├── .gitignore ├── 3d-tracking ├── DOCUMENTATION.md ├── README.md ├── _init_paths.py ├── command.txt ├── lib │ ├── build │ │ ├── lib.linux-x86_64-3.6 │ │ │ └── model │ │ │ │ ├── _C.cpython-36m-x86_64-linux-gnu.so │ │ │ │ ├── faster_rcnn │ │ │ │ ├── faster_rcnn.py │ │ │ │ ├── resnet.py │ │ │ │ └── vgg16.py │ │ │ │ ├── roi_layers │ │ │ │ ├── __init__.py │ │ │ │ ├── nms.py │ │ │ │ ├── roi_align.py │ │ │ │ └── roi_pool.py │ │ │ │ ├── rpn │ │ │ │ ├── anchor_target_layer.py │ │ │ │ ├── bbox_transform.py │ │ │ │ ├── generate_anchors.py │ │ │ │ ├── proposal_layer.py │ │ │ │ ├── proposal_target_layer_cascade.py │ │ │ │ └── rpn.py │ │ │ │ └── utils │ │ │ │ ├── blob.py │ │ │ │ ├── config.py │ │ │ │ ├── logger.py │ │ │ │ └── net_utils.py │ │ └── temp.linux-x86_64-3.6 │ │ │ └── home │ │ │ └── zhangyanyu │ │ │ └── Desktop │ │ │ └── 3d-vehicle-tracking │ │ │ └── 3d-tracking │ │ │ └── lib │ │ │ └── model │ │ │ └── csrc │ │ │ ├── cpu │ │ │ ├── ROIAlign_cpu.o │ │ │ └── nms_cpu.o │ │ │ ├── cuda │ │ │ ├── ROIAlign_cuda.o │ │ │ ├── ROIPool_cuda.o │ │ │ └── nms.o │ │ │ └── vision.o │ ├── faster_rcnn.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ └── top_level.txt │ ├── model │ │ ├── _C.cpython-36m-x86_64-linux-gnu.so │ │ ├── csrc │ │ │ ├── ROIAlign.h │ │ │ ├── ROIPool.h │ │ │ ├── cpu │ │ │ │ ├── ROIAlign_cpu.cpp │ │ │ │ ├── nms_cpu.cpp │ │ │ │ └── vision.h │ │ │ ├── cuda │ │ │ │ ├── ROIAlign_cuda.cu │ │ │ │ ├── ROIPool_cuda.cu │ │ │ │ ├── nms.cu │ │ │ │ └── vision.h │ │ │ ├── nms.h │ │ │ └── vision.cpp │ │ ├── faster_rcnn │ │ │ ├── faster_rcnn.py │ │ │ ├── resnet.py │ │ │ └── vgg16.py │ │ ├── roi_layers │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-36.pyc │ │ │ │ ├── nms.cpython-36.pyc │ │ │ │ ├── roi_align.cpython-36.pyc │ │ │ │ └── roi_pool.cpython-36.pyc │ │ │ ├── nms.py │ │ │ ├── roi_align.py │ │ │ └── roi_pool.py │ │ ├── rpn │ │ │ ├── anchor_target_layer.py │ │ │ ├── bbox_transform.py │ │ │ ├── generate_anchors.py │ │ │ ├── proposal_layer.py │ │ │ ├── proposal_target_layer_cascade.py │ │ │ └── rpn.py │ │ └── utils │ │ │ ├── bbox.pyx │ │ │ ├── blob.py │ │ │ ├── config.py │ │ │ ├── logger.py │ │ │ └── net_utils.py │ └── setup.py ├── loader │ ├── dataset.py │ ├── dla_dataset.py │ ├── download.py │ ├── gen_dataset.py │ └── gen_pred.py ├── model │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── dla.cpython-36.pyc │ │ ├── dla_up.cpython-36.pyc │ │ ├── model.cpython-36.pyc │ │ ├── motion_model.cpython-36.pyc │ │ ├── tracker_2d.cpython-36.pyc │ │ ├── tracker_3d.cpython-36.pyc │ │ └── tracker_model.cpython-36.pyc │ ├── dla.py │ ├── dla_up.py │ ├── model.py │ ├── model_cen.py │ ├── motion_model.py │ ├── tracker_2d.py │ ├── tracker_3d.py │ └── tracker_model.py ├── mono_3d_estimation.py ├── mono_3d_tracking.py ├── motion_lstm.py ├── output │ └── 888_030_carla_val_set │ │ ├── 888_030_1607050445_roipool_output.pkl │ │ ├── 888_030_carla_roipool_output.pkl │ │ ├── gt.json │ │ └── kf3doccdeep_age20_aff0.1_hit0_100m_803_pd.json ├── requirements.txt ├── run_estimation.py ├── run_tracking.py ├── scripts │ ├── init.sh │ ├── test_gta.sh │ ├── test_kitti.sh │ ├── train_gta.sh │ └── train_kitti.sh ├── tools │ ├── __pycache__ │ │ └── eval_mot_bdd.cpython-36.pyc │ ├── convert_estimation_bdd.py │ ├── convert_tracking_bdd.py │ ├── eval_dep_bdd.py │ ├── eval_mot_bdd.py │ ├── object-ap-eval │ │ ├── LICENSE │ │ ├── README.md │ │ ├── __pycache__ │ │ │ ├── bdd_format.cpython-36.pyc │ │ │ ├── eval.cpython-36.pyc │ │ │ ├── nms_cpu.cpython-36.pyc │ │ │ └── rotate_iou.cpython-36.pyc │ │ ├── bdd_format.py │ │ ├── eval.py │ │ ├── evaluate.py │ │ ├── kitti_common.py │ │ ├── nms_cpu.py │ │ ├── rotate_iou.py │ │ └── test_det_ap.py │ ├── plot_tracking.py │ ├── pymot │ │ ├── 3d │ │ │ ├── GroundTruth_A.txt │ │ │ ├── Hypos_A.txt │ │ │ ├── MOTscore.pl │ │ │ ├── Munkre.pl │ │ │ ├── Readme_MOTscore.txt │ │ │ ├── Readme_scoreAll.txt │ │ │ └── scoreAll.py │ │ ├── README.md │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── formatchecker.cpython-36.pyc │ │ │ ├── importers.cpython-36.pyc │ │ │ ├── pymot.cpython-36.pyc │ │ │ ├── rect.cpython-36.pyc │ │ │ └── utilities.cpython-36.pyc │ │ ├── formatchecker.py │ │ ├── groundtruth.json │ │ ├── hypotheses.json │ │ ├── importers.py │ │ ├── mot-tracks.png │ │ ├── pymot.py │ │ ├── rect.py │ │ └── utilities.py │ ├── show_labels.py │ └── visualize_kitti.py └── utils │ ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── bdd_helper.cpython-36.pyc │ ├── config.cpython-36.pyc │ ├── network_utils.cpython-36.pyc │ ├── plot_utils.cpython-36.pyc │ └── tracking_utils.cpython-36.pyc │ ├── bdd_helper.py │ ├── config.py │ ├── label.py │ ├── network_utils.py │ ├── plot_utils.py │ └── tracking_utils.py ├── LICENSE ├── README.md ├── carla-data-export ├── KITTI_FORMAT.MD ├── LICENSE ├── README.md ├── __pycache__ │ ├── bounding_box.cpython-36.pyc │ ├── camera_utils.cpython-36.pyc │ ├── carla_utils.cpython-36.pyc │ ├── constants.cpython-36.pyc │ ├── datadescriptor.cpython-36.pyc │ ├── dataexport.cpython-36.pyc │ ├── datageneration.cpython-36.pyc │ ├── lidar_utils.cpython-36.pyc │ ├── settings.cpython-36.pyc │ └── utils.cpython-36.pyc ├── bounding_box.py ├── camera_utils.py ├── carla │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── carla_server_pb2.cpython-36.pyc │ │ ├── client.cpython-36.pyc │ │ ├── image_converter.cpython-36.pyc │ │ ├── sensor.cpython-36.pyc │ │ ├── settings.cpython-36.pyc │ │ ├── tcp.cpython-36.pyc │ │ ├── transform.cpython-36.pyc │ │ └── util.cpython-36.pyc │ ├── agent │ │ ├── __init__.py │ │ ├── agent.py │ │ └── forward_agent.py │ ├── carla_server_pb2.py │ ├── client.py │ ├── driving_benchmark │ │ ├── __init__.py │ │ ├── driving_benchmark.py │ │ ├── experiment.py │ │ ├── experiment_suites │ │ │ ├── __init__.py │ │ │ ├── basic_experiment_suite.py │ │ │ ├── corl_2017.py │ │ │ └── experiment_suite.py │ │ ├── metrics.py │ │ ├── recording.py │ │ └── results_printer.py │ ├── image_converter.py │ ├── planner │ │ ├── Town01.png │ │ ├── Town01.txt │ │ ├── Town01Central.png │ │ ├── Town01Lanes.png │ │ ├── Town02.png │ │ ├── Town02.txt │ │ ├── Town02Big.png │ │ ├── Town02Central.png │ │ ├── Town02Lanes.png │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── converter.cpython-36.pyc │ │ │ ├── graph.cpython-36.pyc │ │ │ ├── grid.cpython-36.pyc │ │ │ └── map.cpython-36.pyc │ │ ├── astar.py │ │ ├── city_track.py │ │ ├── converter.py │ │ ├── graph.py │ │ ├── grid.py │ │ ├── map.py │ │ └── planner.py │ ├── sensor.py │ ├── settings.py │ ├── tcp.py │ ├── transform.py │ └── util.py ├── carla_utils.py ├── constants.py ├── data_stats.py ├── datadescriptor.py ├── dataexport.py ├── datageneration.py ├── gen_data.sh ├── gen_data3.sh ├── lidar_utils.py ├── manual_gen_data.sh ├── requirements.txt ├── settings.py ├── utils.py └── visualization │ ├── box2d.list │ ├── kitti_object.py │ ├── kitti_util.py │ ├── plot_kitti_lidar.py │ ├── vis_helper.py │ ├── vis_utils.py │ └── visualize_bboxes.sh ├── faster-rcnn.pytorch ├── LICENSE ├── README.md ├── _init_paths.py ├── cfgs │ ├── res101.yml │ ├── res101_ls.yml │ ├── res50.yml │ └── vgg16.yml ├── data │ └── coco │ │ ├── LuaAPI │ │ ├── CocoApi.lua │ │ ├── MaskApi.lua │ │ ├── cocoDemo.lua │ │ ├── env.lua │ │ ├── init.lua │ │ └── rocks │ │ │ └── coco-scm-1.rockspec │ │ ├── MatlabAPI │ │ ├── CocoApi.m │ │ ├── CocoEval.m │ │ ├── CocoUtils.m │ │ ├── MaskApi.m │ │ ├── cocoDemo.m │ │ ├── evalDemo.m │ │ ├── gason.m │ │ └── private │ │ │ ├── gasonMex.cpp │ │ │ ├── gasonMex.mexa64 │ │ │ ├── gasonMex.mexmaci64 │ │ │ ├── getPrmDflt.m │ │ │ └── maskApiMex.c │ │ ├── PythonAPI │ │ ├── Makefile │ │ ├── pycocoDemo.ipynb │ │ ├── pycocoEvalDemo.ipynb │ │ ├── pycocotools │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-36.pyc │ │ │ │ ├── coco.cpython-36.pyc │ │ │ │ ├── cocoeval.cpython-36.pyc │ │ │ │ └── mask.cpython-36.pyc │ │ │ ├── _mask.c │ │ │ ├── _mask.cpython-36m-x86_64-linux-gnu.so │ │ │ ├── _mask.pyx │ │ │ ├── coco.py │ │ │ ├── cocoeval.py │ │ │ └── mask.py │ │ └── setup.py │ │ ├── README.txt │ │ ├── common │ │ ├── gason.cpp │ │ ├── gason.h │ │ ├── maskApi.c │ │ └── maskApi.h │ │ ├── license.txt │ │ └── results │ │ ├── captions_val2014_fakecap_results.json │ │ ├── instances_val2014_fakebbox100_results.json │ │ ├── instances_val2014_fakesegm100_results.json │ │ ├── person_keypoints_val2014_fakekeypoints100_results.json │ │ └── val2014_fake_eval_res.txt ├── demo.py ├── faster-rcnn.pytorch.md ├── init.sh ├── lib │ ├── build │ │ ├── lib.linux-x86_64-3.6 │ │ │ ├── datasets │ │ │ │ ├── __init__.py │ │ │ │ ├── carla.py │ │ │ │ ├── coco.py │ │ │ │ ├── ds_utils.py │ │ │ │ ├── factory.py │ │ │ │ ├── gta.py │ │ │ │ ├── imagenet.py │ │ │ │ ├── imdb.py │ │ │ │ ├── kitti.py │ │ │ │ ├── kitti_eval.py │ │ │ │ ├── pascal_voc.py │ │ │ │ ├── pascal_voc_rbg.py │ │ │ │ ├── vg.py │ │ │ │ ├── vg_eval.py │ │ │ │ └── voc_eval.py │ │ │ ├── model │ │ │ │ ├── _C.cpython-36m-x86_64-linux-gnu.so │ │ │ │ ├── faster_rcnn │ │ │ │ │ ├── faster_rcnn.py │ │ │ │ │ ├── resnet.py │ │ │ │ │ └── vgg16.py │ │ │ │ ├── roi_layers │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── nms.py │ │ │ │ │ ├── roi_align.py │ │ │ │ │ └── roi_pool.py │ │ │ │ ├── rpn │ │ │ │ │ ├── anchor_target_layer.py │ │ │ │ │ ├── bbox_transform.py │ │ │ │ │ ├── generate_anchors.py │ │ │ │ │ ├── proposal_layer.py │ │ │ │ │ ├── proposal_target_layer_cascade.py │ │ │ │ │ └── rpn.py │ │ │ │ └── utils │ │ │ │ │ ├── blob.py │ │ │ │ │ ├── config.py │ │ │ │ │ ├── logger.py │ │ │ │ │ └── net_utils.py │ │ │ ├── pycocotools │ │ │ │ ├── __init__.py │ │ │ │ ├── coco.py │ │ │ │ ├── cocoeval.py │ │ │ │ └── mask.py │ │ │ └── roi_data_layer │ │ │ │ ├── __init__.py │ │ │ │ ├── minibatch.py │ │ │ │ ├── roibatchLoader.py │ │ │ │ └── roidb.py │ │ └── temp.linux-x86_64-3.6 │ │ │ └── home │ │ │ └── zhangyanyu │ │ │ └── Desktop │ │ │ └── 3d-vehicle-tracking │ │ │ └── faster-rcnn.pytorch │ │ │ └── lib │ │ │ └── model │ │ │ └── csrc │ │ │ ├── cpu │ │ │ ├── ROIAlign_cpu.o │ │ │ └── nms_cpu.o │ │ │ ├── cuda │ │ │ ├── ROIAlign_cuda.o │ │ │ ├── ROIPool_cuda.o │ │ │ └── nms.o │ │ │ └── vision.o │ ├── datasets │ │ ├── VOCdevkit-matlab-wrapper │ │ │ ├── get_voc_opts.m │ │ │ ├── voc_eval.m │ │ │ └── xVOCap.m │ │ ├── __init__.py │ │ ├── carla.py │ │ ├── coco.py │ │ ├── ds_utils.py │ │ ├── factory.py │ │ ├── gta.py │ │ ├── imagenet.py │ │ ├── imdb.py │ │ ├── kitti.py │ │ ├── kitti_eval.py │ │ ├── pascal_voc.py │ │ ├── pascal_voc_rbg.py │ │ ├── tools │ │ │ └── mcg_munge.py │ │ ├── vg.py │ │ ├── vg_eval.py │ │ └── voc_eval.py │ ├── faster_rcnn.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ └── top_level.txt │ ├── model │ │ ├── _C.cpython-36m-x86_64-linux-gnu.so │ │ ├── csrc │ │ │ ├── ROIAlign.h │ │ │ ├── ROIPool.h │ │ │ ├── cpu │ │ │ │ ├── ROIAlign_cpu.cpp │ │ │ │ ├── nms_cpu.cpp │ │ │ │ └── vision.h │ │ │ ├── cuda │ │ │ │ ├── ROIAlign_cuda.cu │ │ │ │ ├── ROIPool_cuda.cu │ │ │ │ ├── nms.cu │ │ │ │ └── vision.h │ │ │ ├── nms.h │ │ │ └── vision.cpp │ │ ├── faster_rcnn │ │ │ ├── faster_rcnn.py │ │ │ ├── resnet.py │ │ │ └── vgg16.py │ │ ├── roi_layers │ │ │ ├── __init__.py │ │ │ ├── nms.py │ │ │ ├── roi_align.py │ │ │ └── roi_pool.py │ │ ├── rpn │ │ │ ├── anchor_target_layer.py │ │ │ ├── bbox_transform.py │ │ │ ├── generate_anchors.py │ │ │ ├── proposal_layer.py │ │ │ ├── proposal_target_layer_cascade.py │ │ │ └── rpn.py │ │ └── utils │ │ │ ├── bbox.pyx │ │ │ ├── blob.py │ │ │ ├── config.py │ │ │ ├── logger.py │ │ │ └── net_utils.py │ ├── pycocotools │ │ ├── __init__.py │ │ ├── _mask.pyx │ │ ├── coco.py │ │ ├── cocoeval.py │ │ └── mask.py │ ├── roi_data_layer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-36.pyc │ │ │ ├── minibatch.cpython-36.pyc │ │ │ ├── roibatchLoader.cpython-36.pyc │ │ │ └── roidb.cpython-36.pyc │ │ ├── minibatch.py │ │ ├── roibatchLoader.py │ │ └── roidb.py │ └── setup.py ├── link.sh ├── run_test.sh ├── run_train.sh ├── test_net.py ├── trainval_net.py └── vis │ └── 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