├── README.md ├── assets └── teaser.png ├── bev_lib ├── README.md ├── configs │ ├── default.yaml │ └── nuscenes │ │ ├── default.yaml │ │ ├── det │ │ ├── centerhead │ │ │ ├── default.yaml │ │ │ └── lssfpn │ │ │ │ ├── camera │ │ │ │ ├── 256x704 │ │ │ │ │ ├── default.yaml │ │ │ │ │ └── swint │ │ │ │ │ │ └── default.yaml │ │ │ │ └── default.yaml │ │ │ │ └── default.yaml │ │ ├── default.yaml │ │ └── transfusion │ │ │ ├── default.yaml │ │ │ └── secfpn │ │ │ ├── camera+lidar │ │ │ ├── default.yaml │ │ │ └── swint_v0p075 │ │ │ │ ├── convfuser.yaml │ │ │ │ └── default.yaml │ │ │ ├── default.yaml │ │ │ └── lidar │ │ │ ├── default.yaml │ │ │ ├── pointpillars.yaml │ │ │ ├── voxelnet.yaml │ │ │ └── voxelnet_0p075.yaml │ │ └── seg │ │ ├── camera-bev256d2.yaml │ │ ├── default.yaml │ │ ├── fusion-bev256d2-lss.yaml │ │ └── lidar-centerpoint-bev128.yaml ├── configs_noaug │ ├── default.yaml │ └── nuscenes │ │ ├── default.yaml │ │ ├── det │ │ ├── centerhead │ │ │ ├── default.yaml │ │ │ └── lssfpn │ │ │ │ ├── camera │ │ │ │ ├── 256x704 │ │ │ │ │ ├── default.yaml │ │ │ │ │ └── swint │ │ │ │ │ │ └── default.yaml │ │ │ │ └── default.yaml │ │ │ │ └── default.yaml │ │ ├── default.yaml │ │ └── transfusion │ │ │ ├── default.yaml │ │ │ └── secfpn │ │ │ ├── camera+lidar │ │ │ ├── default.yaml │ │ │ └── swint_v0p075 │ │ │ │ ├── convfuser.yaml │ │ │ │ └── default.yaml │ │ │ ├── default.yaml │ │ │ └── lidar │ │ │ ├── default.yaml │ │ │ ├── pointpillars.yaml │ │ │ ├── voxelnet.yaml │ │ │ └── voxelnet_0p075.yaml │ │ └── seg │ │ ├── camera-bev256d2.yaml │ │ ├── default.yaml │ │ ├── fusion-bev256d2-lss.yaml │ │ └── lidar-centerpoint-bev128.yaml ├── environment.yml ├── mmdet3d │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── test.py │ │ └── train.py │ ├── core │ │ ├── __init__.py │ │ ├── anchor │ │ │ ├── __init__.py │ │ │ └── anchor_3d_generator.py │ │ ├── bbox │ │ │ ├── __init__.py │ │ │ ├── assigners │ │ │ │ ├── __init__.py │ │ │ │ ├── hungarian_assigner.py │ │ │ │ └── hungarian_assigner_3d.py │ │ │ ├── box_np_ops.py │ │ │ ├── coders │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_free_bbox_coder.py │ │ │ │ ├── centerpoint_bbox_coders.py │ │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ │ ├── nms_free_coder.py │ │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ │ └── transfusion_bbox_coder.py │ │ │ ├── iou_calculators │ │ │ │ ├── __init__.py │ │ │ │ └── iou3d_calculator.py │ │ │ ├── match_costs │ │ │ │ ├── __init__.py │ │ │ │ └── match_cost.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 │ │ │ └── util.py │ │ ├── points │ │ │ ├── __init__.py │ │ │ ├── base_points.py │ │ │ ├── cam_points.py │ │ │ ├── depth_points.py │ │ │ └── lidar_points.py │ │ ├── post_processing │ │ │ ├── __init__.py │ │ │ └── box3d_nms.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── gaussian.py │ │ │ └── visualize.py │ │ └── voxel │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── voxel_generator.py │ ├── datasets │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── custom_3d.py │ │ ├── dataset_wrappers.py │ │ ├── nuscenes_dataset.py │ │ ├── pipelines │ │ │ ├── __init__.py │ │ │ ├── dbsampler.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ ├── loading_utils.py │ │ │ ├── transforms_3d.py │ │ │ └── utils.py │ │ └── utils.py │ ├── models │ │ ├── __init__.py │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── dla.py │ │ │ ├── pillar_encoder.py │ │ │ ├── resnet.py │ │ │ ├── second.py │ │ │ ├── sparse_encoder.py │ │ │ └── vovnet.py │ │ ├── builder.py │ │ ├── fusers │ │ │ ├── __init__.py │ │ │ ├── add.py │ │ │ └── conv.py │ │ ├── fusion_models │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ └── bevfusion.py │ │ ├── heads │ │ │ ├── __init__.py │ │ │ ├── bbox │ │ │ │ ├── __init__.py │ │ │ │ ├── centerpoint.py │ │ │ │ └── transfusion.py │ │ │ └── segm │ │ │ │ ├── __init__.py │ │ │ │ └── vanilla.py │ │ ├── losses │ │ │ └── __init__.py │ │ ├── necks │ │ │ ├── __init__.py │ │ │ ├── detectron_fpn.py │ │ │ ├── generalized_lss.py │ │ │ ├── lss.py │ │ │ └── second.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── flops_counter.py │ │ │ └── transformer.py │ │ └── vtransforms │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── depth_lss.py │ │ │ └── lss.py │ ├── ops │ │ ├── __init__.py │ │ ├── ball_query │ │ │ ├── __init__.py │ │ │ ├── ball_query.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ └── ball_query_cuda.cu │ │ ├── bev_pool │ │ │ ├── __init__.py │ │ │ ├── bev_pool.py │ │ │ └── src │ │ │ │ ├── bev_pool.cpp │ │ │ │ └── bev_pool_cuda.cu │ │ ├── furthest_point_sample │ │ │ ├── __init__.py │ │ │ ├── furthest_point_sample.py │ │ │ ├── points_sampler.py │ │ │ ├── src │ │ │ │ ├── furthest_point_sample.cpp │ │ │ │ └── furthest_point_sample_cuda.cu │ │ │ └── utils.py │ │ ├── gather_points │ │ │ ├── __init__.py │ │ │ ├── gather_points.py │ │ │ └── src │ │ │ │ ├── gather_points.cpp │ │ │ │ └── gather_points_cuda.cu │ │ ├── group_points │ │ │ ├── __init__.py │ │ │ ├── group_points.py │ │ │ └── src │ │ │ │ ├── group_points.cpp │ │ │ │ └── group_points_cuda.cu │ │ ├── interpolate │ │ │ ├── __init__.py │ │ │ ├── src │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── three_interpolate_cuda.cu │ │ │ │ └── three_nn_cuda.cu │ │ │ ├── three_interpolate.py │ │ │ └── three_nn.py │ │ ├── iou3d │ │ │ ├── __init__.py │ │ │ ├── iou3d_utils.py │ │ │ └── src │ │ │ │ ├── iou3d.cpp │ │ │ │ └── iou3d_kernel.cu │ │ ├── knn │ │ │ ├── __init__.py │ │ │ ├── knn.py │ │ │ └── src │ │ │ │ ├── knn.cpp │ │ │ │ └── knn_cuda.cu │ │ ├── norm.py │ │ ├── paconv │ │ │ ├── __init__.py │ │ │ ├── assign_score.py │ │ │ ├── paconv.py │ │ │ ├── src │ │ │ │ ├── assign_score_withk.cpp │ │ │ │ └── assign_score_withk_cuda.cu │ │ │ └── utils.py │ │ ├── pointnet_modules │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── paconv_sa_module.py │ │ │ ├── point_fp_module.py │ │ │ └── point_sa_module.py │ │ ├── roiaware_pool3d │ │ │ ├── __init__.py │ │ │ ├── points_in_boxes.py │ │ │ ├── roiaware_pool3d.py │ │ │ └── src │ │ │ │ ├── points_in_boxes_cpu.cpp │ │ │ │ ├── points_in_boxes_cuda.cu │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ ├── sparse_block.py │ │ ├── spconv │ │ │ ├── __init__.py │ │ │ ├── conv.py │ │ │ ├── functional.py │ │ │ ├── include │ │ │ │ ├── paramsgrid.h │ │ │ │ ├── prettyprint.h │ │ │ │ ├── pybind11_utils.h │ │ │ │ ├── spconv │ │ │ │ │ ├── fused_spconv_ops.h │ │ │ │ │ ├── geometry.h │ │ │ │ │ ├── indice.cu.h │ │ │ │ │ ├── indice.h │ │ │ │ │ ├── maxpool.h │ │ │ │ │ ├── mp_helper.h │ │ │ │ │ ├── point2voxel.h │ │ │ │ │ ├── pool_ops.h │ │ │ │ │ ├── reordering.cu.h │ │ │ │ │ ├── reordering.h │ │ │ │ │ └── spconv_ops.h │ │ │ │ ├── tensorview │ │ │ │ │ ├── helper_kernel.cu.h │ │ │ │ │ ├── helper_launch.h │ │ │ │ │ └── tensorview.h │ │ │ │ ├── torch_utils.h │ │ │ │ └── utility │ │ │ │ │ └── timer.h │ │ │ ├── modules.py │ │ │ ├── ops.py │ │ │ ├── pool.py │ │ │ ├── src │ │ │ │ ├── all.cc │ │ │ │ ├── indice.cc │ │ │ │ ├── indice_cuda.cu │ │ │ │ ├── maxpool.cc │ │ │ │ ├── maxpool_cuda.cu │ │ │ │ ├── reordering.cc │ │ │ │ └── reordering_cuda.cu │ │ │ ├── structure.py │ │ │ └── test_utils.py │ │ └── voxel │ │ │ ├── __init__.py │ │ │ ├── scatter_points.py │ │ │ ├── src │ │ │ ├── scatter_points_cpu.cpp │ │ │ ├── scatter_points_cuda.cu │ │ │ ├── voxelization.cpp │ │ │ ├── voxelization.h │ │ │ ├── voxelization_cpu.cpp │ │ │ └── voxelization_cuda.cu │ │ │ └── voxelize.py │ ├── runner │ │ ├── __init__.py │ │ └── epoch_based_runner.py │ └── utils │ │ ├── __init__.py │ │ ├── config.py │ │ ├── logger.py │ │ └── syncbn.py ├── save_results.py ├── setup.cfg └── setup.py ├── configs ├── cond_feature_C.yaml ├── cond_feature_CL.yaml ├── cond_feature_CL_one_step.yaml ├── cond_feature_C_one_step.yaml ├── cond_feature_L.yaml ├── cond_feature_L_one_step.yaml └── custom_vqgan.yaml ├── environment.yaml ├── scripts ├── create_data.py ├── data_converter │ ├── README.md │ ├── __init__.py │ ├── create_gt_database.py │ └── nuscenes_converter.py ├── download_pretrained.sh ├── download_pretrained_bevfusion.sh ├── download_saved_map.sh ├── test_metrics.py ├── train_autoencoder.py └── transformer.py ├── setup.py └── taming ├── data ├── base.py ├── custom.py ├── helper_types.py └── utils.py ├── lr_scheduler.py ├── models ├── cond_transformer.py ├── cond_transformer_different_models.py ├── dummy_cond_stage.py ├── vqgan.py ├── vqgan_first_train_backup.py └── vqgan_second_nos.py ├── modules ├── autoencoder │ └── lpips │ │ └── vgg.pth ├── diffusionmodules │ └── model.py ├── discriminator │ └── model.py ├── losses │ ├── __init__.py │ ├── lpips.py │ ├── segmentation.py │ ├── vqperceptual.py │ └── vqperceptual_back_up_first.py ├── misc │ └── coord.py ├── transformer │ ├── mingpt.py │ └── permuter.py ├── util.py └── vqvae │ └── quantize.py └── util.py /README.md: 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