├── .gitignore ├── LICENSE ├── README.md ├── data ├── parse_dataset.py ├── test.txt ├── train.txt ├── trainval.txt └── val.txt ├── data_util ├── __init__.py └── kitti_util │ ├── __init__.py │ ├── cython_util │ ├── __init__.py │ ├── create_feature_input.pyx │ ├── nms.pyx │ ├── setup.py │ └── setup.sh │ ├── input_velodyne.py │ ├── kitti_3d_detection_dataset.py │ ├── kitti_3d_test_dataset.py │ ├── kitti_3d_transformed.py │ ├── kitti_3d_validation_dataset.py │ ├── kitti_visualize_dataset.py │ └── parse_xml.py ├── demo.py ├── devkit_object ├── cpp │ ├── CMakeLists.txt │ ├── evaluate_object.cpp │ └── mail.h ├── mapping │ ├── train_mapping.txt │ └── train_rand.txt ├── matlab │ ├── computeBox3D.m │ ├── computeOrientation3D.m │ ├── drawBox2D.m │ ├── drawBox3D.m │ ├── projectToImage.m │ ├── readCalibration.m │ ├── readLabels.m │ ├── run_demo.m │ ├── run_readWriteDemo.m │ ├── run_statistics.m │ ├── visualization.m │ └── writeLabels.m └── readme.txt ├── evaluation.py ├── experiments ├── light_voxelnet_v1 │ ├── light_voxelnet_v1_demo.yml │ ├── light_voxelnet_v1_eval.yml │ ├── light_voxelnet_v1_multi_p025.yml │ ├── light_voxelnet_v1_multi_p1.yml │ ├── light_voxelnet_v1_multi_p1_fine.yml │ ├── light_voxelnet_v1_multi_p1_fine_surround.yml │ ├── light_voxelnet_v1_multi_p1_surround.yml │ ├── light_voxelnet_v1_parallel_p1.yml │ ├── light_voxelnet_v1_single.yml │ ├── light_voxelnet_v1_stats.yml │ └── light_voxelnet_v1_viz.yml ├── light_voxelnet_v2 │ ├── light_voxelnet_v2_demo.yml │ ├── light_voxelnet_v2_eval.yml │ ├── light_voxelnet_v2_multi_p025.yml │ ├── light_voxelnet_v2_multi_p1.yml │ ├── light_voxelnet_v2_multi_p1_16.yml │ ├── light_voxelnet_v2_multi_p1_fine.yml │ ├── light_voxelnet_v2_multi_p1_fine_surround.yml │ ├── light_voxelnet_v2_multi_p1_surround.yml │ ├── light_voxelnet_v2_single.yml │ ├── light_voxelnet_v2_stats.yml │ ├── light_voxelnet_v2_test.yml │ └── light_voxelnet_v2_viz.yml ├── light_voxelnet_v3 │ ├── light_voxelnet_v3_demo.yml │ ├── light_voxelnet_v3_eval.yml │ ├── light_voxelnet_v3_multi_p025.yml │ ├── light_voxelnet_v3_multi_p1.yml │ ├── light_voxelnet_v3_multi_p1_fine.yml │ ├── light_voxelnet_v3_multi_p1_fine_surround.yml │ ├── light_voxelnet_v3_multi_p1_surround.yml │ ├── light_voxelnet_v3_single.yml │ ├── light_voxelnet_v3_stats.yml │ ├── light_voxelnet_v3_test.yml │ └── light_voxelnet_v3_viz.yml ├── light_voxelnet_v4 │ ├── light_voxelnet_v4_demo.yml │ ├── light_voxelnet_v4_eval.yml │ ├── light_voxelnet_v4_multi_p025.yml │ ├── light_voxelnet_v4_multi_p1.yml │ ├── light_voxelnet_v4_multi_p1_fine.yml │ ├── light_voxelnet_v4_multi_p1_fine_surround.yml │ ├── light_voxelnet_v4_multi_p1_surround.yml │ ├── light_voxelnet_v4_single.yml │ ├── light_voxelnet_v4_stats.yml │ ├── light_voxelnet_v4_test.yml │ └── light_voxelnet_v4_viz.yml ├── light_voxelnet_v5 │ ├── light_voxelnet_v5_demo.yml │ ├── light_voxelnet_v5_eval.yml │ ├── light_voxelnet_v5_multi_p025.yml │ ├── light_voxelnet_v5_multi_p1.yml │ ├── light_voxelnet_v5_multi_p1_fine.yml │ ├── light_voxelnet_v5_multi_p1_fine_surround.yml │ ├── light_voxelnet_v5_multi_p1_surround.yml │ ├── light_voxelnet_v5_single.yml │ ├── light_voxelnet_v5_stats.yml │ ├── light_voxelnet_v5_test.yml │ └── light_voxelnet_v5_viz.yml ├── light_voxelnet_v6 │ ├── light_voxelnet_v6_demo.yml │ ├── light_voxelnet_v6_eval.yml │ ├── light_voxelnet_v6_multi_p025.yml │ ├── light_voxelnet_v6_multi_p1.yml │ ├── light_voxelnet_v6_multi_p1_fine.yml │ ├── light_voxelnet_v6_multi_p1_fine_surround.yml │ ├── light_voxelnet_v6_multi_p1_surround.yml │ ├── light_voxelnet_v6_single.yml │ ├── light_voxelnet_v6_stats.yml │ ├── light_voxelnet_v6_test.yml │ └── light_voxelnet_v6_viz.yml ├── light_voxelnet_v7 │ ├── light_voxelnet_v7_demo.yml │ ├── light_voxelnet_v7_eval.yml │ ├── light_voxelnet_v7_multi_p025.yml │ ├── light_voxelnet_v7_multi_p1.yml │ ├── light_voxelnet_v7_multi_p1_fine.yml │ ├── light_voxelnet_v7_multi_p1_fine_surround.yml │ ├── light_voxelnet_v7_multi_p1_surround.yml │ ├── light_voxelnet_v7_single.yml │ ├── light_voxelnet_v7_stats.yml │ ├── light_voxelnet_v7_test.yml │ └── light_voxelnet_v7_viz.yml └── orig_voxelnet │ ├── orig_voxelnet_demo.yml │ ├── orig_voxelnet_eval.yml │ ├── orig_voxelnet_multi_p025.yml │ ├── orig_voxelnet_multi_p1.yml │ ├── orig_voxelnet_multi_p1_fine.yml │ ├── orig_voxelnet_multi_p1_fine_surround.yml │ ├── orig_voxelnet_multi_p1_surround.yml │ ├── orig_voxelnet_parallel_p1.yml │ ├── orig_voxelnet_single.yml │ ├── orig_voxelnet_stats.yml │ └── orig_voxelnet_viz.yml ├── images ├── compare_thres1.png ├── compare_thres2.png ├── compare_thres3.png ├── compare_thres4.png ├── statistic_x.png └── statistic_y.png ├── setup.sh ├── train.py ├── visualize.py └── voxelnet ├── config_utils.py ├── converter ├── __init__.py └── voxelnet_concat.py ├── extension_util └── lr_utils.py └── models ├── __init__.py ├── active_batchnorm.py ├── active_bn.py ├── feature_to_voxel.py ├── func_active_bn.py ├── 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