├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── assets └── method.png ├── bevlab ├── __init__.py ├── backbones │ ├── __init__.py │ ├── minkunet.py │ ├── minkunet_segcontrast.py │ └── spconv_backbone.py ├── dataloader.py ├── datasets.py ├── models.py └── transforms.py ├── cfgs ├── pretrain_ns_minkunet.yaml ├── pretrain_ns_spconv.yaml └── pretrain_sk_minkunet.yaml ├── downstream ├── configs │ ├── cfg │ │ ├── nuscenes_torchsparse.yaml │ │ ├── nuscenes_torchsparse_val.yaml │ │ ├── semantickitti_minkowski.yaml │ │ ├── semantickitti_torchsparse.yaml │ │ └── semanticposs_minkowski.yaml │ └── config.yaml ├── convert_models.py ├── datasets │ ├── __init__.py │ ├── nuscenes_dataset.py │ ├── percentiles_split.json │ ├── semantic-kitti.yaml │ ├── semantickitti_dataset.py │ └── semanticposs_dataset.py ├── eval.py ├── eval_offset.py ├── networks │ ├── __init__.py │ └── backbone │ │ ├── __init__.py │ │ ├── minkowski_engine │ │ ├── __init__.py │ │ ├── minkunet.py │ │ ├── minkunet_segcontrast.py │ │ └── utils.py │ │ ├── spconv │ │ ├── __init__.py │ │ ├── pcdet_models.py │ │ └── utils.py │ │ └── torchsparse │ │ ├── __init__.py │ │ ├── minkunet.py │ │ ├── spvcnn.py │ │ └── utils.py ├── train_downstream_semseg.py ├── transforms │ ├── __init__.py │ ├── create_inputs.py │ ├── create_points.py │ ├── duplicate.py │ ├── get_transforms.py │ ├── random_flip.py │ ├── random_rotate.py │ ├── scaling.py │ └── voxel_decimation.py ├── utils │ ├── __init__.py │ ├── callbacks.py │ ├── confusion_matrix.py │ ├── metrics.py │ └── utils.py └── visu_downstream.py ├── requirements.txt ├── train.py └── utils ├── __init__.py ├── config.py ├── convert_spconv_model.py ├── logger.py ├── optimizer.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/valeoai/BEVContrast/HEAD/.gitignore -------------------------------------------------------------------------------- /Dockerfile: 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