├── .gitattributes ├── .gitignore ├── CodeBase ├── BEVHeight │ ├── README.md │ ├── dataset │ │ └── nusc_mv_det_dataset.py │ ├── evaluators │ │ ├── __init__.py │ │ ├── det_evaluators.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ ├── kitti_common.py │ │ │ └── rotate_iou.py │ │ ├── result2kitti.py │ │ └── utils.py │ ├── exps │ │ ├── dair-v2x │ │ │ ├── bev_depth_lss_r101_864_1536_256x256.py │ │ │ ├── bev_height_lss_r101_864_1536_256x256.py │ │ │ └── bev_height_plus_lss_r101_864_1536_256x256.py │ │ ├── kitti │ │ │ ├── bev_depth_lss_r101_384_1280_256x256.py │ │ │ ├── bev_height_lss_r101_384_1280_256x256.py │ │ │ └── bev_height_plus_lss_r101_384_1280_256x256.py │ │ ├── rope3d │ │ │ ├── bev_depth_lss_r101_864_1536_256x256.py │ │ │ ├── bev_height_lss_r101_864_1536_256x256.py │ │ │ └── bev_height_plus_lss_r101_864_1536_256x256.py │ │ ├── v2x-radar-i │ │ │ ├── bev_depth_lss_r101_864_1536_256x256.py │ │ │ ├── bev_depth_lss_r50_864_1536_128x128.py │ │ │ ├── bev_height_lss_r101_864_1536_256x256.py │ │ │ └── bev_height_plus_lss_r101_864_1536_256x256.py │ │ └── v2x-radar-v │ │ │ ├── bev_depth_lss_r101_864_1536_256x256.py │ │ │ ├── bev_height_lss_r101_864_1536_256x256.py │ │ │ └── bev_height_plus_lss_r101_864_1536_256x256.py │ ├── layers │ │ ├── __init__.py │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── dh_fusion.py │ │ │ ├── lss_fpn.py │ │ │ └── multi_scale_deformable_attn_function.py │ │ └── heads │ │ │ ├── __init__.py │ │ │ └── bev_height_head.py │ ├── models │ │ └── bev_height_plus.py │ ├── ops │ │ └── voxel_pooling │ │ │ ├── __init__.py │ │ │ ├── src │ │ │ ├── voxel_pooling_forward.cpp │ │ │ └── voxel_pooling_forward_cuda.cu │ │ │ └── voxel_pooling.py │ ├── requirements.txt │ ├── scripts │ │ ├── data_converter │ │ │ ├── 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 │ │ ├── gen_info_dair.py │ │ ├── gen_info_kitti.py │ │ ├── gen_info_rope3d.py │ │ ├── gen_info_v2x_radar_i.py │ │ ├── gen_info_v2x_radar_v.py │ │ ├── utils.py │ │ └── visual_tools_single_agent.py │ ├── setup.py │ └── utils │ │ ├── backup_files.py │ │ └── torch_dist.py └── OpenCOOD │ ├── README.md │ ├── opencood │ ├── __init__.py │ ├── data_utils │ │ ├── __init__.py │ │ ├── augmentor │ │ │ ├── __init__.py │ │ │ ├── augment_utils.py │ │ │ └── data_augmentor.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── basedataset │ │ │ │ ├── dairv2x_basedataset.py │ │ │ │ ├── opv2v_basedataset.py │ │ │ │ ├── v2xset_basedataset.py │ │ │ │ └── v2xsim_basedataset.py │ │ │ ├── early_fusion_dataset.py │ │ │ ├── heter_infer │ │ │ │ └── intermediate_heter_infer_fusion_dataset.py │ │ │ ├── intermediate_2stage_fusion_dataset.py │ │ │ ├── intermediate_fusion_dataset.py │ │ │ ├── intermediate_heter_fusion_dataset.py │ │ │ ├── late_fusion_dataset.py │ │ │ └── late_heter_fusion_dataset.py │ │ ├── post_processor │ │ │ ├── __init__.py │ │ │ ├── base_postprocessor.py │ │ │ ├── bev_postprocessor.py │ │ │ ├── ciassd_postprocessor.py │ │ │ ├── fpvrcnn_postprocessor.py │ │ │ ├── uncertainty_voxel_postprocessor.py │ │ │ └── voxel_postprocessor.py │ │ └── pre_processor │ │ │ ├── __init__.py │ │ │ ├── base_preprocessor.py │ │ │ ├── bev_preprocessor.py │ │ │ ├── sp_voxel_preprocessor.py │ │ │ └── voxel_preprocessor.py │ ├── hypes_yaml │ │ ├── __init__.py │ │ ├── dairv2x │ │ │ ├── CameraOnly │ │ │ │ ├── camera_attfuse.yaml │ │ │ │ ├── camera_coalign.yaml │ │ │ │ ├── camera_cobevt.yaml │ │ │ │ ├── camera_disco.yaml │ │ │ │ ├── camera_fcooper.yaml │ │ │ │ ├── camera_pyramid.yaml │ │ │ │ └── camera_v2xvit.yaml │ │ │ ├── LiDAROnly │ │ │ │ ├── lidar_attfuse.yaml │ │ │ │ ├── lidar_coalign.yaml │ │ │ │ ├── lidar_cobevt.yaml │ │ │ │ ├── lidar_disco.yaml │ │ │ │ ├── lidar_fcooper.yaml │ │ │ │ ├── lidar_pyramid.yaml │ │ │ │ └── lidar_v2xvit.yaml │ │ │ └── Single │ │ │ │ ├── DAIR_camera_single.yaml │ │ │ │ └── DAIR_lidar_single.yaml │ │ ├── exemplar.yaml │ │ ├── opv2v │ │ │ ├── CameraOnly │ │ │ │ ├── camera_attfuse.yaml │ │ │ │ ├── camera_coalign.yaml │ │ │ │ ├── camera_cobevt.yaml │ │ │ │ ├── camera_disco.yaml │ │ │ │ ├── camera_fcooper.yaml │ │ │ │ ├── camera_pyramid.yaml │ │ │ │ ├── camera_v2vnet.yaml │ │ │ │ └── camera_v2xvit.yaml │ │ │ ├── LiDAROnly │ │ │ │ ├── lidar_attfuse.yaml │ │ │ │ ├── lidar_coalign.yaml │ │ │ │ ├── lidar_cobevt.yaml │ │ │ │ ├── lidar_fcooper.yaml │ │ │ │ ├── lidar_pyramid.yaml │ │ │ │ ├── lidar_v2vnet.yaml │ │ │ │ └── lidar_v2xvit.yaml │ │ │ └── Single │ │ │ │ ├── openv2v_lidar_single.yaml │ │ │ │ └── opv2v_camera_single.yaml │ │ ├── readme.md │ │ ├── v2x-radar │ │ │ ├── CameraOnly │ │ │ │ ├── camera_coalign.yaml │ │ │ │ ├── camera_cobevt.yaml │ │ │ │ ├── camera_fcooper.yaml │ │ │ │ ├── camera_pyramid.yaml │ │ │ │ └── camera_v2xvit.yaml │ │ │ ├── LiDAROnly │ │ │ │ ├── lidar_attfuse.yaml │ │ │ │ ├── lidar_coalign.yaml │ │ │ │ ├── lidar_cobevt.yaml │ │ │ │ ├── lidar_disco.yaml │ │ │ │ ├── lidar_pyramid.yaml │ │ │ │ └── lidar_v2xvit.yaml │ │ │ └── Single │ │ │ │ ├── m2_LSSeff48_pretrain_m2_ours.yaml │ │ │ │ ├── v2x_radar_camera_single.yaml │ │ │ │ └── v2x_radar_lidar_single.yaml │ │ ├── v2xset │ │ │ ├── CameraOnly │ │ │ │ ├── camera_coalign.yaml │ │ │ │ └── camera_pyramid.yaml │ │ │ ├── LiDAROnly │ │ │ │ ├── lidar_attfuse.yaml │ │ │ │ ├── lidar_coalign.yaml │ │ │ │ ├── lidar_cobevt.yaml │ │ │ │ ├── lidar_disco.yaml │ │ │ │ ├── lidar_fcooper.yaml │ │ │ │ ├── lidar_pyramid.yaml │ │ │ │ └── lidar_v2xvit.yaml │ │ │ └── Single │ │ │ │ ├── v2xset_camera_single.yaml │ │ │ │ └── v2xset_lidar_single.yaml │ │ └── yaml_utils.py │ ├── loss │ │ ├── __init__.py │ │ ├── center_point_loss.py │ │ ├── ciassd_loss.py │ │ ├── fpvrcnn_loss.py │ │ ├── pixor_loss.py │ │ ├── point_pillar_depth_loss.py │ │ ├── point_pillar_disconet_loss.py │ │ ├── point_pillar_loss.py │ │ ├── point_pillar_pyramid_loss.py │ │ ├── point_pillar_uncertainty_loss.py │ │ ├── uncertainty_loss_old.py │ │ └── voxel_net_loss.py │ ├── modality_assign │ │ ├── opv2v_4modality.json │ │ ├── opv2v_4modality_in_order.json │ │ ├── v2x_radar_4modality.json │ │ ├── v2xset_4modality.json │ │ └── v2xset_4modality_in_order.json │ ├── models │ │ ├── __init__.py │ │ ├── center_point.py │ │ ├── center_point_baseline.py │ │ ├── center_point_baseline_multiscale.py │ │ ├── center_point_intermediate.py │ │ ├── center_point_where2comm.py │ │ ├── ciassd.py │ │ ├── comm_modules │ │ │ └── where2comm.py │ │ ├── fpvrcnn.py │ │ ├── fuse_modules │ │ │ ├── __init__.py │ │ │ ├── fuse_utils.py │ │ │ ├── fusion_in_one.py │ │ │ ├── pyramid_fuse.py │ │ │ ├── self_attn.py │ │ │ ├── swap_fusion_modules.py │ │ │ ├── transformer.py │ │ │ ├── transformer_fuse.py │ │ │ ├── v2v_fuse.py │ │ │ ├── when2com_fuse.py │ │ │ └── where2comm_attn.py │ │ ├── heter_encoders.py │ │ ├── heter_model_baseline.py │ │ ├── heter_model_baseline_ms.py │ │ ├── heter_model_late.py │ │ ├── heter_pyramid_collab.py │ │ ├── heter_pyramid_single.py │ │ ├── lift_splat_shoot.py │ │ ├── lift_splat_shoot_intermediate.py │ │ ├── lift_splat_shoot_voxel.py │ │ ├── pixor.py │ │ ├── pixor_intermediate.py │ │ ├── point_pillar.py │ │ ├── point_pillar_baseline.py │ │ ├── point_pillar_baseline_multiscale.py │ │ ├── point_pillar_disconet.py │ │ ├── point_pillar_disconet_teacher.py │ │ ├── point_pillar_uncertainty.py │ │ ├── second.py │ │ ├── second_intermediate.py │ │ ├── second_ssfa.py │ │ ├── second_ssfa_uncertainty.py │ │ ├── sub_modules │ │ │ ├── att_bev_backbone.py │ │ │ ├── auto_encoder.py │ │ │ ├── base_bev_backbone.py │ │ │ ├── base_bev_backbone_resnet.py │ │ │ ├── base_transformer.py │ │ │ ├── box_align_v2.py │ │ │ ├── cbam.py │ │ │ ├── cia_ssd_utils.py │ │ │ ├── convgru.py │ │ │ ├── dense_head.py │ │ │ ├── detr_module.py │ │ │ ├── downsample_conv.py │ │ │ ├── feature_alignnet.py │ │ │ ├── feature_alignnet_modules.py │ │ │ ├── functions │ │ │ │ ├── __init__.py │ │ │ │ └── ms_deform_attn_func.py │ │ │ ├── height_compression.py │ │ │ ├── hmsa.py │ │ │ ├── lss_submodule.py │ │ │ ├── matcher.py │ │ │ ├── matcher_v2.py │ │ │ ├── matcher_v3.py │ │ │ ├── mean_vfe.py │ │ │ ├── ms_deform_attn.py │ │ │ ├── mswin.py │ │ │ ├── naive_compress.py │ │ │ ├── pillar_vfe.py │ │ │ ├── point_pillar_scatter.py │ │ │ ├── pose_graph_optim.py │ │ │ ├── resblock.py │ │ │ ├── roi_head.py │ │ │ ├── sparse_backbone_3d.py │ │ │ ├── split_attn.py │ │ │ ├── torch_transformation_utils.py │ │ │ ├── v2xvit_basic.py │ │ │ ├── voxel_rcnn_head.py │ │ │ ├── voxel_roi_pooling.py │ │ │ └── vsa.py │ │ ├── voxel_net.py │ │ └── voxel_net_intermediate.py │ ├── pcdet_utils │ │ ├── __init__.py │ │ ├── iou3d_nms │ │ │ ├── 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 │ │ │ │ ├── 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 │ │ │ │ ├── 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 │ │ │ │ ├── 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 │ │ │ ├── roiaware_pool3d_utils.py │ │ │ └── src │ │ │ │ ├── roiaware_pool3d.cpp │ │ │ │ └── roiaware_pool3d_kernel.cu │ │ └── setup.py │ ├── tools │ │ ├── __init__.py │ │ ├── gen_async.py │ │ ├── gen_radar_velo.py │ │ ├── gen_radar_velo_coop.py │ │ ├── heal_tools.py │ │ ├── inference.py │ │ ├── inference_heter_in_order.py │ │ ├── inference_modify.py │ │ ├── inference_modify_all_models.py │ │ ├── inference_utils.py │ │ ├── inference_w_noise.py │ │ ├── multi_gpu_utils.py │ │ ├── pose_graph_evaluate.py │ │ ├── pose_graph_pre_calc.py │ │ ├── profiler │ │ │ ├── params_calc.py │ │ │ ├── params_calc_fusion_only.py │ │ │ ├── params_calc_fusion_only_multi.py │ │ │ ├── params_calc_multi.py │ │ │ ├── params_flops_multi.py │ │ │ └── traintp_calc.py │ │ ├── train.py │ │ ├── train_ddp.py │ │ ├── train_utils.py │ │ └── train_w_kd.py │ ├── utils │ │ ├── __init__.py │ │ ├── bessel_utils.py │ │ ├── box_overlaps.c │ │ ├── box_overlaps.pyx │ │ ├── box_utils.py │ │ ├── camera_utils.py │ │ ├── cleanup_utils.py │ │ ├── common_utils.py │ │ ├── draco_compression.py │ │ ├── eval_utils.py │ │ ├── eval_utils.py.backup │ │ ├── eval_utils_modify.py │ │ ├── heter_utils.py │ │ ├── img2hdf5.py │ │ ├── keypoint_utils.py │ │ ├── max_consensus.py │ │ ├── model_utils.py │ │ ├── pcd_utils.py │ │ ├── pose_utils.py │ │ ├── setup.py │ │ ├── spconv_utils.py │ │ ├── subsampling_utils.py │ │ └── transformation_utils.py │ ├── version.py │ └── visualization │ │ ├── __init__.py │ │ ├── ap_vs_fps_scatter_plot.py │ │ ├── ap_vs_noise_line_plot.py │ │ ├── ap_vs_traincost_scatter_plot.py │ │ ├── debug_plot.py │ │ ├── draw_box_align │ │ ├── draw_optimization.py │ │ ├── img2video.py │ │ └── inference_for_video_vis.py │ │ ├── draw_fancy │ │ ├── collaboration_view.py │ │ ├── draw_fancy_dataset.py │ │ ├── draw_fancy_datasetv2x.py │ │ ├── img2video.py │ │ ├── location_in_bev.py │ │ ├── scene_overview.py │ │ └── single_view.py │ │ ├── fusion_weight │ │ └── pyramid.py │ │ ├── my_vis.py │ │ ├── simple_plot3d │ │ ├── __init__.py │ │ ├── canvas_3d.py │ │ └── canvas_bev.py │ │ ├── simple_vis.py │ │ ├── tsne │ │ ├── cka.py │ │ ├── mmd.py │ │ └── pairwise_distance.py │ │ ├── vis_data_sequence.py │ │ ├── vis_utils copy.py │ │ └── vis_utils.py │ ├── requirements.txt │ ├── setup.py │ ├── train_script.sh │ └── version.py ├── LICENSE ├── README.md └── assets ├── demo.mp4 ├── teaser-v2.jpg └── v2x-radar-i-demo.mp4 /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yanglei18/V2X-Radar/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: 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