├── .DS_Store ├── README.md ├── projects ├── configs │ ├── detr3d │ │ └── detr3d_res50.py │ ├── detr4d │ │ ├── detr4d_m2_deform_pe_testaug_320_fullset.py │ │ ├── detr4d_m2_deform_pe_testaug_320_fullset_ceph.py │ │ ├── detr4d_res18_deform_pe_testaug_320_2subset.py │ │ ├── detr4d_res18_deform_pe_testaug_320_2subset_ceph.py │ │ ├── detr4d_res18_deform_pe_testaug_320_fullset_ceph.py │ │ ├── detr4d_res50.py │ │ ├── detr4d_res50_deform.py │ │ ├── detr4d_res50_deform_aug_2subset_12e.py │ │ ├── detr4d_res50_deform_camaware_fpe_2subset_12e.py │ │ ├── detr4d_res50_deform_camaware_pe_aug_2subset_12e.py │ │ ├── detr4d_res50_deform_camconvfpe_2subset_12e.py │ │ ├── detr4d_res50_deform_ms.py │ │ ├── detr4d_res50_deform_pe_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_450*800.py │ │ ├── detr4d_res50_deform_pe_450_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_aug_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_mp_testaug_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_rotaug_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_rotcropaug_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_testaug_2subset_12e.py │ │ ├── detr4d_res50_deform_pe_testaug_320*800.py │ │ ├── detr4d_res50_deform_pe_testaug_320_fullset_ceph.py │ │ ├── detr4d_res50_deform_pe_testaug_detach_2subset_12e.py │ │ ├── detr4d_res50_mp.py │ │ ├── detr4d_vovnet.py │ │ ├── detr4d_vovnet_deform.py │ │ ├── h_detr4d_res50_deform_pe_testaug_2subset_12e.py │ │ └── h_detr4d_res50_deform_pe_testaug_800*320_fullset.py │ ├── distillers │ │ ├── objdgcnn_Gdetr4d_r50_distill_Gdetr4d_r50_1x_donot_init_stu.py │ │ └── objdgcnn_Gdetr4d_r50_distill_Gdetr4d_r50_1x_nuscenes.py │ ├── petr │ │ ├── petr_r50dcn_gridmask_c5.py │ │ ├── petr_r50dcn_gridmask_p4.py │ │ ├── petr_vovnet_gridmask_p4_1600x640.py │ │ └── petr_vovnet_gridmask_p4_800x320.py │ └── petrv2 │ │ ├── petrv2_BEVseg.py │ │ ├── petrv2_res50_gridmask_p4_800x320.py │ │ ├── petrv2_vovnet_gridmask_p4_1600x640.py │ │ ├── petrv2_vovnet_gridmask_p4_1600x640_trainval.py │ │ └── petrv2_vovnet_gridmask_p4_800x320.py ├── distill_cfg │ ├── distill_r50_r18_cls_2subset.py │ ├── distill_r50_r18_cls_2subset_ceph.py │ ├── distill_r50_r18_cls_reg_2subset.py │ ├── distill_r50_r18_cls_reweight_2subset.py │ ├── distill_r50_r18_img001_2subset_ceph.py │ ├── distill_r50_r18_img_2subset.py │ ├── distill_r50_r18_img_2subset_ceph.py │ ├── distill_r50_r18_img_att_2subset.py │ ├── distill_r50_r18_img_att_5e3_2subset.py │ ├── distill_r50_r18_none_2subset_ceph.py │ ├── distill_r50_r18_reg_2subset.py │ ├── distill_r50_r18_reg_2subset_ceph.py │ ├── distill_r50_r18_reg_reweight_2subset.py │ ├── distill_r50_r18_reg_reweight_2subset_ceph.py │ ├── mixdistill_r50_m2_cls_reg_img_ceph.py │ ├── mixdistill_r50_r18_cls_2subset.py │ ├── mixdistill_r50_r18_cls_reg_2subset.py │ ├── mixdistill_r50_r18_cls_reg_2subset_ceph.py │ ├── mixdistill_r50_r18_cls_reg_img_ceph.py │ ├── mixdistill_r50_r18_cls_wore_2subset_ceph.py │ ├── mixdistill_r50_r18_reg_2subset.py │ └── mixdistill_r50_r18_reg_wore_2subset.py └── mmdet3d_plugin │ ├── __init__.py │ ├── __pycache__ │ └── __init__.cpython-37.pyc │ ├── apis │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── mmdet_distill_train.cpython-37.pyc │ └── mmdet_distill_train.py │ ├── core │ └── bbox │ │ ├── __pycache__ │ │ ├── array_converter.cpython-37.pyc │ │ └── util.cpython-37.pyc │ │ ├── array_converter.py │ │ ├── assigners │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── distill_hungarian_assigner_3d.cpython-37.pyc │ │ │ └── hungarian_assigner_3d.cpython-37.pyc │ │ ├── distill_hungarian_assigner_3d.py │ │ └── hungarian_assigner_3d.py │ │ ├── coders │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── nms_free_coder.cpython-37.pyc │ │ └── nms_free_coder.py │ │ ├── iou_calculators │ │ ├── __init__.py │ │ └── iou3d_calculator.py │ │ ├── match_costs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ └── match_cost.cpython-37.pyc │ │ └── match_cost.py │ │ └── util.py │ ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── internal_dataset_sweep.cpython-37.pyc │ │ ├── multi_nuscenes_dataset.cpython-37.pyc │ │ └── nuscenes_dataset.cpython-37.pyc │ ├── internal_dataset_sweep.py │ ├── multi_nuscenes_dataset.py │ ├── nuscenes_dataset.py │ └── pipelines │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── loading.cpython-37.pyc │ │ └── transform_3d.cpython-37.pyc │ │ ├── loading.py │ │ └── transform_3d.py │ ├── distillation │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── builder.cpython-37.pyc │ ├── builder.py │ └── distillers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── detr4d_distiller.cpython-37.pyc │ │ └── mix_distill.cpython-37.pyc │ │ ├── detr4d_distiller.py │ │ └── mix_distill.py │ └── models │ ├── backbones │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── vovnet.cpython-37.pyc │ │ └── vovnetcp.cpython-37.pyc │ ├── vovnet.py │ └── vovnetcp.py │ ├── dense_heads │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── detr3d_head.cpython-37.pyc │ │ ├── detr3d_head_pe.cpython-37.pyc │ │ ├── detr3d_head_pe_camaware.cpython-37.pyc │ │ ├── dgcnn3d_head.cpython-37.pyc │ │ ├── h_detr3d_head_pe.cpython-37.pyc │ │ ├── petr_head.cpython-37.pyc │ │ ├── petr_head_seg.cpython-37.pyc │ │ └── petrv2_head.cpython-37.pyc │ ├── detr3d_head.py │ ├── detr3d_head_pe.py │ ├── detr3d_head_pe_camaware.py │ ├── dgcnn3d_head.py │ ├── h_detr3d_head_pe.py │ ├── petr_head.py │ ├── petr_head_seg.py │ └── petrv2_head.py │ ├── detectors │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── detr3d.cpython-37.pyc │ │ ├── obj_dgcnn.cpython-37.pyc │ │ ├── petr3d.cpython-37.pyc │ │ └── petr3d_seg.cpython-37.pyc │ ├── detr3d.py │ ├── obj_dgcnn.py │ ├── petr3d.py │ └── petr3d_seg.py │ ├── losses │ ├── Sigmoid_ce_loss.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── Sigmoid_ce_loss.cpython-37.pyc │ │ ├── __init__.cpython-37.pyc │ │ └── distill_cross_entropy_loss.cpython-37.pyc │ └── distill_cross_entropy_loss.py │ ├── necks │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── cp_fpn.cpython-37.pyc │ └── cp_fpn.py │ └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── deform3d_cross_attn.cpython-37.pyc │ ├── deform3d_cross_attn_multi_point.cpython-37.pyc │ ├── detr.cpython-37.pyc │ ├── detr3d_transformer.cpython-37.pyc │ ├── dgcnn_attn.cpython-37.pyc │ ├── grid_mask.cpython-37.pyc │ ├── h_detr3d_transformer.cpython-37.pyc │ ├── petr_transformer.cpython-37.pyc │ └── positional_encoding.cpython-37.pyc │ ├── deform3d_cross_attn.py │ ├── deform3d_cross_attn_multi_point.py │ ├── detr.py │ ├── detr3d_transformer.py │ ├── dgcnn_attn.py │ ├── grid_mask.py │ ├── h_detr3d_transformer.py │ ├── petr_transformer.py │ └── positional_encoding.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── build-dataset.py ├── create_data.py ├── create_data.sh ├── data_converter ├── __init__.py ├── create_gt_database.py ├── indoor_converter.py ├── kitti_converter.py ├── kitti_data_utils.py ├── lyft_converter.py ├── lyft_data_fixer.py ├── map_api.py ├── nuimage_converter.py ├── nuscenes_converter.py ├── nuscenes_converter_seg.py ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py └── waymo_converter.py ├── dist_test.sh ├── dist_test_distill.sh ├── dist_train.sh ├── dist_train_distill.sh ├── distill_test.py ├── distill_train.py ├── generate_sweep_pkl.py ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── print_config.py └── visualize_results.py ├── model_converters ├── convert_votenet_checkpoints.py ├── publish_model.py └── regnet2mmdet.py ├── slurm_test.sh ├── slurm_test_internal.sh ├── slurm_train.sh ├── slurm_train_distill.sh ├── test.py ├── test_internal.py └── train.py 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