├── LICENSE ├── README.md ├── assets ├── compare.jpg ├── last_latency2.jpg ├── last_memory2.jpg ├── octree_con.jpg ├── pipeline.jpg ├── scale.jpg └── vis.gif ├── docs ├── data.md ├── install.md └── run.md ├── ocnn ├── __init__.py ├── dataset.py ├── models │ ├── __init__.py │ ├── autoencoder.py │ ├── hrnet.py │ ├── lenet.py │ ├── ounet.py │ ├── resnet.py │ ├── segnet.py │ └── unet.py ├── modules │ ├── __init__.py │ ├── modules.py │ └── resblocks.py ├── nn │ ├── __init__.py │ ├── octree2col.py │ ├── octree2vox.py │ ├── octree_align.py │ ├── octree_conv.py │ ├── octree_drop.py │ ├── octree_dwconv.py │ ├── octree_interp.py │ ├── octree_norm.py │ ├── octree_pad.py │ └── octree_pool.py ├── octree │ ├── __init__.py │ ├── octree.py │ ├── points.py │ └── shuffled_key.py └── utils.py ├── projects ├── __init__.py ├── configs │ ├── _base_ │ │ ├── datasets │ │ │ ├── coco_instance.py │ │ │ ├── kitti-3d-3class.py │ │ │ ├── kitti-3d-car.py │ │ │ ├── lyft-3d.py │ │ │ ├── nuim_instance.py │ │ │ ├── nus-3d.py │ │ │ ├── nus-mono3d.py │ │ │ ├── range100_lyft-3d.py │ │ │ ├── s3dis-3d-5class.py │ │ │ ├── s3dis_seg-3d-13class.py │ │ │ ├── scannet-3d-18class.py │ │ │ ├── scannet_seg-3d-20class.py │ │ │ ├── sunrgbd-3d-10class.py │ │ │ ├── waymoD5-3d-3class.py │ │ │ └── waymoD5-3d-car.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ ├── 3dssd.py │ │ │ ├── cascade_mask_rcnn_r50_fpn.py │ │ │ ├── centerpoint_01voxel_second_secfpn_nus.py │ │ │ ├── centerpoint_02pillar_second_secfpn_nus.py │ │ │ ├── fcos3d.py │ │ │ ├── groupfree3d.py │ │ │ ├── h3dnet.py │ │ │ ├── hv_pointpillars_fpn_lyft.py │ │ │ ├── hv_pointpillars_fpn_nus.py │ │ │ ├── hv_pointpillars_fpn_range100_lyft.py │ │ │ ├── hv_pointpillars_secfpn_kitti.py │ │ │ ├── hv_pointpillars_secfpn_waymo.py │ │ │ ├── hv_second_secfpn_kitti.py │ │ │ ├── hv_second_secfpn_waymo.py │ │ │ ├── imvotenet_image.py │ │ │ ├── mask_rcnn_r50_fpn.py │ │ │ ├── paconv_cuda_ssg.py │ │ │ ├── paconv_ssg.py │ │ │ ├── parta2.py │ │ │ ├── pointnet2_msg.py │ │ │ ├── pointnet2_ssg.py │ │ │ └── votenet.py │ │ └── schedules │ │ │ ├── cosine.py │ │ │ ├── cyclic_20e.py │ │ │ ├── cyclic_40e.py │ │ │ ├── mmdet_schedule_1x.py │ │ │ ├── schedule_2x.py │ │ │ ├── schedule_3x.py │ │ │ ├── seg_cosine_150e.py │ │ │ ├── seg_cosine_200e.py │ │ │ └── seg_cosine_50e.py │ ├── adaptiveocc │ │ ├── adaptiveocc.py │ │ ├── adaptiveocc_inference.py │ │ └── adaptiveocc_inference_vis.py │ └── datasets │ │ ├── custom_lyft-3d.py │ │ ├── custom_nus-3d.py │ │ └── custom_waymo-3d.py └── mmdet3d_plugin │ ├── __init__.py │ ├── adaptiveocc │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── mmdet_train.py │ │ ├── test.py │ │ ├── test_new.py │ │ └── train.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── occ_head_dense_skip.py │ │ └── occ_head_dense_skip_new.py │ ├── detectors │ │ ├── __init__.py │ │ └── adaptiveocc.py │ ├── hooks │ │ ├── __init__.py │ │ └── custom_hooks.py │ ├── loss │ │ ├── __init__.py │ │ └── loss_utils.py │ └── modules │ │ ├── __init__.py │ │ ├── custom_base_transformer_layer.py │ │ ├── encoder.py │ │ ├── multi_scale_deformable_attn_function.py │ │ ├── norm_fpn.py │ │ ├── spatial_cross_attention.py │ │ ├── transformer.py │ │ └── transformer_new.py │ ├── core │ ├── bbox │ │ ├── assigners │ │ │ ├── __init__.py │ │ │ └── hungarian_assigner_3d.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ └── nms_free_coder.py │ │ ├── match_costs │ │ │ ├── __init__.py │ │ │ └── match_cost.py │ │ └── util.py │ └── evaluation │ │ ├── __init__.py │ │ ├── eval_hooks.py │ │ └── kitti2waymo.py │ ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── evaluation_metrics.py │ ├── nuscenes_dataset.py │ ├── nuscenes_occupancy_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── formating.py │ │ ├── loading.py │ │ └── transform_3d.py │ └── samplers │ │ ├── __init__.py │ │ ├── distributed_sampler.py │ │ ├── group_sampler.py │ │ └── sampler.py │ └── models │ ├── backbones │ ├── __init__.py │ ├── efficientnet.py │ └── vovnet.py │ ├── hooks │ ├── __init__.py │ 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