├── .gitignore ├── LICENSE ├── README.md ├── configs └── kitti │ ├── car │ ├── pob │ │ ├── idispnet.yaml │ │ ├── mask.yaml │ │ ├── rcnn.yaml │ │ └── rpn.yaml │ └── vob │ │ ├── idispnet.yaml │ │ ├── mask.yaml │ │ ├── rcnn.yaml │ │ └── rpn.yaml │ ├── cyclist │ ├── idispnet.yaml │ ├── rcnn.yaml │ └── rpn.yaml │ └── pedestrian │ ├── pob │ ├── idispnet.yaml │ ├── rcnn.yaml │ └── rpn.yaml │ └── vob │ ├── idispnet.yaml │ ├── rcnn.yaml │ └── rpn.yaml ├── data └── kitti │ └── object │ └── split_set │ ├── test.txt │ ├── test_set.txt │ ├── train_set.txt │ ├── training_set.txt │ ├── trainval.txt │ └── val_set.txt ├── disprcnn ├── __init__.py ├── config │ ├── __init__.py │ ├── defaults.py │ └── paths_catalog.py ├── csrc │ ├── ROIAlign.h │ ├── ROIPool.h │ ├── SigmoidFocalLoss.h │ ├── cpu │ │ ├── ROIAlign_cpu.cpp │ │ ├── nms_cpu.cpp │ │ └── vision.h │ ├── cuda │ │ ├── ROIAlign_cuda.cu │ │ ├── ROIPool_cuda.cu │ │ ├── SigmoidFocalLoss_cuda.cu │ │ ├── nms.cu │ │ └── vision.h │ ├── nms.h │ └── vision.cpp ├── data │ ├── README.md │ ├── __init__.py │ ├── build.py │ ├── collate_batch.py │ ├── datasets │ │ ├── __init__.py │ │ ├── concat_dataset.py │ │ ├── evaluation │ │ │ ├── __init__.py │ │ │ └── kitti │ │ │ │ ├── __init__.py │ │ │ │ └── kitti_eval.py │ │ ├── kitti_car.py │ │ ├── kitti_cyclist.py │ │ ├── kitti_human.py │ │ ├── kitti_roi_dataset.py │ │ └── list_dataset.py │ ├── samplers │ │ ├── __init__.py │ │ ├── distributed.py │ │ ├── grouped_batch_sampler.py │ │ └── iteration_based_batch_sampler.py │ └── transforms │ │ ├── __init__.py │ │ ├── build.py │ │ └── transforms.py ├── engine │ ├── __init__.py │ ├── inference.py │ ├── psm_trainer.py │ └── trainer.py ├── layers │ ├── __init__.py │ ├── _utils.py │ ├── batch_norm.py │ ├── misc.py │ ├── nms.py │ ├── roi_align.py │ ├── roi_pool.py │ ├── sigmoid_focal_loss.py │ └── smooth_l1_loss.py ├── modeling │ ├── __init__.py │ ├── backbone │ │ ├── __init__.py │ │ ├── backbone.py │ │ ├── fbnet.py │ │ ├── fbnet_builder.py │ │ ├── fbnet_modeldef.py │ │ ├── fpn.py │ │ └── resnet.py │ ├── balanced_positive_negative_sampler.py │ ├── box_coder.py │ ├── detector │ │ ├── __init__.py │ │ ├── detectors.py │ │ ├── disprcnn.py │ │ ├── disprcnn3d.py │ │ └── generalized_rcnn.py │ ├── make_layers.py │ ├── matcher.py │ ├── pointnet_module │ │ ├── __init__.py │ │ └── point_rcnn │ │ │ ├── __init__.py │ │ │ └── lib │ │ │ ├── __init__.py │ │ │ ├── net │ │ │ ├── point_rcnn.py │ │ │ ├── pointnet2_msg.py │ │ │ ├── rcnn_inference.py │ │ │ ├── rcnn_loss.py │ │ │ ├── rcnn_net.py │ │ │ ├── rpn.py │ │ │ └── rpn_loss.py │ │ │ ├── pointnet2_lib │ │ │ ├── __init__.py │ │ │ └── pointnet2 │ │ │ │ ├── __init__.py │ │ │ │ ├── pointnet2_modules.py │ │ │ │ ├── pointnet2_utils.py │ │ │ │ ├── pytorch_utils.py │ │ │ │ ├── setup.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 │ │ │ ├── rpn │ │ │ ├── proposal_layer.py │ │ │ └── proposal_target_layer.py │ │ │ └── utils │ │ │ ├── bbox_transform.py │ │ │ ├── iou3d │ │ │ ├── iou3d_utils.py │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ ├── iou3d.cpp │ │ │ │ └── iou3d_kernel.cu │ │ │ ├── kitti_utils.py │ │ │ ├── loss_utils.py │ │ │ └── roipool3d │ │ │ ├── roipool3d_utils.py │ │ │ ├── setup.py │ │ │ └── src │ │ │ ├── roipool3d.cpp │ │ │ └── roipool3d_kernel.cu │ ├── poolers.py │ ├── psmnet │ │ ├── dispmodule.py │ │ ├── inference.py │ │ ├── stackhourglass.py │ │ └── submodule.py │ ├── registry.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── box_head │ │ │ ├── __init__.py │ │ │ ├── box_head.py │ │ │ ├── inference.py │ │ │ ├── loss.py │ │ │ ├── roi_box_feature_extractors.py │ │ │ └── roi_box_predictors.py │ │ ├── mask_head │ │ │ ├── __init__.py │ │ │ ├── inference.py │ │ │ ├── loss.py │ │ │ ├── mask_head.py │ │ │ ├── roi_mask_feature_extractors.py │ │ │ └── roi_mask_predictors.py │ │ └── roi_heads.py │ ├── rpn │ │ ├── __init__.py │ │ ├── anchor_generator.py │ │ ├── inference.py │ │ ├── loss.py │ │ ├── retinanet │ │ │ ├── __init__.py │ │ │ ├── inference.py │ │ │ ├── loss.py │ │ │ └── retinanet.py │ │ ├── rpn.py │ │ ├── stereo_rpn │ │ │ ├── __init__.py │ │ │ ├── inference.py │ │ │ ├── loss.py │ │ │ └── srpn.py │ │ └── utils.py │ └── utils.py ├── solver │ ├── __init__.py │ ├── build.py │ └── lr_scheduler.py ├── structures │ ├── __init__.py │ ├── bounding_box.py │ ├── bounding_box_3d.py │ ├── boxlist_ops.py │ ├── calib.py │ ├── disparity.py │ ├── image_list.py │ └── segmentation_mask.py └── utils │ ├── __init__.py │ ├── average_meter.py │ ├── c2_model_loading.py │ ├── checkpoint.py │ ├── comm.py │ ├── cv2_util.py │ ├── env.py │ ├── fastai_ext.py │ ├── fix_model.py │ ├── imports.py │ ├── kitti_utils.py │ ├── logger.py │ ├── loss_utils.py │ ├── metric_logger.py │ ├── miscellaneous.py │ ├── model_serialization.py │ ├── model_zoo.py │ ├── path.py │ ├── registry.py │ ├── stereo_utils.py │ ├── timer.py │ └── utils_3d.py ├── docs ├── TRAIN_VAL.md ├── arch0328.png └── qualitative.png ├── environment.yaml ├── scripts ├── car │ ├── pob │ │ ├── eval_rcnn.sh │ │ ├── eval_with_trained_model.sh │ │ ├── train_idispnet.sh │ │ ├── train_rcnn.sh │ │ ├── train_rpn.sh │ │ └── train_smrcnn.sh │ └── vob │ │ ├── eval_rcnn.sh │ │ ├── eval_with_trained_model.sh │ │ ├── train_idispnet.sh │ │ ├── train_rcnn.sh │ │ ├── train_rpn.sh │ │ └── train_smrcnn.sh ├── cyclist │ ├── eval_rcnn.sh │ ├── eval_with_trained_model.sh │ ├── train_idispnet.sh │ ├── train_rcnn.sh │ └── train_rpn.sh ├── download │ ├── data │ │ ├── label_3.sh │ │ └── pseudo_gt.sh │ ├── model │ │ ├── cyclist_2d.sh │ │ ├── pedestrian_2d.sh │ │ ├── pretrained_car_pob.sh │ │ ├── pretrained_car_vob.sh │ │ ├── pretrained_cyclist.sh │ │ ├── pretrained_pedestrian_pob.sh │ │ ├── pretrained_pedestrian_vob.sh │ │ ├── pretrained_psmnet.sh │ │ └── srcnn_pretrained_2d_mrcnn_format.sh │ └── predictions │ │ ├── car_pob.sh │ │ └── car_vob.sh └── pedestrian │ ├── pob │ ├── eval_rcnn.sh │ ├── eval_with_trained_model.sh │ ├── train_idispnet.sh │ ├── train_rcnn.sh │ └── train_rpn.sh │ └── vob │ ├── eval_rcnn.sh │ ├── eval_with_trained_model.sh │ ├── train_idispnet.sh │ ├── train_rcnn.sh │ └── train_rpn.sh ├── setup.py ├── tools ├── kitti_object │ ├── generate_psmnet_input_inf.py │ ├── kitti_evaluation_lib │ │ ├── evaluate_object_0.5 │ │ └── evaluate_object_0.7 │ └── train_idispnet_fa.py ├── split_predictions.py ├── test_net.py └── train_net.py └── visualize.ipynb /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zju3dv/disprcnn/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: 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