├── LICENSE ├── README.md ├── README_HDMapNet.md ├── __pycache__ ├── evaluate.cpython-38.pyc └── loss.cpython-38.pyc ├── data ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── const.cpython-38.pyc │ ├── const.cpython-39.pyc │ ├── coordinate_trans.cpython-38.pyc │ ├── coordinate_trans.cpython-39.pyc │ ├── dataset.cpython-38.pyc │ ├── dataset.cpython-39.pyc │ ├── image.cpython-38.pyc │ ├── image.cpython-39.pyc │ ├── lidar.cpython-38.pyc │ ├── lidar.cpython-39.pyc │ ├── prior_map.cpython-38.pyc │ ├── prior_map.cpython-39.pyc │ ├── rasterize.cpython-38.pyc │ ├── rasterize.cpython-39.pyc │ ├── utils.cpython-38.pyc │ ├── utils.cpython-39.pyc │ ├── vector_map.cpython-38.pyc │ └── vector_map.cpython-39.pyc ├── const.py ├── coordinate_trans.py ├── dataset.py ├── image.py ├── lidar.py ├── prior_map.py ├── rasterize.py ├── utils.py └── vector_map.py ├── evaluate.py ├── evaluate_json.py ├── evaluation ├── AP.py ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── angle_diff.cpython-38.pyc │ └── iou.cpython-38.pyc ├── angle_diff.py ├── chamfer_distance.py ├── dataset.py └── iou.py ├── export_gt_to_json.py ├── export_pred_to_json.py ├── gitignore ├── icon └── car.png ├── loss.py ├── model ├── MultiheadAttention.py ├── VPN.py ├── __init__.py ├── __pycache__ │ ├── MultiheadAttention.cpython-38.pyc │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── align.cpython-38.pyc │ ├── attention.cpython-38.pyc │ ├── base.cpython-38.pyc │ ├── base.cpython-39.pyc │ ├── deform_t.cpython-38.pyc │ ├── deformable_t.cpython-38.pyc │ ├── hdmapnet.cpython-38.pyc │ ├── hdmapnet.cpython-39.pyc │ ├── homography.cpython-38.pyc │ ├── homography.cpython-39.pyc │ ├── ipm_net.cpython-38.pyc │ ├── ipm_net.cpython-39.pyc │ ├── lift_splat.cpython-38.pyc │ ├── lift_splat.cpython-39.pyc │ ├── masked_seg_t.cpython-38.pyc │ ├── masked_t.cpython-38.pyc │ ├── new_deformable_t.cpython-38.pyc │ ├── new_masked_seg_t.cpython-38.pyc │ ├── new_masked_t.cpython-38.pyc │ ├── pointpillar.cpython-38.pyc │ ├── pointpillar.cpython-39.pyc │ ├── resunet.cpython-38.pyc │ ├── resunet.cpython-39.pyc │ ├── swin_t.cpython-38.pyc │ ├── transformer.cpython-38.pyc │ ├── transformer1.cpython-38.pyc │ ├── utils.cpython-38.pyc │ ├── utils.cpython-39.pyc │ ├── voxel.cpython-38.pyc │ └── voxel.cpython-39.pyc ├── adv-efficientnet-b0-b64d5a18.pth ├── align.py ├── attention.py ├── base.py ├── deform_t.py ├── hdmapnet.py ├── homography.py ├── ipm_net.py ├── lift_splat.py ├── masked_seg_t.py ├── masked_t.py ├── pointpillar.py ├── resunet.py ├── swin_t.py ├── transformer.py ├── utils.py └── voxel.py ├── postprocess ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── cluster.cpython-38.pyc │ ├── connect.cpython-38.pyc │ └── vectorize.cpython-38.pyc ├── cluster.py ├── connect.py └── vectorize.py ├── preprocess ├── concat_json_file.py ├── map_prior.json ├── prior_map_preprocess.py └── tile.jpg ├── requirement.txt ├── results_nusc.json 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