├── .gitignore ├── LICENSE ├── README.md ├── assets ├── Figure1.png └── Figure2.png ├── configs ├── kitti.yaml └── waymo.yaml ├── dataset_utils ├── kitti │ ├── __pycache__ │ │ ├── kitti_oxts.cpython-39.pyc │ │ └── kitti_tracking_dataset.cpython-39.pyc │ ├── calibration.py │ ├── calibration_beifen.py │ ├── kitti_oxts.py │ ├── kitti_tracking_dataset.py │ └── kitti_utils.py └── waymo │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-39.pyc │ ├── waymo_dataset.cpython-39.pyc │ └── waymo_utils.cpython-39.pyc │ ├── waymo_dataset.py │ ├── waymo_dataset.yaml │ ├── waymo_eval.py │ └── waymo_utils.py ├── detector ├── CasA │ ├── .idea │ │ ├── .gitignore │ │ ├── CasA.iml │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ └── workspace.xml │ ├── LICENSE │ ├── README.md │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-39.pyc │ ├── build │ │ ├── temp.linux-x86_64-cpython-38 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ └── pcdet │ │ │ │ └── ops │ │ │ │ └── votr_ops │ │ │ │ └── src │ │ │ │ ├── build_attention_indices.o │ │ │ │ ├── build_attention_indices_gpu.o │ │ │ │ ├── build_mapping.o │ │ │ │ ├── build_mapping_gpu.o │ │ │ │ ├── group_features.o │ │ │ │ ├── group_features_gpu.o │ │ │ │ └── votr_api.o │ │ └── temp.linux-x86_64-cpython-39 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ └── pcdet │ │ │ └── ops │ │ │ ├── iou3d_nms │ │ │ └── src │ │ │ │ ├── iou3d_cpu.o │ │ │ │ ├── iou3d_nms.o │ │ │ │ ├── iou3d_nms_api.o │ │ │ │ └── iou3d_nms_kernel.o │ │ │ ├── pointnet2 │ │ │ ├── pointnet2_batch │ │ │ │ └── src │ │ │ │ │ ├── ball_query.o │ │ │ │ │ ├── ball_query_gpu.o │ │ │ │ │ ├── group_points.o │ │ │ │ │ ├── group_points_gpu.o │ │ │ │ │ ├── interpolate.o │ │ │ │ │ ├── interpolate_gpu.o │ │ │ │ │ ├── pointnet2_api.o │ │ │ │ │ ├── sampling.o │ │ │ │ │ └── sampling_gpu.o │ │ │ └── pointnet2_stack │ │ │ │ └── src │ │ │ │ ├── ball_query.o │ │ │ │ ├── ball_query_deform.o │ │ │ │ ├── ball_query_deform_gpu.o │ │ │ │ ├── ball_query_gpu.o │ │ │ │ ├── group_points.o │ │ │ │ ├── group_points_gpu.o │ │ │ │ ├── interpolate.o │ │ │ │ ├── interpolate_gpu.o │ │ │ │ ├── pointnet2_api.o │ │ │ │ ├── sampling.o │ │ │ │ ├── sampling_gpu.o │ │ │ │ ├── vector_pool.o │ │ │ │ ├── vector_pool_gpu.o │ │ │ │ ├── voxel_query.o │ │ │ │ └── voxel_query_gpu.o │ │ │ ├── roiaware_pool3d │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.o │ │ │ │ └── roiaware_pool3d_kernel.o │ │ │ ├── roipoint_pool3d │ │ │ └── src │ │ │ │ ├── roipoint_pool3d.o │ │ │ │ └── roipoint_pool3d_kernel.o │ │ │ └── votr_ops │ │ │ └── src │ │ │ ├── build_attention_indices.o │ │ │ ├── build_attention_indices_gpu.o │ │ │ ├── build_mapping.o │ │ │ ├── build_mapping_gpu.o │ │ │ ├── group_features.o │ │ │ ├── group_features_gpu.o │ │ │ └── votr_api.o │ ├── docs │ │ ├── GETTING_STARTED.md │ │ ├── INSTALL.md │ │ └── framework.png │ ├── pcdet.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── pcdet │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── config.cpython-39.pyc │ │ │ └── version.cpython-39.pyc │ │ ├── config.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── dataset.cpython-39.pyc │ │ │ ├── augmentor │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── augmentor_utils.cpython-39.pyc │ │ │ │ │ ├── data_augmentor.cpython-39.pyc │ │ │ │ │ ├── database_sampler.cpython-39.pyc │ │ │ │ │ └── test_augmentor.cpython-39.pyc │ │ │ │ ├── augmentor_utils.py │ │ │ │ ├── data_augmentor.py │ │ │ │ ├── database_sampler.py │ │ │ │ └── test_augmentor.py │ │ │ ├── dataset.py │ │ │ ├── kitti │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── kitti_dataset.cpython-39.pyc │ │ │ │ │ └── kitti_tracking_dataset.cpython-39.pyc │ │ │ │ ├── kitti_dataset.py │ │ │ │ ├── kitti_object_eval_python │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ └── kitti_common.cpython-39.pyc │ │ │ │ │ ├── eval.py │ │ │ │ │ ├── evaluate.py │ │ │ │ │ ├── kitti_common.py │ │ │ │ │ └── rotate_iou.py │ │ │ │ └── kitti_tracking_dataset.py │ │ │ ├── processor │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── data_processor.cpython-39.pyc │ │ │ │ │ └── point_feature_encoder.cpython-39.pyc │ │ │ │ ├── data_processor.py │ │ │ │ └── point_feature_encoder.py │ │ │ └── waymo │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── waymo_dataset.cpython-39.pyc │ │ │ │ ├── waymo_eval.cpython-39.pyc │ │ │ │ └── waymo_tracking_dataset.cpython-39.pyc │ │ │ │ ├── waymo_dataset.py │ │ │ │ ├── waymo_eval.py │ │ │ │ ├── waymo_tracking_dataset.py │ │ │ │ └── waymo_utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ └── __init__.cpython-39.pyc │ │ │ ├── backbones_2d │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ └── base_bev_backbone.cpython-39.pyc │ │ │ │ ├── base_bev_backbone.py │ │ │ │ └── map_to_bev │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── height_compression.cpython-39.pyc │ │ │ │ │ └── pointpillar_scatter.cpython-39.pyc │ │ │ │ │ ├── height_compression.py │ │ │ │ │ └── pointpillar_scatter.py │ │ │ ├── backbones_3d │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── pointnet2_backbone.cpython-39.pyc │ │ │ │ │ ├── spconv_backbone.cpython-39.pyc │ │ │ │ │ └── votr_backbone.cpython-39.pyc │ │ │ │ ├── pfe │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ └── voxel_set_abstraction.cpython-39.pyc │ │ │ │ │ └── voxel_set_abstraction.py │ │ │ │ ├── pointnet2_backbone.py │ │ │ │ ├── spconv_backbone.py │ │ │ │ ├── vfe │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ ├── mean_vfe.cpython-39.pyc │ │ │ │ │ │ ├── pillar_vfe.cpython-39.pyc │ │ │ │ │ │ └── vfe_template.cpython-39.pyc │ │ │ │ │ ├── mean_vfe.py │ │ │ │ │ ├── pillar_vfe.py │ │ │ │ │ └── vfe_template.py │ │ │ │ └── votr_backbone.py │ │ │ ├── dense_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── anchor_head_multi.cpython-39.pyc │ │ │ │ │ ├── anchor_head_single.cpython-39.pyc │ │ │ │ │ ├── anchor_head_template.cpython-39.pyc │ │ │ │ │ ├── center_head.cpython-39.pyc │ │ │ │ │ ├── point_head_box.cpython-39.pyc │ │ │ │ │ ├── point_head_simple.cpython-39.pyc │ │ │ │ │ ├── point_head_template.cpython-39.pyc │ │ │ │ │ └── point_intra_part_head.cpython-39.pyc │ │ │ │ ├── anchor_head_multi.py │ │ │ │ ├── anchor_head_single.py │ │ │ │ ├── anchor_head_template.py │ │ │ │ ├── center_head.py │ │ │ │ ├── free_head_template.py │ │ │ │ ├── point_head_box.py │ │ │ │ ├── point_head_simple.py │ │ │ │ ├── point_head_template.py │ │ │ │ ├── point_intra_part_head.py │ │ │ │ └── target_assigner │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── anchor_generator.cpython-39.pyc │ │ │ │ │ ├── atss_target_assigner.cpython-39.pyc │ │ │ │ │ └── axis_aligned_target_assigner.cpython-39.pyc │ │ │ │ │ ├── anchor_generator.py │ │ │ │ │ ├── atss_target_assigner.py │ │ │ │ │ └── axis_aligned_target_assigner.py │ │ │ ├── detectors │ │ │ │ ├── CT3D.py │ │ │ │ ├── CT3D_3CAT.py │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── CT3D.cpython-39.pyc │ │ │ │ │ ├── CT3D_3CAT.cpython-39.pyc │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── detector3d_template.cpython-39.pyc │ │ │ │ │ ├── pv_rcnn.cpython-39.pyc │ │ │ │ │ └── voxel_rcnn.cpython-39.pyc │ │ │ │ ├── detector3d_template.py │ │ │ │ ├── pv_rcnn.py │ │ │ │ └── voxel_rcnn.py │ │ │ ├── model_utils │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── centernet_utils.cpython-39.pyc │ │ │ │ │ ├── ctrans.cpython-39.pyc │ │ │ │ │ └── model_nms_utils.cpython-39.pyc │ │ │ │ ├── centernet_utils.py │ │ │ │ ├── ctrans.py │ │ │ │ └── model_nms_utils.py │ │ │ └── roi_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── casa_pv_head.cpython-39.pyc │ │ │ │ ├── casa_t_head.cpython-39.pyc │ │ │ │ ├── casa_v_head.cpython-39.pyc │ │ │ │ └── cascade_roi_head_template.cpython-39.pyc │ │ │ │ ├── casa_pv_head.py │ │ │ │ ├── casa_t_head.py │ │ │ │ ├── casa_v_head.py │ │ │ │ ├── cascade_roi_head_template.py │ │ │ │ └── target_assigner │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── proposal_target_layer.cpython-39.pyc │ │ │ │ └── proposal_target_layer.py │ │ ├── ops │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ └── __init__.cpython-39.pyc │ │ │ ├── dcn │ │ │ │ ├── __init__.py │ │ │ │ ├── deform_conv.py │ │ │ │ ├── setup.py │ │ │ │ └── src │ │ │ │ │ ├── deform_conv_cuda.cpp │ │ │ │ │ ├── deform_conv_cuda_kernel.cu │ │ │ │ │ ├── deform_pool_cuda.cpp │ │ │ │ │ └── deform_pool_cuda_kernel.cu │ │ │ ├── iou3d_nms │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ └── iou3d_nms_utils.cpython-39.pyc │ │ │ │ ├── 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 │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ └── __init__.cpython-39.pyc │ │ │ │ ├── pointnet2_batch │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ ├── pointnet2_modules.cpython-39.pyc │ │ │ │ │ │ └── pointnet2_utils.cpython-39.pyc │ │ │ │ │ ├── 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 │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── pointnet2_modules.cpython-39.pyc │ │ │ │ │ ├── pointnet2_utils.cpython-39.pyc │ │ │ │ │ ├── voxel_pool_modules.cpython-39.pyc │ │ │ │ │ └── voxel_query_utils.cpython-39.pyc │ │ │ │ │ ├── pointnet2_modules.py │ │ │ │ │ ├── pointnet2_utils.py │ │ │ │ │ ├── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_deform.cpp │ │ │ │ │ ├── ball_query_deform_gpu.cu │ │ │ │ │ ├── ball_query_deform_gpu.h │ │ │ │ │ ├── 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 │ │ │ │ │ ├── vector_pool.cpp │ │ │ │ │ ├── vector_pool_gpu.cu │ │ │ │ │ ├── vector_pool_gpu.h │ │ │ │ │ ├── voxel_query.cpp │ │ │ │ │ ├── voxel_query_gpu.cu │ │ │ │ │ └── voxel_query_gpu.h │ │ │ │ │ ├── voxel_pool_modules.py │ │ │ │ │ └── voxel_query_utils.py │ │ │ ├── roiaware_pool3d │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ └── roiaware_pool3d_utils.cpython-39.pyc │ │ │ │ ├── roiaware_pool3d_utils.py │ │ │ │ └── src │ │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ │ ├── roipoint_pool3d │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ └── __init__.cpython-39.pyc │ │ │ │ ├── roipoint_pool3d_utils.py │ │ │ │ └── src │ │ │ │ │ ├── roipoint_pool3d.cpp │ │ │ │ │ └── roipoint_pool3d_kernel.cu │ │ │ └── votr_ops │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── votr_utils.cpython-39.pyc │ │ │ │ ├── src │ │ │ │ ├── build_attention_indices.cpp │ │ │ │ ├── build_attention_indices_gpu.cu │ │ │ │ ├── build_attention_indices_gpu.h │ │ │ │ ├── build_mapping.cpp │ │ │ │ ├── build_mapping_gpu.cu │ │ │ │ ├── build_mapping_gpu.h │ │ │ │ ├── group_features.cpp │ │ │ │ ├── group_features_gpu.cu │ │ │ │ ├── group_features_gpu.h │ │ │ │ ├── votr_api.cpp │ │ │ │ └── votr_cuda_utils.h │ │ │ │ └── votr_utils.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── bbloss.cpython-39.pyc │ │ │ │ ├── box_coder_utils.cpython-39.pyc │ │ │ │ ├── box_utils.cpython-39.pyc │ │ │ │ ├── calibration_kitti.cpython-39.pyc │ │ │ │ ├── common_utils.cpython-39.pyc │ │ │ │ ├── loss_utils.cpython-39.pyc │ │ │ │ ├── object3d_kitti.cpython-39.pyc │ │ │ │ ├── odiou_loss.cpython-39.pyc │ │ │ │ ├── spconv_utils.cpython-39.pyc │ │ │ │ └── transform_utils.cpython-39.pyc │ │ │ ├── bbloss.py │ │ │ ├── box_coder_utils.py │ │ │ ├── box_utils.py │ │ │ ├── calibration_kitti.py │ │ │ ├── common_utils.py │ │ │ ├── commu_utils.py │ │ │ ├── loss_utils.py │ │ │ ├── object3d_kitti.py │ │ │ ├── odiou_loss.py │ │ │ ├── spconv_utils.py │ │ │ └── transform_utils.py │ │ └── version.py │ ├── requirements.txt │ ├── setup.py │ └── tools │ │ ├── __init__.py │ │ ├── cfgs │ │ ├── dataset_configs │ │ │ ├── kitti_dataset.yaml │ │ │ └── waymo_tracking_dataset.yaml │ │ ├── kitti_models │ │ │ ├── CasA-PV.yaml │ │ │ ├── CasA-PV2.yaml │ │ │ ├── CasA-T.yaml │ │ │ └── CasA-V.yaml │ │ └── waymo_models │ │ │ ├── CasA-V-Center.yaml │ │ │ └── CasA-V.yaml │ │ ├── demo.py │ │ ├── dist_test.sh │ │ ├── dist_train.sh │ │ ├── eval_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ └── eval_utils.cpython-39.pyc │ │ └── eval_utils.py │ │ ├── scripts │ │ ├── dist_test.sh │ │ ├── dist_train.sh │ │ ├── slurm_test_mgpu.sh │ │ ├── slurm_test_single.sh │ │ └── slurm_train.sh │ │ ├── test.py │ │ ├── train.py │ │ ├── train_utils │ │ ├── __init__.py │ │ ├── optimization │ │ │ ├── __init__.py │ │ │ ├── fastai_optim.py │ │ │ └── learning_schedules_fastai.py │ │ └── train_utils.py │ │ └── visual_utils │ │ ├── __init__.py │ │ └── visualize_utils.py ├── FasterRCNN │ ├── README.md │ ├── __pycache__ │ │ ├── draw_box_utils.cpython-39.pyc │ │ └── predict.cpython-39.pyc │ ├── backbone │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── feature_pyramid_network.cpython-36.pyc │ │ │ ├── feature_pyramid_network.cpython-39.pyc │ │ │ ├── mobilenetv2_model.cpython-36.pyc │ │ │ ├── mobilenetv2_model.cpython-39.pyc │ │ │ ├── resnet50_fpn_model.cpython-36.pyc │ │ │ ├── resnet50_fpn_model.cpython-39.pyc │ │ │ ├── vgg_model.cpython-36.pyc │ │ │ └── vgg_model.cpython-39.pyc │ │ ├── feature_pyramid_network.py │ │ ├── mobilenetv2_model.py │ │ ├── resnet50_fpn_model.py │ │ └── vgg_model.py │ ├── change_backbone_with_fpn.py │ ├── change_backbone_without_fpn.py │ ├── draw_box_utils.py │ ├── fasterRCNN.png │ ├── my_dataset.py │ ├── network_files │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── boxes.cpython-36.pyc │ │ │ ├── boxes.cpython-39.pyc │ │ │ ├── det_utils.cpython-36.pyc │ │ │ ├── det_utils.cpython-39.pyc │ │ │ ├── faster_rcnn_framework.cpython-36.pyc │ │ │ ├── faster_rcnn_framework.cpython-39.pyc │ │ │ ├── image_list.cpython-36.pyc │ │ │ ├── image_list.cpython-39.pyc │ │ │ ├── roi_head.cpython-36.pyc │ │ │ ├── roi_head.cpython-39.pyc │ │ │ ├── rpn_function.cpython-36.pyc │ │ │ ├── rpn_function.cpython-39.pyc │ │ │ ├── transform.cpython-36.pyc │ │ │ └── transform.cpython-39.pyc │ │ ├── boxes.py │ │ ├── det_utils.py │ │ ├── faster_rcnn_framework.py │ │ ├── image_list.py │ │ ├── roi_head.py │ │ ├── rpn_function.py │ │ └── transform.py │ ├── pascal_voc_classes.json │ ├── pascal_voc_classes2.json │ ├── plot_curve.py │ ├── predict.py │ ├── record_mAP.txt │ ├── requirements.txt │ ├── split_data.py │ ├── train_mobilenetv2.py │ ├── train_multi_GPU.py │ ├── train_res50_fpn.py │ ├── train_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── coco_eval.cpython-36.pyc │ │ │ ├── coco_utils.cpython-36.pyc │ │ │ ├── distributed_utils.cpython-36.pyc │ │ │ ├── group_by_aspect_ratio.cpython-36.pyc │ │ │ └── train_eval_utils.cpython-36.pyc │ │ ├── coco_eval.py │ │ ├── coco_utils.py │ │ ├── distributed_utils.py │ │ ├── group_by_aspect_ratio.py │ │ └── train_eval_utils.py │ ├── transforms.py │ └── validation.py ├── TED │ ├── LICENSE │ ├── README.md │ ├── build │ │ └── temp.linux-x86_64-cpython-39 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ └── pcdet │ │ │ └── ops │ │ │ ├── iou3d_nms │ │ │ └── src │ │ │ │ ├── iou3d_cpu.o │ │ │ │ ├── iou3d_nms.o │ │ │ │ ├── iou3d_nms_api.o │ │ │ │ └── iou3d_nms_kernel.o │ │ │ ├── pointnet2 │ │ │ ├── pointnet2_batch │ │ │ │ └── src │ │ │ │ │ ├── ball_query.o │ │ │ │ │ ├── ball_query_gpu.o │ │ │ │ │ ├── group_points.o │ │ │ │ │ ├── group_points_gpu.o │ │ │ │ │ ├── interpolate.o │ │ │ │ │ ├── interpolate_gpu.o │ │ │ │ │ ├── pointnet2_api.o │ │ │ │ │ ├── sampling.o │ │ │ │ │ └── sampling_gpu.o │ │ │ └── pointnet2_stack │ │ │ │ └── src │ │ │ │ ├── ball_query.o │ │ │ │ ├── ball_query_deform.o │ │ │ │ ├── ball_query_deform_gpu.o │ │ │ │ ├── ball_query_gpu.o │ │ │ │ ├── group_points.o │ │ │ │ ├── group_points_gpu.o │ │ │ │ ├── interpolate.o │ │ │ │ ├── interpolate_gpu.o │ │ │ │ ├── pointnet2_api.o │ │ │ │ ├── sampling.o │ │ │ │ ├── sampling_gpu.o │ │ │ │ ├── vector_pool.o │ │ │ │ ├── vector_pool_gpu.o │ │ │ │ ├── voxel_query.o │ │ │ │ └── voxel_query_gpu.o │ │ │ ├── roiaware_pool3d │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.o │ │ │ │ └── roiaware_pool3d_kernel.o │ │ │ ├── roipoint_pool3d │ │ │ └── src │ │ │ │ ├── roipoint_pool3d.o │ │ │ │ └── roipoint_pool3d_kernel.o │ │ │ └── votr_ops │ │ │ └── src │ │ │ ├── build_attention_indices.o │ │ │ ├── build_attention_indices_gpu.o │ │ │ ├── build_mapping.o │ │ │ ├── build_mapping_gpu.o │ │ │ ├── group_features.o │ │ │ ├── group_features_gpu.o │ │ │ └── votr_api.o │ ├── pcdet.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── pcdet │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── config.cpython-39.pyc │ │ │ └── version.cpython-39.pyc │ │ ├── config.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── dataset.cpython-39.pyc │ │ │ ├── augmentor │ │ │ │ ├── X_transform.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── X_transform.cpython-39.pyc │ │ │ │ │ ├── augmentor_utils.cpython-39.pyc │ │ │ │ │ ├── data_augmentor.cpython-39.pyc │ │ │ │ │ └── database_sampler.cpython-39.pyc │ │ │ │ ├── augmentor_utils.py │ │ │ │ ├── data_augmentor.py │ │ │ │ └── database_sampler.py │ │ │ ├── dataset.py │ │ │ ├── kitti │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── kitti_dataset.cpython-39.pyc │ │ │ │ │ └── kitti_dataset_mm.cpython-39.pyc │ │ │ │ ├── kitti_dataset.py │ │ │ │ ├── kitti_dataset_mm.py │ │ │ │ └── kitti_object_eval_python │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ ├── eval.py │ │ │ │ │ ├── evaluate.py │ │ │ │ │ ├── kitti_common.py │ │ │ │ │ └── rotate_iou.py │ │ │ └── processor │ │ │ │ ├── __pycache__ │ │ │ │ ├── data_processor.cpython-39.pyc │ │ │ │ └── point_feature_encoder.cpython-39.pyc │ │ │ │ ├── data_processor.py │ │ │ │ └── point_feature_encoder.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ └── __init__.cpython-39.pyc │ │ │ ├── backbones_2d │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ └── base_bev_backbone.cpython-39.pyc │ │ │ │ ├── base_bev_backbone.py │ │ │ │ └── map_to_bev │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── height_compression.cpython-39.pyc │ │ │ │ │ └── pointpillar_scatter.cpython-39.pyc │ │ │ │ │ ├── height_compression.py │ │ │ │ │ └── pointpillar_scatter.py │ │ │ ├── backbones_3d │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── pointnet2_backbone.cpython-39.pyc │ │ │ │ │ └── spconv_backbone.cpython-39.pyc │ │ │ │ ├── pfe │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ └── voxel_set_abstraction.cpython-39.pyc │ │ │ │ │ ├── bev_features_interpolation.py │ │ │ │ │ └── voxel_set_abstraction.py │ │ │ │ ├── pointnet2_backbone.py │ │ │ │ ├── spconv_backbone.py │ │ │ │ ├── spconv_unet.py │ │ │ │ └── vfe │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── mean_vfe.cpython-39.pyc │ │ │ │ │ ├── pillar_vfe.cpython-39.pyc │ │ │ │ │ └── vfe_template.cpython-39.pyc │ │ │ │ │ ├── mean_vfe.py │ │ │ │ │ ├── pillar_vfe.py │ │ │ │ │ └── vfe_template.py │ │ │ ├── dense_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── anchor_head_multi.cpython-39.pyc │ │ │ │ │ ├── anchor_head_single.cpython-39.pyc │ │ │ │ │ ├── anchor_head_template.cpython-39.pyc │ │ │ │ │ ├── center_head.cpython-39.pyc │ │ │ │ │ ├── point_head_box.cpython-39.pyc │ │ │ │ │ ├── point_head_simple.cpython-39.pyc │ │ │ │ │ ├── point_head_template.cpython-39.pyc │ │ │ │ │ └── point_intra_part_head.cpython-39.pyc │ │ │ │ ├── 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 │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── anchor_generator.cpython-39.pyc │ │ │ │ │ ├── atss_target_assigner.cpython-39.pyc │ │ │ │ │ └── axis_aligned_target_assigner.cpython-39.pyc │ │ │ │ │ ├── anchor_generator.py │ │ │ │ │ ├── atss_target_assigner.py │ │ │ │ │ └── axis_aligned_target_assigner.py │ │ │ ├── detectors │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── detector3d_template.cpython-39.pyc │ │ │ │ │ └── voxel_rcnn.cpython-39.pyc │ │ │ │ ├── detector3d_template.py │ │ │ │ └── voxel_rcnn.py │ │ │ ├── model_utils │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── centernet_utils.cpython-39.pyc │ │ │ │ │ └── model_nms_utils.cpython-39.pyc │ │ │ │ ├── centernet_utils.py │ │ │ │ ├── ctrans.py │ │ │ │ └── model_nms_utils.py │ │ │ └── roi_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── roi_head_template.cpython-39.pyc │ │ │ │ └── ted_head.cpython-39.pyc │ │ │ │ ├── roi_head_template.py │ │ │ │ ├── target_assigner │ │ │ │ ├── __pycache__ │ │ │ │ │ └── proposal_target_layer.cpython-39.pyc │ │ │ │ ├── proposal_target_layer.py │ │ │ │ └── proposal_target_layer3.py │ │ │ │ └── ted_head.py │ │ ├── ops │ │ │ ├── dcn │ │ │ │ ├── __init__.py │ │ │ │ ├── deform_conv.py │ │ │ │ ├── setup.py │ │ │ │ └── src │ │ │ │ │ ├── deform_conv_cuda.cpp │ │ │ │ │ ├── deform_conv_cuda_kernel.cu │ │ │ │ │ ├── deform_pool_cuda.cpp │ │ │ │ │ └── deform_pool_cuda_kernel.cu │ │ │ ├── iou3d_nms │ │ │ │ ├── __pycache__ │ │ │ │ │ └── iou3d_nms_utils.cpython-39.pyc │ │ │ │ ├── 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 │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── pointnet2_modules.cpython-39.pyc │ │ │ │ │ │ └── pointnet2_utils.cpython-39.pyc │ │ │ │ │ ├── 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 │ │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── pointnet2_modules.cpython-39.pyc │ │ │ │ │ ├── pointnet2_utils.cpython-39.pyc │ │ │ │ │ ├── voxel_pool_modules.cpython-39.pyc │ │ │ │ │ └── voxel_query_utils.cpython-39.pyc │ │ │ │ │ ├── pointnet2_modules.py │ │ │ │ │ ├── pointnet2_utils.py │ │ │ │ │ ├── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_deform.cpp │ │ │ │ │ ├── ball_query_deform_gpu.cu │ │ │ │ │ ├── ball_query_deform_gpu.h │ │ │ │ │ ├── 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 │ │ │ │ │ ├── vector_pool.cpp │ │ │ │ │ ├── vector_pool_gpu.cu │ │ │ │ │ ├── vector_pool_gpu.h │ │ │ │ │ ├── voxel_query.cpp │ │ │ │ │ ├── voxel_query_gpu.cu │ │ │ │ │ └── voxel_query_gpu.h │ │ │ │ │ ├── voxel_pool_modules.py │ │ │ │ │ └── voxel_query_utils.py │ │ │ ├── roiaware_pool3d │ │ │ │ ├── __pycache__ │ │ │ │ │ └── roiaware_pool3d_utils.cpython-39.pyc │ │ │ │ ├── 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 │ │ │ └── votr_ops │ │ │ │ ├── src │ │ │ │ ├── build_attention_indices.cpp │ │ │ │ ├── build_attention_indices_gpu.cu │ │ │ │ ├── build_attention_indices_gpu.h │ │ │ │ ├── build_mapping.cpp │ │ │ │ ├── build_mapping_gpu.cu │ │ │ │ ├── build_mapping_gpu.h │ │ │ │ ├── group_features.cpp │ │ │ │ ├── group_features_gpu.cu │ │ │ │ ├── group_features_gpu.h │ │ │ │ ├── votr_api.cpp │ │ │ │ └── votr_cuda_utils.h │ │ │ │ └── votr_utils.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── bbloss.cpython-39.pyc │ │ │ │ ├── box_coder_utils.cpython-39.pyc │ │ │ │ ├── box_np_ops.cpython-39.pyc │ │ │ │ ├── box_utils.cpython-39.pyc │ │ │ │ ├── calibration_kitti.cpython-39.pyc │ │ │ │ ├── common_utils.cpython-39.pyc │ │ │ │ ├── loss_utils.cpython-39.pyc │ │ │ │ ├── object3d_kitti.cpython-39.pyc │ │ │ │ ├── odiou_loss.cpython-39.pyc │ │ │ │ ├── spconv_utils.cpython-39.pyc │ │ │ │ └── transform_utils.cpython-39.pyc │ │ │ ├── bbloss.py │ │ │ ├── box_coder_utils.py │ │ │ ├── box_np_ops.py │ │ │ ├── box_utils.py │ │ │ ├── calibration_kitti.py │ │ │ ├── common_utils.py │ │ │ ├── commu_utils.py │ │ │ ├── loss_utils.py │ │ │ ├── object3d_kitti.py │ │ │ ├── odiou_loss.py │ │ │ ├── spconv_utils.py │ │ │ └── transform_utils.py │ │ └── version.py │ ├── requirements.txt │ ├── setup.py │ └── tools │ │ ├── PENet │ │ ├── CoordConv.py │ │ ├── LICENSE │ │ ├── basic.py │ │ ├── criteria.py │ │ ├── dataloaders │ │ │ ├── calib_cam_to_cam.txt │ │ │ ├── calibration_kitti.py │ │ │ ├── kitti_loader.py │ │ │ ├── my_loader.py │ │ │ ├── spconv_utils.py │ │ │ └── transforms.py │ │ ├── helper.py │ │ ├── main.py │ │ ├── metrics.py │ │ ├── model.py │ │ └── vis_utils.py │ │ ├── cfgs │ │ ├── dataset_configs │ │ │ └── kitti_dataset.yaml │ │ └── models │ │ │ └── kitti │ │ │ ├── TED-M.yaml │ │ │ └── TED-S.yaml │ │ ├── dist_test.sh │ │ ├── dist_train.sh │ │ ├── eval_utils │ │ └── eval_utils.py │ │ ├── images │ │ └── framework.png │ │ ├── test.py │ │ ├── train.py │ │ ├── train_utils │ │ ├── optimization │ │ │ ├── __init__.py │ │ │ ├── fastai_optim.py │ │ │ └── learning_schedules_fastai.py │ │ └── train_utils.py │ │ └── visual_utils │ │ └── visualize_utils.py ├── __init__.py ├── __pycache__ │ └── __init__.cpython-39.pyc ├── mask_rcnn │ ├── .idea │ │ ├── .gitignore │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── mask_rcnn.iml │ │ ├── misc.xml │ │ └── modules.xml │ ├── README.md │ ├── __pycache__ │ │ ├── draw_box_utils.cpython-39.pyc │ │ ├── my_dataset_coco.cpython-38.pyc │ │ ├── my_dataset_voc.cpython-38.pyc │ │ ├── predict2.cpython-39.pyc │ │ └── transforms.cpython-38.pyc │ ├── backbone │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── feature_pyramid_network.cpython-38.pyc │ │ │ ├── feature_pyramid_network.cpython-39.pyc │ │ │ ├── resnet50_fpn_model.cpython-38.pyc │ │ │ └── resnet50_fpn_model.cpython-39.pyc │ │ ├── feature_pyramid_network.py │ │ └── resnet50_fpn_model.py │ ├── coco91_indices.json │ ├── det_results20220406-141544.txt │ ├── draw_box_utils.py │ ├── my_dataset_coco.py │ ├── my_dataset_voc.py │ ├── network_files │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── boxes.cpython-38.pyc │ │ │ ├── boxes.cpython-39.pyc │ │ │ ├── det_utils.cpython-38.pyc │ │ │ ├── det_utils.cpython-39.pyc │ │ │ ├── faster_rcnn_framework.cpython-38.pyc │ │ │ ├── faster_rcnn_framework.cpython-39.pyc │ │ │ ├── image_list.cpython-38.pyc │ │ │ ├── image_list.cpython-39.pyc │ │ │ ├── mask_rcnn.cpython-38.pyc │ │ │ ├── mask_rcnn.cpython-39.pyc │ │ │ ├── roi_head.cpython-38.pyc │ │ │ ├── roi_head.cpython-39.pyc │ │ │ ├── rpn_function.cpython-38.pyc │ │ │ ├── rpn_function.cpython-39.pyc │ │ │ ├── transform.cpython-38.pyc │ │ │ └── transform.cpython-39.pyc │ │ ├── boxes.py │ │ ├── det_utils.py │ │ ├── faster_rcnn_framework.py │ │ ├── image_list.py │ │ ├── mask_rcnn.py │ │ ├── roi_head.py │ │ ├── rpn_function.py │ │ └── transform.py │ ├── pascal_voc_indices.json │ ├── plot_curve.py │ ├── predict.py │ ├── predict2.py │ ├── requirements.txt │ ├── seg_results20220406-141544.txt │ ├── train.py │ ├── train_multi_GPU.py │ ├── train_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── coco_eval.cpython-38.pyc │ │ │ ├── coco_utils.cpython-38.pyc │ │ │ ├── distributed_utils.cpython-38.pyc │ │ │ ├── group_by_aspect_ratio.cpython-38.pyc │ │ │ └── train_eval_utils.cpython-38.pyc │ │ ├── coco_eval.py │ │ ├── coco_utils.py │ │ ├── distributed_utils.py │ │ ├── group_by_aspect_ratio.py │ │ └── train_eval_utils.py │ ├── transforms.py │ └── validation.py └── pcdet │ ├── .github │ └── workflows │ │ └── close_stale_issues.yml │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── docker │ ├── Dockerfile │ └── README.md │ ├── docs │ ├── CUSTOM_DATASET_TUTORIAL.md │ ├── DEMO.md │ ├── GETTING_STARTED.md │ ├── INSTALL.md │ ├── changelog.md │ ├── dataset_vs_model.png │ ├── demo.png │ ├── guidelines_of_approaches │ │ └── mppnet.md │ ├── model_framework.png │ ├── multiple_models_demo.png │ └── open_mmlab.png │ ├── pcdet │ ├── __init__.py │ ├── config.py │ ├── datasets │ │ ├── __init__.py │ │ ├── augmentor │ │ │ ├── __init__.py │ │ │ ├── augmentor_utils.py │ │ │ ├── data_augmentor.py │ │ │ └── database_sampler.py │ │ ├── custom │ │ │ ├── __init__.py │ │ │ └── custom_dataset.py │ │ ├── dataset.py │ │ ├── kitti │ │ │ ├── __init__.py │ │ │ ├── kitti_dataset.py │ │ │ ├── kitti_object_eval_python │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── eval.py │ │ │ │ ├── evaluate.py │ │ │ │ ├── kitti_common.py │ │ │ │ └── rotate_iou.py │ │ │ └── kitti_utils.py │ │ ├── lyft │ │ │ ├── __init__.py │ │ │ ├── lyft_dataset.py │ │ │ ├── lyft_mAP_eval │ │ │ │ ├── __init__.py │ │ │ │ └── lyft_eval.py │ │ │ └── lyft_utils.py │ │ ├── nuscenes │ │ │ ├── __init__.py │ │ │ ├── nuscenes_dataset.py │ │ │ └── nuscenes_utils.py │ │ ├── once │ │ │ ├── __init__.py │ │ │ ├── once_dataset.py │ │ │ ├── once_eval │ │ │ │ ├── eval_utils.py │ │ │ │ ├── evaluation.py │ │ │ │ └── iou_utils.py │ │ │ └── once_toolkits.py │ │ ├── pandaset │ │ │ ├── __init__.py │ │ │ └── pandaset_dataset.py │ │ ├── processor │ │ │ ├── __init__.py │ │ │ ├── data_processor.py │ │ │ └── point_feature_encoder.py │ │ └── waymo │ │ │ ├── __init__.py │ │ │ ├── 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 │ │ │ │ ├── conv2d_collapse.py │ │ │ │ ├── height_compression.py │ │ │ │ └── pointpillar_scatter.py │ │ ├── backbones_3d │ │ │ ├── __init__.py │ │ │ ├── focal_sparse_conv │ │ │ │ ├── SemanticSeg │ │ │ │ │ ├── basic_blocks.py │ │ │ │ │ ├── pyramid_ffn.py │ │ │ │ │ └── sem_deeplabv3.py │ │ │ │ ├── focal_sparse_conv.py │ │ │ │ └── focal_sparse_utils.py │ │ │ ├── pfe │ │ │ │ ├── __init__.py │ │ │ │ └── voxel_set_abstraction.py │ │ │ ├── pointnet2_backbone.py │ │ │ ├── spconv_backbone.py │ │ │ ├── spconv_backbone_2d.py │ │ │ ├── spconv_backbone_focal.py │ │ │ ├── spconv_unet.py │ │ │ └── vfe │ │ │ │ ├── __init__.py │ │ │ │ ├── dynamic_mean_vfe.py │ │ │ │ ├── dynamic_pillar_vfe.py │ │ │ │ ├── image_vfe.py │ │ │ │ ├── image_vfe_modules │ │ │ │ ├── __init__.py │ │ │ │ ├── f2v │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── frustum_grid_generator.py │ │ │ │ │ ├── frustum_to_voxel.py │ │ │ │ │ └── sampler.py │ │ │ │ └── ffn │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ddn │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── ddn_deeplabv3.py │ │ │ │ │ └── ddn_template.py │ │ │ │ │ ├── ddn_loss │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── balancer.py │ │ │ │ │ └── ddn_loss.py │ │ │ │ │ └── depth_ffn.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 │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_generator.py │ │ │ │ ├── atss_target_assigner.py │ │ │ │ └── axis_aligned_target_assigner.py │ │ ├── detectors │ │ │ ├── PartA2_net.py │ │ │ ├── __init__.py │ │ │ ├── caddn.py │ │ │ ├── centerpoint.py │ │ │ ├── detector3d_template.py │ │ │ ├── mppnet.py │ │ │ ├── mppnet_e2e.py │ │ │ ├── pillarnet.py │ │ │ ├── point_rcnn.py │ │ │ ├── pointpillar.py │ │ │ ├── pv_rcnn.py │ │ │ ├── pv_rcnn_plusplus.py │ │ │ ├── second_net.py │ │ │ ├── second_net_iou.py │ │ │ └── voxel_rcnn.py │ │ ├── model_utils │ │ │ ├── __init__.py │ │ │ ├── basic_block_2d.py │ │ │ ├── centernet_utils.py │ │ │ ├── model_nms_utils.py │ │ │ └── mppnet_utils.py │ │ └── roi_heads │ │ │ ├── __init__.py │ │ │ ├── mppnet_head.py │ │ │ ├── mppnet_memory_bank_e2e.py │ │ │ ├── partA2_head.py │ │ │ ├── pointrcnn_head.py │ │ │ ├── pvrcnn_head.py │ │ │ ├── roi_head_template.py │ │ │ ├── second_head.py │ │ │ ├── target_assigner │ │ │ ├── __init__.py │ │ │ └── proposal_target_layer.py │ │ │ └── voxelrcnn_head.py │ ├── ops │ │ ├── __init__.py │ │ ├── iou3d_nms │ │ │ ├── __init__.py │ │ │ ├── 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 │ │ │ ├── __init__.py │ │ │ ├── pointnet2_batch │ │ │ │ ├── __init__.py │ │ │ │ ├── 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 │ │ │ │ ├── __init__.py │ │ │ │ ├── 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 │ │ │ │ ├── vector_pool.cpp │ │ │ │ ├── vector_pool_gpu.cu │ │ │ │ ├── vector_pool_gpu.h │ │ │ │ ├── voxel_query.cpp │ │ │ │ ├── voxel_query_gpu.cu │ │ │ │ └── voxel_query_gpu.h │ │ │ │ ├── voxel_pool_modules.py │ │ │ │ └── voxel_query_utils.py │ │ ├── roiaware_pool3d │ │ │ ├── __init__.py │ │ │ ├── roiaware_pool3d_utils.py │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ └── roipoint_pool3d │ │ │ ├── __init__.py │ │ │ ├── roipoint_pool3d_utils.py │ │ │ └── src │ │ │ ├── roipoint_pool3d.cpp │ │ │ └── roipoint_pool3d_kernel.cu │ ├── utils │ │ ├── __init__.py │ │ ├── box_coder_utils.py │ │ ├── box_utils.py │ │ ├── calibration_kitti.py │ │ ├── common_utils.py │ │ ├── commu_utils.py │ │ ├── loss_utils.py │ │ ├── object3d_custom.py │ │ ├── object3d_kitti.py │ │ ├── spconv_utils.py │ │ └── transform_utils.py │ └── version.py │ ├── requirements.txt │ ├── setup.py │ └── tools │ ├── _init_path.py │ ├── cfgs │ ├── custom_models │ │ ├── pv_rcnn.yaml │ │ └── second.yaml │ ├── dataset_configs │ │ ├── custom_dataset.yaml │ │ ├── kitti_dataset.yaml │ │ ├── lyft_dataset.yaml │ │ ├── nuscenes_dataset.yaml │ │ ├── once_dataset.yaml │ │ ├── pandaset_dataset.yaml │ │ ├── waymo_dataset.yaml │ │ └── waymo_dataset_multiframe.yaml │ ├── kitti_models │ │ ├── CaDDN.yaml │ │ ├── PartA2.yaml │ │ ├── PartA2_free.yaml │ │ ├── pillarnet.yaml │ │ ├── pointpillar.yaml │ │ ├── pointpillar_newaugs.yaml │ │ ├── pointpillar_pyramid_aug.yaml │ │ ├── pointrcnn.yaml │ │ ├── pointrcnn_iou.yaml │ │ ├── pv_rcnn.yaml │ │ ├── second.yaml │ │ ├── second_iou.yaml │ │ ├── second_multihead.yaml │ │ ├── voxel_rcnn_car.yaml │ │ └── voxel_rcnn_car_focal_multimodal.yaml │ ├── lyft_models │ │ ├── cbgs_second-nores_multihead.yaml │ │ └── cbgs_second_multihead.yaml │ ├── nuscenes_models │ │ ├── cbgs_dyn_pp_centerpoint.yaml │ │ ├── cbgs_pillar0075_res2d_centerpoint.yaml │ │ ├── cbgs_pp_multihead.yaml │ │ ├── cbgs_second_multihead.yaml │ │ ├── cbgs_voxel0075_res3d_centerpoint.yaml │ │ └── cbgs_voxel01_res3d_centerpoint.yaml │ ├── once_models │ │ ├── centerpoint.yaml │ │ ├── pointpillar.yaml │ │ ├── pointrcnn.yaml │ │ ├── pv_rcnn.yaml │ │ └── second.yaml │ └── waymo_models │ │ ├── PartA2.yaml │ │ ├── centerpoint.yaml │ │ ├── centerpoint_4frames.yaml │ │ ├── centerpoint_dyn_pillar_1x.yaml │ │ ├── centerpoint_pillar_1x.yaml │ │ ├── centerpoint_without_resnet.yaml │ │ ├── mppnet_16frames.yaml │ │ ├── mppnet_4frames.yaml │ │ ├── mppnet_e2e_memorybank_inference.yaml │ │ ├── pillarnet.yaml │ │ ├── pointpillar_1x.yaml │ │ ├── pv_rcnn.yaml │ │ ├── pv_rcnn_plusplus.yaml │ │ ├── pv_rcnn_plusplus_resnet.yaml │ │ ├── pv_rcnn_plusplus_resnet_2frames.yaml │ │ ├── pv_rcnn_with_centerhead_rpn.yaml │ │ ├── second.yaml │ │ └── voxel_rcnn_with_centerhead_dyn_voxel.yaml │ ├── demo.py │ ├── eval_utils │ └── eval_utils.py │ ├── process_tools │ └── create_integrated_database.py │ ├── test.py │ ├── train.py │ ├── train_utils │ ├── optimization │ │ ├── __init__.py │ │ ├── fastai_optim.py │ │ └── learning_schedules_fastai.py │ └── train_utils.py │ └── visual_utils │ ├── open3d_vis_utils.py │ └── visualize_utils.py ├── evaluation ├── KITTI │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ └── __init__.cpython-39.pyc │ ├── data │ │ └── gt │ │ │ ├── counter.py │ │ │ ├── evaluate_tracking.seqmap │ │ │ ├── evaluate_tracking.seqmap.test │ │ │ ├── evaluate_tracking.seqmap.training │ │ │ ├── evaluate_tracking.seqmap.val │ │ │ ├── evaluate_tracking.seqmapbeifen.val │ │ │ └── label_02 │ │ │ ├── 0000.txt │ │ │ ├── 0001.txt │ │ │ ├── 0002.txt │ │ │ ├── 0003.txt │ │ │ ├── 0004.txt │ │ │ ├── 0005.txt │ │ │ ├── 0006.txt │ │ │ ├── 0007.txt │ │ │ ├── 0008.txt │ │ │ ├── 0009.txt │ │ │ ├── 0010.txt │ │ │ ├── 0011.txt │ │ │ ├── 0012.txt │ │ │ ├── 0013.txt │ │ │ ├── 0014.txt │ │ │ ├── 0015.txt │ │ │ ├── 0016.txt │ │ │ ├── 0017.txt │ │ │ ├── 0018.txt │ │ │ ├── 0019.txt │ │ │ └── 0020.txt │ └── evaluation_HOTA │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── Readme.md │ │ ├── __init__.py │ │ ├── docs │ │ ├── BDD100k-format.txt │ │ ├── DAVIS-format.txt │ │ ├── How_To │ │ │ └── Add_a_new_metric.md │ │ ├── KITTI-format.txt │ │ ├── MOTChallenge-Official │ │ │ └── Readme.md │ │ ├── MOTChallenge-format.txt │ │ ├── MOTS-format.txt │ │ ├── TAO-format.txt │ │ └── YouTube-VIS-format.txt │ │ ├── minimum_requirements.txt │ │ ├── requirements.txt │ │ ├── scripts │ │ ├── comparison_plots.py │ │ ├── run_bdd.py │ │ ├── run_davis.py │ │ ├── run_kitti.py │ │ ├── run_kitti_mots.py │ │ ├── run_mot_challenge.py │ │ ├── run_mots_challenge.py │ │ ├── run_tao.py │ │ └── run_youtube_vis.py │ │ ├── tests │ │ ├── test_all_quick.py │ │ ├── test_davis.py │ │ ├── test_metrics.py │ │ ├── test_mot17.py │ │ └── test_mots.py │ │ └── trackeval │ │ ├── __init__.py │ │ ├── _timing.py │ │ ├── datasets │ │ ├── __init__.py │ │ ├── _base_dataset.py │ │ ├── bdd100k.py │ │ ├── davis.py │ │ ├── kitti_2d_box.py │ │ ├── kitti_mots.py │ │ ├── mot_challenge_2d_box.py │ │ ├── mots_challenge.py │ │ ├── tao.py │ │ └── youtube_vis.py │ │ ├── eval.py │ │ ├── metrics │ │ ├── __init__.py │ │ ├── _base_metric.py │ │ ├── clear.py │ │ ├── count.py │ │ ├── hota.py │ │ ├── identity.py │ │ ├── j_and_f.py │ │ ├── track_map.py │ │ └── vace.py │ │ ├── plotting.py │ │ └── utils.py ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ └── __init__.cpython-39.pyc └── waymo │ ├── __pycache__ │ ├── create_submission.cpython-39.pyc │ └── waymo_eval_track.cpython-39.pyc │ ├── create_submission.py │ ├── waymo │ ├── __pycache__ │ │ ├── dataset_pb2.cpython-39.pyc │ │ └── label_pb2.cpython-39.pyc │ ├── dataset.proto │ ├── dataset_pb2.py │ ├── label.proto │ ├── label_pb2.py │ └── protos │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-39.pyc │ │ ├── breakdown_pb2.cpython-39.pyc │ │ ├── map_pb2.cpython-39.pyc │ │ ├── metrics_pb2.cpython-39.pyc │ │ ├── scenario_pb2.cpython-39.pyc │ │ └── submission_pb2.cpython-39.pyc │ │ ├── breakdown.proto │ │ ├── breakdown_pb2.py │ │ ├── map_pb2.py │ │ ├── metrics.proto │ │ ├── metrics_pb2.py │ │ ├── motion_metrics_pb2.py │ │ ├── motion_submission_pb2.py │ │ ├── scenario_pb2.py │ │ ├── submission.proto │ │ └── submission_pb2.py │ └── waymo_eval_track.py ├── kitti_main.py ├── mot ├── tracker │ ├── TONTDMOT.py │ ├── __pycache__ │ │ ├── TONTDMOT.cpython-39.pyc │ │ ├── cost_function.cpython-37.pyc │ │ ├── cost_function.cpython-38.pyc │ │ ├── cost_function.cpython-39.pyc │ │ ├── detections.cpython-39.pyc │ │ ├── kalman_fileter_3d.cpython-37.pyc │ │ ├── kalman_fileter_3d.cpython-38.pyc │ │ ├── kalman_fileter_3d.cpython-39.pyc │ │ ├── matching.cpython-37.pyc │ │ ├── matching.cpython-38.pyc │ │ ├── matching.cpython-39.pyc │ │ ├── tracker.cpython-37.pyc │ │ ├── tracker.cpython-38.pyc │ │ ├── tracker.cpython-39.pyc │ │ ├── trajectory.cpython-37.pyc │ │ ├── trajectory.cpython-38.pyc │ │ └── trajectory.cpython-39.pyc │ ├── box.py │ ├── cost_function.py │ ├── detections.py │ ├── dist_metrics.py │ ├── kalman_fileter_3d.py │ ├── matching.py │ ├── tracker.py │ ├── tracking.py │ └── trajectory.py └── utils │ ├── __pycache__ │ 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