel01_res3d_centerpoint.yaml │ ├── pv_rcnn │ │ ├── da_pvrcnn.yaml │ │ ├── pvrcnn_old_anchor.yaml │ │ ├── pvrcnn_old_anchor_finetune.yaml │ │ ├── pvrcnn_old_anchor_finetune_full.yaml │ │ ├── pvrcnn_old_anchor_finetune_head.yaml │ │ ├── pvrcnn_old_anchor_finetune_headfull.yaml │ │ ├── pvrcnn_old_anchor_ros_sn.yaml │ │ └── pvrcnn_old_anchor_sn.yaml │ ├── pvrcnn_codacfg │ │ ├── pvrcnn_finetune_coda.yaml │ │ ├── pvrcnn_pretrain_nuscenes.yaml │ │ ├── pvrcnn_st3d.yaml │ │ └── pvrcnn_st3d_finetune_coda.yaml │ └── pvrcnn_st3d │ │ ├── pvrcnn_st3d.yaml │ │ └── pvrcnn_st3d_finetune_head.yaml ├── da-nuscenes-kitti_models │ ├── pointrcnn │ │ └── pointrcnn_ros.yaml │ ├── pointrcnn_st3d │ │ └── pointrcnn_st3d++_car.yaml │ ├── pvrcnn │ │ ├── pvrcnn_old_anchor.yaml │ │ ├── pvrcnn_old_anchor_ros.yaml │ │ └── pvrcnn_old_anchor_sn.yaml │ ├── pvrcnn_st3d │ │ └── pvrcnn_st3d.yaml │ ├── secondiou │ │ ├── secondiou_cyc.yaml │ │ ├── secondiou_old_anchor.yaml │ │ ├── secondiou_old_anchor_ros.yaml │ │ ├── secondiou_old_anchor_sn.yaml │ │ ├── secondiou_ped.yaml │ │ ├── secondiou_ros_cyc.yaml │ │ ├── secondiou_ros_ped.yaml │ │ ├── secondiou_sn_cyc.yaml │ │ └── secondiou_sn_ped.yaml │ └── secondiou_st3d │ │ ├── secondiou_st3d++_ros_car.yaml │ │ ├── secondiou_st3d++_ros_cyc.yaml │ │ ├── secondiou_st3d++_ros_ped.yaml │ │ ├── secondiou_st3d++_sn_car.yaml │ │ ├── secondiou_st3d++_sn_cyc.yaml │ │ ├── secondiou_st3d++_sn_ped.yaml │ │ └── secondiou_st3d_car.yaml ├── da-waymo-coda_models │ ├── cbgs_pp_multihead.yaml │ ├── centerpoint_dyn_pillar_1x.yaml │ ├── da_centerpoint.yaml │ ├── da_pointpillar_1x.yaml │ ├── pointpillar_1x.yaml │ ├── pvrcnn │ │ ├── da_pvrcnn_with_centerhead_rpn.yaml │ │ ├── pvrcnn_old_anchor.yaml │ │ ├── pvrcnn_old_anchor_3class32_finetune_head.yaml │ │ ├── pvrcnn_old_anchor_allclass32_finetune_head.yaml │ │ ├── pvrcnn_old_anchor_allclass_finetune_head.yaml │ │ ├── pvrcnn_old_anchor_finetune_full.yaml │ │ ├── pvrcnn_old_anchor_finetune_head.yaml │ │ ├── pvrcnn_old_anchor_finetune_headfull.yaml │ │ ├── pvrcnn_old_anchor_ros_sn.yaml │ │ └── pvrcnn_old_anchor_sn.yaml │ ├── pvrcnn_codacfg │ │ ├── pvrcnn_finetune_coda.yaml │ │ ├── pvrcnn_pretrain_waymo.yaml │ │ ├── pvrcnn_st3d.yaml │ │ └── pvrcnn_st3d_finetune_coda.yaml │ └── pvrcnn_st3d │ │ ├── pvrcnn_st3d.yaml │ │ ├── pvrcnn_st3d_finetune_head.yaml │ │ └── pvrcnn_st3d_finetune_headfull.yaml ├── da-waymo-jrdb_models │ └── centerhead_full │ │ └── pvrcnn_pedonly.yaml ├── da-waymo-kitti_models │ ├── pvrcnn │ │ ├── pvrcnn_old_anchor.yaml │ │ ├── pvrcnn_old_anchor_ros.yaml │ │ └── pvrcnn_old_anchor_sn.yaml │ ├── pvrcnn_st3d │ │ └── pvrcnn_st3d.yaml │ ├── secondiou │ │ ├── secondiou_cyc.yaml │ │ ├── secondiou_cyc_ros.yaml │ │ ├── secondiou_cyc_sn.yaml │ │ ├── secondiou_old_anchor.yaml │ │ ├── secondiou_old_anchor_ros.yaml │ │ ├── secondiou_old_anchor_sn.yaml │ │ ├── secondiou_ped.yaml │ │ ├── secondiou_ped_ros.yaml │ │ └── secondiou_ped_sn.yaml │ └── secondiou_st3d │ │ ├── secondiou_st3d++_ros_car.yaml │ │ ├── secondiou_st3d++_ros_cyc.yaml │ │ ├── secondiou_st3d++_ros_ped.yaml │ │ ├── secondiou_st3d++_sn_car.yaml │ │ ├── secondiou_st3d++_sn_cyc.yaml │ │ ├── secondiou_st3d++_sn_ped.yaml │ │ └── secondiou_st3d_car.yaml ├── da-waymo-nus_models │ ├── pvrcnn │ │ └── pvrcnn.yaml │ ├── pvrcnn_st3d │ │ └── pvrcnn_st3d.yaml │ ├── secondiou │ │ └── secondiou.yaml │ └── secondiou_st3d │ │ └── secondiou_st3d.yaml ├── dataset_configs │ ├── coda_dataset.yaml │ ├── coda_dino_dataset.yaml │ ├── da-kitti_oracle_dataset.yaml │ ├── da_coda16_oracle_dataset.yaml │ ├── da_coda16_oracle_dataset_3class.yaml │ ├── da_coda16_oracle_dataset_full.yaml │ ├── da_coda32_oracle_dataset.yaml │ ├── da_coda32_oracle_dataset_3class.yaml │ ├── da_coda32_oracle_dataset_3class_full.yaml │ ├── da_coda32_oracle_dataset_full.yaml │ ├── da_coda64_oracle_dataset.yaml │ ├── da_coda64_oracle_dataset_3class.yaml │ ├── da_coda64_oracle_dataset_full.yaml │ ├── da_coda_dataset.yaml │ ├── da_coda_oracle_dataset_3class.yaml │ ├── da_coda_oracle_dataset_3class_full.yaml │ ├── da_coda_oracle_dataset_allclass.yaml │ ├── da_coda_oracle_dataset_full.yaml │ ├── da_jrdb_dataset.yaml │ ├── da_jrdb_dataset_fullrange.yaml │ ├── da_kitti_dataset.yaml │ ├── da_nuscenes_coda_dataset.yaml │ ├── da_nuscenes_dataset.yaml │ ├── da_nuscenes_kitti_dataset.yaml │ ├── da_nuscenes_oracle_dataset.yaml │ ├── da_waymo_coda_dataset.yaml │ ├── da_waymo_dataset.yaml │ ├── da_waymo_nuscenes_dataset.yaml │ ├── kitti_dataset.yaml │ ├── nuscenes_dataset.yaml │ ├── waymo_dataset.yaml │ └── waymo_dataset_no_gtsampling.yaml ├── jrdb_models │ └── centerhead │ │ ├── pvrcnn_pedonly.yaml │ │ ├── pvrcnn_pedonly_allaugs.yaml │ │ ├── pvrcnn_pedonly_fullrange.yaml │ │ └── pvrcnn_pedonly_fullrange_allaugs.yaml ├── kitti_models │ ├── PartA2.yaml │ ├── PartA2_free.yaml │ ├── cbgs_pp_multihead.yaml │ ├── pointpillar.yaml │ ├── pointrcnn.yaml │ ├── pointrcnn_iou.yaml │ ├── pv_rcnn.yaml │ ├── pvrcnn_oracle.yaml │ ├── second.yaml │ ├── second_iou.yaml │ ├── second_multihead.yaml │ └── secondiou_orcale.yaml ├── nuscenes_models │ ├── cbgs_pp_multihead.yaml │ ├── cbgs_second_multihead.yaml │ ├── pvrcnn │ │ └── pvrcnn_oracle.yaml │ ├── second_car.yaml │ ├── second_car_oracle.yaml │ └── secondiou_car_oracle.yaml └── waymo_models │ ├── PartA2.yaml │ ├── pv_rcnn.yaml │ ├── pvrcnn.yaml │ ├── pvrcnn_no_gtsampling.yaml │ ├── second.yaml │ └── second_no_gtsampling.yaml ├── create_data.py ├── data_converter └── coda_converter.py ├── demo.py ├── eval_utils ├── eval_utils.py └── model_key_mapping.py ├── ls6 ├── launcher_selftrain_models_task1 ├── launcher_selftrain_models_task2 ├── selftrain_st3d_model.794503 └── selftrain_st3d_model.814082 ├── ros_demo.py ├── scripts ├── dist_test.sh ├── dist_train.sh ├── launcher_selftrain_damodels ├── launcher_test_damodels_source ├── launcher_train_damodels ├── launcher_train_damodels_ckpt ├── ls6_slurn_jrdbtrain.sh ├── ls6_slurn_selftrain.bash ├── ls6_slurn_test.bash ├── ls6_slurn_train.bash ├── ls6_slurn_train_coda.bash ├── slurm_test_mgpu.sh ├── slurm_test_single.sh └── slurm_train.sh ├── test.py ├── train.py ├── train_utils ├── __init__.py ├── optimization │ 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