├── LICENSE ├── README.md ├── pcdet ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── config.cpython-36.pyc │ └── version.cpython-36.pyc ├── config.py ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ └── dataset.cpython-36.pyc │ ├── augmentor │ │ ├── __pycache__ │ │ │ ├── augmentor_utils.cpython-36.pyc │ │ │ ├── data_augmentor.cpython-36.pyc │ │ │ ├── database_sampler.cpython-36.pyc │ │ │ └── test_augmentor.cpython-36.pyc │ │ ├── augmentor_utils.py │ │ ├── data_augmentor.py │ │ ├── database_sampler.py │ │ └── test_augmentor.py │ ├── dataset.py │ ├── kitti │ │ ├── __pycache__ │ │ │ └── kitti_dataset.cpython-36.pyc │ │ ├── kitti_dataset.py │ │ └── kitti_object_eval_python │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __pycache__ │ │ │ ├── eval.cpython-36.pyc │ │ │ └── rotate_iou.cpython-36.pyc │ │ │ ├── eval.py │ │ │ ├── evaluate.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ ├── processor │ │ ├── __pycache__ │ │ │ ├── data_processor.cpython-36.pyc │ │ │ └── point_feature_encoder.cpython-36.pyc │ │ ├── data_processor.py │ │ └── point_feature_encoder.py │ └── waymo │ │ ├── __pycache__ │ │ ├── waymo_dataset.cpython-36.pyc │ │ └── waymo_tracking_dataset.cpython-36.pyc │ │ ├── waymo_dataset.py │ │ ├── waymo_eval.py │ │ ├── waymo_tracking_dataset.py │ │ └── waymo_utils.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-36.pyc │ ├── backbones_2d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ └── base_bev_backbone.cpython-36.pyc │ │ ├── base_bev_backbone.py │ │ └── map_to_bev │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── height_compression.cpython-36.pyc │ │ │ └── pointpillar_scatter.cpython-36.pyc │ │ │ ├── height_compression.py │ │ │ ├── height_compression_original.py │ │ │ └── pointpillar_scatter.py │ ├── backbones_3d │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── pointnet2_backbone.cpython-36.pyc │ │ │ ├── spconv_backbone.cpython-36.pyc │ │ │ └── votr_backbone.cpython-36.pyc │ │ ├── pfe │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-36.pyc │ │ │ │ └── voxel_set_abstraction.cpython-36.pyc │ │ │ └── voxel_set_abstraction.py │ │ ├── pointnet2_backbone.py │ │ ├── spconv_backbone.py │ │ ├── vfe │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-36.pyc │ │ │ │ ├── mean_vfe.cpython-36.pyc │ │ │ │ ├── pillar_vfe.cpython-36.pyc │ │ │ │ └── vfe_template.cpython-36.pyc │ │ │ ├── mean_vfe.py │ │ │ ├── pillar_vfe.py │ │ │ └── vfe_template.py │ │ └── votr_backbone.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── anchor_head_multi.cpython-36.pyc │ │ │ ├── anchor_head_single.cpython-36.pyc │ │ │ ├── anchor_head_template.cpython-36.pyc │ │ │ ├── center_head.cpython-36.pyc │ │ │ ├── point_head_box.cpython-36.pyc │ │ │ ├── point_head_simple.cpython-36.pyc │ │ │ ├── point_head_template.cpython-36.pyc │ │ │ └── point_intra_part_head.cpython-36.pyc │ │ ├── anchor_head_multi.py │ │ ├── anchor_head_single.py │ │ ├── anchor_head_single_old.py │ │ ├── anchor_head_single_original.py │ │ ├── anchor_head_template.py │ │ ├── anchor_head_template_original.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 │ │ │ ├── __pycache__ │ │ │ ├── anchor_generator.cpython-36.pyc │ │ │ ├── atss_target_assigner.cpython-36.pyc │ │ │ └── axis_aligned_target_assigner.cpython-36.pyc │ │ │ ├── anchor_generator.py │ │ │ ├── atss_target_assigner.py │ │ │ └── axis_aligned_target_assigner.py │ ├── detectors │ │ ├── CT3D.py │ │ ├── CT3D_3CAT.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── CT3D.cpython-36.pyc │ │ │ ├── CT3D_3CAT.cpython-36.pyc │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── detector3d_template.cpython-36.pyc │ │ │ ├── pv_rcnn.cpython-36.pyc │ │ │ └── voxel_rcnn.cpython-36.pyc │ │ ├── detector3d_template.py │ │ ├── pv_rcnn.py │ │ └── voxel_rcnn.py │ ├── model_utils │ │ ├── __pycache__ │ │ │ ├── centernet_utils.cpython-36.pyc │ │ │ ├── ctrans.cpython-36.pyc │ │ │ └── model_nms_utils.cpython-36.pyc │ │ ├── centernet_utils.py │ │ ├── ctrans.py │ │ └── model_nms_utils.py │ └── roi_heads │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── casa_pv_head.cpython-36.pyc │ │ ├── casa_t_head.cpython-36.pyc │ │ ├── casa_v_head.cpython-36.pyc │ │ └── cascade_roi_head_template.cpython-36.pyc │ │ ├── casa_pv_head.py │ │ ├── casa_t_head.py │ │ ├── casa_v_head.py │ │ ├── cascade_roi_head_template.py │ │ └── target_assigner │ │ ├── __pycache__ │ │ └── proposal_target_layer.cpython-36.pyc │ │ └── proposal_target_layer.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-36.pyc │ │ ├── iou3d_nms_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── 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-36.pyc │ │ │ │ └── pointnet2_utils.cpython-36.pyc │ │ │ ├── pointnet2_batch_cuda.cpython-36m-x86_64-linux-gnu.so │ │ │ ├── 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-36.pyc │ │ │ ├── pointnet2_utils.cpython-36.pyc │ │ │ ├── voxel_pool_modules.cpython-36.pyc │ │ │ └── voxel_query_utils.cpython-36.pyc │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_stack_cuda.cpython-36m-x86_64-linux-gnu.so │ │ │ ├── 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-36.pyc │ │ ├── roiaware_pool3d_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── roiaware_pool3d_utils.py │ │ └── src │ │ │ ├── roiaware_pool3d.cpp │ │ │ └── roiaware_pool3d_kernel.cu │ ├── roipoint_pool3d │ │ ├── roipoint_pool3d_cuda.cpython-36m-x86_64-linux-gnu.so │ │ ├── roipoint_pool3d_utils.py │ │ └── src │ │ │ ├── roipoint_pool3d.cpp │ │ │ └── roipoint_pool3d_kernel.cu │ └── votr_ops │ │ ├── __pycache__ │ │ └── votr_utils.cpython-36.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_ops_cuda.cpython-36m-x86_64-linux-gnu.so │ │ └── votr_utils.py ├── utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── bbloss.cpython-36.pyc │ │ ├── box_coder_utils.cpython-36.pyc │ │ ├── box_utils.cpython-36.pyc │ │ ├── calibration_kitti.cpython-36.pyc │ │ ├── common_utils.cpython-36.pyc │ │ ├── loss_utils.cpython-36.pyc │ │ ├── object3d_kitti.cpython-36.pyc │ │ ├── odiou_loss.cpython-36.pyc │ │ └── spconv_utils.cpython-36.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 ├── 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 │ 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