├── .gitignore ├── LICENSE ├── README.md ├── assets ├── framework.jpg └── teaser_intro.jpg ├── combine.txt ├── data ├── raw.txt ├── rope3d │ └── ImageSets │ │ ├── train.txt │ │ ├── train_dair.txt │ │ ├── val.txt │ │ └── val_dair.txt ├── single-infrastructure-split-data-het.json ├── single-infrastructure-split-data.json ├── train.txt └── val.txt ├── dataset ├── __pycache__ │ ├── nusc_mv_det_dataset.cpython-39.pyc │ └── transforms.cpython-39.pyc ├── nusc_mv_det_dataset.py └── transforms.py ├── docs ├── install.md ├── prepare_dataset.md └── run_and_eval.md ├── evaluators ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-39.pyc │ ├── det_evaluators.cpython-39.pyc │ ├── result2kitti.cpython-39.pyc │ └── utils.cpython-39.pyc ├── det_evaluators.py ├── kitti_utils │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-39.pyc │ │ ├── eval.cpython-39.pyc │ │ ├── kitti_common.cpython-39.pyc │ │ └── rotate_iou.cpython-39.pyc │ ├── eval.py │ ├── kitti_common.py │ └── rotate_iou.py ├── result2kitti.py └── utils.py ├── exps ├── bevheight │ ├── dair-v2x │ │ ├── bev_height_lss_r101_864_1536_128x128.py │ │ ├── bev_height_lss_r101_864_1536_256x256.py │ │ ├── bev_height_lss_r50_864_1536_128x128.py │ │ └── bev_height_lss_r50_864_1536_256x256.py │ └── rope3d │ │ ├── bev_height_lss_r101_140.8_864_1536_256x256.py │ │ ├── bev_height_lss_r101_864_1536_256x256.py │ │ └── bev_height_lss_r50_864_1536_128x128.py └── sgv3d │ ├── bsm_bev_height_lss_r101_864_1536_256x256.py │ └── bsm_bev_height_lss_r50_864_1536_128x128.py ├── layers ├── __init__.py ├── __pycache__ │ └── __init__.cpython-39.pyc ├── backbones │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-39.pyc │ │ ├── bsm_lss_fpn.cpython-39.pyc │ │ ├── common.cpython-39.pyc │ │ ├── lss_fpn.cpython-39.pyc │ │ └── sam_encoder.cpython-39.pyc │ ├── bsm_lss_fpn.py │ ├── common.py │ ├── lss_fpn.py │ └── sam_encoder.py └── heads │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-39.pyc │ └── bev_height_head.cpython-39.pyc │ └── bev_height_head.py ├── losses ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-39.pyc │ ├── _functional.cpython-39.pyc │ ├── constants.cpython-39.pyc │ ├── dice.cpython-39.pyc │ └── focal.cpython-39.pyc ├── _functional.py ├── constants.py ├── dice.py └── focal.py ├── models ├── __pycache__ │ └── bev_height.cpython-39.pyc └── bev_height.py ├── ops └── voxel_pooling │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-39.pyc │ └── voxel_pooling.cpython-39.pyc │ ├── src │ ├── voxel_pooling_forward.cpp │ └── voxel_pooling_forward_cuda.cu │ ├── voxel_pooling.py │ └── voxel_pooling_ext.cpython-39-x86_64-linux-gnu.so ├── requirements.txt ├── scripts ├── __pycache__ │ ├── gen_info_dair.cpython-39.pyc │ └── gen_info_rope3d.cpython-39.pyc ├── data_converter │ ├── __pycache__ │ │ ├── rope2kitti.cpython-39.pyc │ │ └── visual_utils.cpython-39.pyc │ ├── dair2kitti.py │ ├── gen_kitti │ │ ├── gen_ImageSets_from_split_data.py │ │ ├── gen_calib2kitti.py │ │ ├── label_json2kitti.py │ │ ├── label_lidarcoord_to_cameracoord.py │ │ └── utils.py │ ├── rope2kitti.py │ ├── visual_tools.py │ └── visual_utils.py ├── data_preprocess │ ├── gen_unlabeled_split.py │ ├── recombine_strategy.py │ ├── recombine_utils.py │ ├── sam_utils.py │ └── visual_mask.py ├── gen_info_dair.py ├── gen_info_rope3d.py └── gen_info_rope3d_kitti.py ├── setup.py ├── utils ├── __pycache__ │ ├── backup_files.cpython-39.pyc │ └── torch_dist.cpython-39.pyc ├── backup_files.py └── torch_dist.py └── visual ├── img.jpg ├── object_depth.jpg └── object_depth_ori.jpg /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yanglei18/SGV3D/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yanglei18/SGV3D/HEAD/LICENSE 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