├── README.md ├── configs └── gov_nesf │ ├── test │ ├── scannet_test2d.py │ └── scannet_test3d.py │ └── train │ └── train.py ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ └── test.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ └── partial_bin_based_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ └── waymo_utils │ │ │ └── prediction_kitti_to_waymo.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── dataset_wrappers.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── kitti_monocular_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── nuscenes_monocular_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── multi_view.py │ │ ├── semantic_utils.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── registry.py │ ├── scannet_dataset.py │ ├── scannet_monocular_dataset.py │ ├── sunrgbd_dataset.py │ ├── sunrgbd_monocular_dataset.py │ └── waymo_dataset.py ├── mmdet3d │ ├── apis │ │ ├── __init__.py │ │ ├── inference.py │ │ └── test.py │ └── utils │ │ ├── __init__.py │ │ └── collect_env.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── feat_network.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ ├── second.py │ │ └── swin.py │ ├── builder.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── centerpoint_head.py │ │ ├── free_anchor3d_head.py │ │ ├── imvoxel_head.py │ │ ├── imvoxel_head_v2.py │ │ ├── layout_head.py │ │ ├── parta2_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── ssd_3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ └── gov_nesf.py │ ├── fusion_layers │ │ ├── __init__.py │ │ └── point_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── axis_aligned_iou_loss.cpython-37.pyc │ │ │ └── chamfer_distance.cpython-37.pyc │ │ ├── axis_aligned_iou_loss.py │ │ └── chamfer_distance.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── attention │ │ │ ├── __init__.py │ │ │ ├── linear_attention.py │ │ │ ├── position_encoding.py │ │ │ └── transformer.py │ │ ├── grid_sample.py │ │ ├── nerf_mlp.py │ │ ├── plot_3D_vis.py │ │ ├── projection.py │ │ ├── render_ray.py │ │ ├── save_rendered_img.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── necks │ │ ├── __init__.py │ │ ├── imvoxelnet.py │ │ ├── second_fpn.py │ │ └── unet3d.py │ ├── registry.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── base_3droi_head.cpython-37.pyc │ │ │ ├── h3d_roi_head.cpython-37.pyc │ │ │ └── part_aggregation_roi_head.cpython-37.pyc │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── h3d_bbox_head.py │ │ │ └── parta2_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ └── single_roiaware_extractor.py │ ├── utils │ │ ├── __init__.py │ │ ├── ckpt_convert.py │ │ ├── clip_sigmoid.py │ │ ├── embed.py │ │ ├── voxelization.py │ │ └── weight_init.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── utils │ ├── __init__.py │ └── collect_env.py └── version.py ├── network ├── aggregate_net.py ├── cranet.py ├── dist_decoder.py ├── init_net.py ├── loss.py ├── metrics.py ├── modules.py ├── mvsnet │ ├── modules.py │ ├── mvsnet.py │ ├── mvsnet_pl.ckpt │ └── mvsnet_pl_.ckpt ├── ops.py ├── render_ops.py ├── renderer.py └── vis_encoder.py ├── requirements.txt ├── setup.py ├── text_feat.pth ├── tools ├── analyze_logs.py ├── benchmark.py ├── convert_votenet_checkpoints.py ├── create_data.py ├── create_data.sh ├── data_converter │ ├── __init__.py │ ├── create_gt_database.py │ ├── indoor_converter.py │ ├── kitti_converter.py │ ├── kitti_data_utils.py │ ├── lyft_converter.py │ ├── nuimage_converter.py │ ├── nuscenes_converter.py │ ├── nuscenes_monocular_converter.py │ ├── scannet_data_utils.py │ ├── sunrgbd_data_utils.py │ ├── sunrgbd_total.py │ └── waymo_converter.py ├── dist_test.py ├── dist_test.sh ├── dist_train.py ├── dist_train.sh ├── dist_train_resume.sh ├── fuse_conv_bn.py ├── print_config.py ├── publish_model.py ├── regnet2mmdet.py ├── slurm_test.sh ├── slurm_train.sh ├── test.py ├── test.sh ├── train.py └── transform_bbox.py └── utils ├── base_utils.py ├── 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