├── LICENSE ├── README.md ├── configs ├── _base_ │ ├── default_runtime.py │ └── schedules │ │ ├── cosine.py │ │ ├── cyclic_20e.py │ │ ├── cyclic_40e.py │ │ ├── mmdet_schedule_1x.py │ │ ├── schedule_2x.py │ │ ├── schedule_3x.py │ │ ├── seg_cosine_100e.py │ │ ├── seg_cosine_150e.py │ │ ├── seg_cosine_200e.py │ │ └── seg_cosine_50e.py └── tr3d │ ├── tr3d-ff_sunrgbd-3d-10class.py │ ├── tr3d_s3dis-3d-5class.py │ ├── tr3d_scannet-3d-18class.py │ ├── tr3d_scannet-pretrain_s3dis-3d-5class.py │ └── tr3d_sunrgbd-3d-10class.py ├── data ├── scannet │ ├── README.md │ ├── batch_load_scannet_data.py │ ├── extract_posed_images.py │ ├── load_scannet_data.py │ ├── meta_data │ │ ├── scannet_means.npz │ │ ├── scannet_train.txt │ │ ├── scannetv2-labels.combined.tsv │ │ ├── scannetv2_test.txt │ │ ├── scannetv2_train.txt │ │ └── scannetv2_val.txt │ └── scannet_utils.py └── sunrgbd │ ├── README.md │ └── matlab │ ├── extract_rgbd_data_v1.m │ ├── extract_rgbd_data_v2.m │ └── extract_split.m ├── images └── framework.png ├── mmdet3d ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── anchor │ │ ├── __init__.py │ │ └── anchor_3d_generator.py │ ├── bbox │ │ ├── __init__.py │ │ ├── assigners │ │ │ └── __init__.py │ │ ├── box_np_ops.py │ │ ├── coders │ │ │ ├── __init__.py │ │ │ ├── anchor_free_bbox_coder.py │ │ │ ├── centerpoint_bbox_coders.py │ │ │ ├── delta_xyzwhlr_bbox_coder.py │ │ │ ├── fcos3d_bbox_coder.py │ │ │ ├── groupfree3d_bbox_coder.py │ │ │ ├── monoflex_bbox_coder.py │ │ │ ├── partial_bin_based_bbox_coder.py │ │ │ ├── pgd_bbox_coder.py │ │ │ ├── point_xyzwhlr_bbox_coder.py │ │ │ └── smoke_bbox_coder.py │ │ ├── iou_calculators │ │ │ ├── __init__.py │ │ │ └── iou3d_calculator.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── iou_neg_piecewise_sampler.py │ │ ├── structures │ │ │ ├── __init__.py │ │ │ ├── base_box3d.py │ │ │ ├── box_3d_mode.py │ │ │ ├── cam_box3d.py │ │ │ ├── coord_3d_mode.py │ │ │ ├── depth_box3d.py │ │ │ ├── lidar_box3d.py │ │ │ └── utils.py │ │ └── transforms.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── indoor_eval.py │ │ ├── instance_seg_eval.py │ │ ├── instance_seg_eval_v2.py │ │ ├── kitti_utils │ │ │ ├── __init__.py │ │ │ ├── eval.py │ │ │ └── rotate_iou.py │ │ ├── lyft_eval.py │ │ ├── scannet_utils │ │ │ ├── __init__.py │ │ │ ├── evaluate_semantic_instance.py │ │ │ └── util_3d.py │ │ ├── seg_eval.py │ │ └── waymo_utils │ │ │ ├── __init__.py │ │ │ └── prediction_kitti_to_waymo.py │ ├── points │ │ ├── __init__.py │ │ ├── base_points.py │ │ ├── cam_points.py │ │ ├── depth_points.py │ │ └── lidar_points.py │ ├── post_processing │ │ ├── __init__.py │ │ ├── box3d_nms.py │ │ └── merge_augs.py │ ├── utils │ │ ├── __init__.py │ │ ├── array_converter.py │ │ └── gaussian.py │ ├── visualizer │ │ ├── __init__.py │ │ ├── image_vis.py │ │ ├── open3d_vis.py │ │ └── show_result.py │ └── voxel │ │ ├── __init__.py │ │ ├── builder.py │ │ └── voxel_generator.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom_3d.py │ ├── custom_3d_seg.py │ ├── dataset_wrappers.py │ ├── kitti2d_dataset.py │ ├── kitti_dataset.py │ ├── kitti_mono_dataset.py │ ├── lyft_dataset.py │ ├── nuscenes_dataset.py │ ├── nuscenes_mono_dataset.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── data_augment_utils.py │ │ ├── dbsampler.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms_3d.py │ ├── s3dis_dataset.py │ ├── scannet_dataset.py │ ├── semantickitti_dataset.py │ ├── sunrgbd_dataset.py │ ├── utils.py │ └── waymo_dataset.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── base_pointnet.py │ │ ├── dgcnn.py │ │ ├── dla.py │ │ ├── mink_resnet.py │ │ ├── multi_backbone.py │ │ ├── nostem_regnet.py │ │ ├── pointnet2_sa_msg.py │ │ ├── pointnet2_sa_ssg.py │ │ └── second.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ ├── dgcnn_head.py │ │ ├── paconv_head.py │ │ └── pointnet2_head.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── anchor3d_head.py │ │ ├── anchor_free_mono3d_head.py │ │ ├── base_conv_bbox_head.py │ │ ├── base_mono3d_dense_head.py │ │ ├── centerpoint_head.py │ │ ├── fcaf3d_head.py │ │ ├── fcos_mono3d_head.py │ │ ├── free_anchor3d_head.py │ │ ├── groupfree3d_head.py │ │ ├── monoflex_head.py │ │ ├── parta2_rpn_head.py │ │ ├── pgd_head.py │ │ ├── point_rpn_head.py │ │ ├── shape_aware_head.py │ │ ├── smoke_mono3d_head.py │ │ ├── ssd_3d_head.py │ │ ├── tr3d_head.py │ │ ├── train_mixins.py │ │ └── vote_head.py │ ├── detectors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── centerpoint.py │ │ ├── dynamic_voxelnet.py │ │ ├── fcos_mono3d.py │ │ ├── groupfree3dnet.py │ │ ├── h3dnet.py │ │ ├── imvotenet.py │ │ ├── imvoxelnet.py │ │ ├── mink_single_stage.py │ │ ├── mvx_faster_rcnn.py │ │ ├── mvx_two_stage.py │ │ ├── parta2.py │ │ ├── point_rcnn.py │ │ ├── sassd.py │ │ ├── single_stage.py │ │ ├── single_stage_mono3d.py │ │ ├── smoke_mono3d.py │ │ ├── ssd3dnet.py │ │ ├── tr3d_ff.py │ │ ├── two_stage.py │ │ ├── votenet.py │ │ └── voxelnet.py │ ├── fusion_layers │ │ ├── __init__.py │ │ ├── coord_transform.py │ │ ├── point_fusion.py │ │ └── vote_fusion.py │ ├── losses │ │ ├── __init__.py │ │ ├── axis_aligned_iou_loss.py │ │ ├── chamfer_distance.py │ │ ├── multibin_loss.py │ │ ├── paconv_regularization_loss.py │ │ ├── rotated_iou_loss.py │ │ └── uncertain_smooth_l1_loss.py │ ├── middle_encoders │ │ ├── __init__.py │ │ ├── pillar_scatter.py │ │ ├── sparse_encoder.py │ │ └── sparse_unet.py │ ├── model_utils │ │ ├── __init__.py │ │ ├── edge_fusion_module.py │ │ ├── transformer.py │ │ └── vote_module.py │ ├── necks │ │ ├── __init__.py │ │ ├── dla_neck.py │ │ ├── imvoxel_neck.py │ │ ├── pointnet2_fp_neck.py │ │ ├── second_fpn.py │ │ └── tr3d_neck.py │ ├── roi_heads │ │ ├── __init__.py │ │ ├── base_3droi_head.py │ │ ├── bbox_heads │ │ │ ├── __init__.py │ │ │ ├── h3d_bbox_head.py │ │ │ ├── parta2_bbox_head.py │ │ │ └── point_rcnn_bbox_head.py │ │ ├── h3d_roi_head.py │ │ ├── mask_heads │ │ │ ├── __init__.py │ │ │ ├── pointwise_semantic_head.py │ │ │ └── primitive_head.py │ │ ├── part_aggregation_roi_head.py │ │ ├── point_rcnn_roi_head.py │ │ └── roi_extractors │ │ │ ├── __init__.py │ │ │ ├── single_roiaware_extractor.py │ │ │ └── single_roipoint_extractor.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── base.py │ │ └── encoder_decoder.py │ ├── utils │ │ ├── __init__.py │ │ ├── clip_sigmoid.py │ │ ├── edge_indices.py │ │ ├── gen_keypoints.py │ │ ├── handle_objs.py │ │ └── mlp.py │ └── voxel_encoders │ │ ├── __init__.py │ │ ├── pillar_encoder.py │ │ ├── utils.py │ │ └── voxel_encoder.py ├── ops │ ├── __init__.py │ ├── dgcnn_modules │ │ ├── __init__.py │ │ ├── dgcnn_fa_module.py │ │ ├── dgcnn_fp_module.py │ │ └── dgcnn_gf_module.py │ ├── norm.py │ ├── paconv │ │ ├── __init__.py │ │ ├── paconv.py │ │ └── utils.py │ ├── pointnet_modules │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── paconv_sa_module.py │ │ ├── point_fp_module.py │ │ └── point_sa_module.py │ ├── sparse_block.py │ └── spconv │ │ ├── __init__.py │ │ └── overwrite_spconv │ │ ├── __init__.py │ │ └── write_spconv2.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── compat_cfg.py │ ├── logger.py │ ├── misc.py │ └── setup_env.py └── version.py ├── projects_sparse ├── configs │ ├── baseline │ │ ├── tr3d_scannet-3d-18class.py │ │ └── tr3d_sunrgbd-3d-10class.py │ ├── one_stage │ │ ├── tr3d_scannet-3d-18class_cpdet3d_1.py │ │ └── tr3d_sunrgbd-3d-10class_cpdet3d_1.py │ └── two_stage │ │ ├── tr3d_scannet-3d-18class_cpdet3d_2.py │ │ └── tr3d_sunrgbd-3d-10class_cpdet3d_2.py └── sparse │ ├── CPDet3D_one_stage.py │ ├── CPDet3D_two_stage.py │ ├── __init__.py │ ├── __pycache__ │ ├── Dual_single_stage_sparse_fcaf3d.cpython-38.pyc │ ├── Dual_sparse_single_stage_sparse_tr3d.cpython-38.pyc │ ├── SPhead.cpython-38.pyc │ ├── SPmink_single_stage.cpython-38.pyc │ ├── Superpoint_encoder.cpython-38.pyc │ ├── __init__.cpython-38.pyc │ ├── axis_aligned_iou_loss.cpython-38.pyc │ ├── biresnet.cpython-38.pyc │ ├── co_mining.cpython-38.pyc │ ├── coin_tr3d_head.cpython-38.pyc │ ├── constract_fcaf3d.cpython-38.pyc │ ├── constract_tr3d.cpython-38.pyc │ ├── constract_tr3d_iou.cpython-38.pyc │ ├── constract_tr3d_no_protolearn.cpython-38.pyc │ ├── constract_tr3d_v2.cpython-38.pyc │ ├── constract_tr3d_v3.cpython-38.pyc │ ├── constract_tr3d_v4.cpython-38.pyc │ ├── constract_tr3d_v5.cpython-38.pyc │ ├── hinted_tr3d.cpython-38.pyc │ ├── incrementhead.cpython-38.pyc │ ├── loss.cpython-38.pyc │ ├── match_cost.cpython-38.pyc │ ├── mink_single_stage.cpython-38.pyc │ ├── mt_single_stage_sparse.cpython-38.pyc │ ├── mt_single_stage_sparse_fcaf3d.cpython-38.pyc │ ├── pesudo_single_stage_sparse_tr3d.cpython-38.pyc │ ├── semi_single_stage_sparse.cpython-38.pyc │ ├── sinkhorn.cpython-38.pyc │ ├── sparse_single_stage_sparse_fcaf3d.cpython-38.pyc │ ├── sparse_single_stage_sparse_tr3d.cpython-38.pyc │ ├── sparse_single_stage_sparse_tr3d_constrast.cpython-38.pyc │ ├── sparse_single_stage_sparse_tr3d_constrast_detr.cpython-38.pyc │ ├── sparse_single_stage_sparse_tr3d_proto.cpython-38.pyc │ ├── sparsedet.cpython-38.pyc │ └── tr3d_with_mask.cpython-38.pyc │ ├── pre_processing │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── formating.cpython-38.pyc │ │ ├── loading.cpython-38.pyc │ │ ├── s3dis_dataset.cpython-38.pyc │ │ ├── scannet_dataset.cpython-38.pyc │ │ ├── scannet_dataset_gt_sampling.cpython-38.pyc │ │ ├── semi_supervised_dataset.cpython-38.pyc │ │ ├── sparse_repeat_dataset.cpython-38.pyc │ │ ├── sparse_supervised_dataset.cpython-38.pyc │ │ ├── sunrgbd_dataset.cpython-38.pyc │ │ └── transforms_3d.cpython-38.pyc │ ├── formating.py │ ├── loading.py │ ├── scannet_dataset.py │ ├── sunrgbd_dataset.py │ └── transforms_3d.py │ └── prototype │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── contrast.cpython-38.pyc │ └── sinkhorn.cpython-38.pyc │ ├── contrast.py │ └── sinkhorn.py ├── setup.cfg ├── setup.py ├── tests ├── data │ ├── kitti │ │ ├── a.bin │ │ ├── kitti_dbinfos_train.pkl │ │ ├── kitti_gt_database │ │ │ └── 0_Pedestrian_0.bin │ │ ├── kitti_infos_mono3d.coco.json │ │ ├── kitti_infos_mono3d.pkl │ │ ├── kitti_infos_train.pkl │ │ ├── mono3d_sample_results.pkl │ │ ├── mono3d_sample_results2d.pkl │ │ └── training │ │ │ ├── image_2 │ │ │ ├── 000000.png │ │ │ └── 000007.png │ │ │ ├── velodyne │ │ │ └── 000000.bin │ │ │ └── velodyne_reduced │ │ │ └── 000000.bin │ ├── lyft │ │ ├── lidar │ │ │ ├── host-a017_lidar1_1236118886501000046.bin │ │ │ ├── host-a017_lidar1_1236118886701083686.bin │ │ │ └── host-a017_lidar1_1236118886901125926.bin │ │ ├── lyft_infos.pkl │ │ ├── lyft_infos_val.pkl │ │ ├── sample_results.pkl │ │ ├── v1.01-train │ │ │ ├── maps │ │ │ │ └── map_raster_palo_alto.png │ │ │ └── v1.01-train │ │ │ │ ├── attribute.json │ │ │ │ ├── calibrated_sensor.json │ │ │ │ ├── category.json │ │ │ │ ├── ego_pose.json │ │ │ │ ├── instance.json │ │ │ │ ├── log.json │ │ │ │ ├── map.json │ │ │ │ ├── sample.json │ │ │ │ ├── sample_annotation.json │ │ │ │ ├── sample_data.json │ │ │ │ ├── scene.json │ │ │ │ ├── sensor.json │ │ │ │ └── visibility.json │ │ └── val.txt │ ├── nuscenes │ │ ├── mono3d_sample_results.pkl │ │ ├── nus_info.pkl │ │ ├── nus_infos_mono3d.coco.json │ │ ├── samples │ │ │ ├── CAM_BACK_LEFT │ │ │ │ └── n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883530447423.jpg │ │ │ └── LIDAR_TOP │ │ │ │ └── n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470948018.pcd.bin │ │ └── sweeps │ │ │ └── LIDAR_TOP │ │ │ ├── n008-2018-09-18-12-07-26-0400__LIDAR_TOP__1537287083900561.pcd.bin │ │ │ └── n015-2018-08-02-17-16-37+0800__LIDAR_TOP__1533201470898274.pcd.bin │ ├── ops │ │ ├── features_for_fps_distance.npy │ │ └── fps_idx.npy │ ├── s3dis │ │ ├── instance_mask │ │ │ └── Area_1_office_2.bin │ │ ├── points │ │ │ └── Area_1_office_2.bin │ │ ├── s3dis_infos.pkl │ │ └── semantic_mask │ │ │ └── Area_1_office_2.bin │ ├── scannet │ │ ├── instance_mask │ │ │ └── scene0000_00.bin │ │ ├── points │ │ │ └── scene0000_00.bin │ │ ├── scannet_infos.pkl │ │ └── semantic_mask │ │ │ └── scene0000_00.bin │ ├── semantickitti │ │ ├── semantickitti_infos.pkl │ │ └── sequences │ │ │ └── 00 │ │ │ ├── labels │ │ │ └── 000000.label │ │ │ └── velodyne │ │ │ └── 000000.bin │ ├── sunrgbd │ │ ├── points │ │ │ └── 000001.bin │ │ ├── sunrgbd_infos.pkl │ │ └── sunrgbd_trainval │ │ │ └── image │ │ │ └── 000001.jpg │ └── waymo │ │ ├── kitti_format │ │ ├── training │ │ │ ├── image_0 │ │ │ │ ├── 0000000.png │ │ │ │ └── 1000000.png │ │ │ └── velodyne │ │ │ │ ├── 0000000.bin │ │ │ │ └── 1000000.bin │ │ ├── waymo_dbinfos_train.pkl │ │ ├── waymo_gt_database │ │ │ └── 0_Car_0.bin │ │ ├── waymo_infos_train.pkl │ │ └── waymo_infos_val.pkl │ │ └── waymo_format │ │ ├── gt.bin │ │ └── validation │ │ └── val.tfrecord ├── test_data │ ├── test_datasets │ │ ├── test_dataset_wrappers.py │ │ ├── test_kitti_dataset.py │ │ ├── test_kitti_mono_dataset.py │ │ ├── test_lyft_dataset.py │ │ ├── test_nuscene_dataset.py │ │ ├── test_nuscenes_mono_dataset.py │ │ ├── test_s3dis_dataset.py │ │ ├── test_scannet_dataset.py │ │ ├── test_semantickitti_dataset.py │ │ ├── test_sunrgbd_dataset.py │ │ └── test_waymo_dataset.py │ └── test_pipelines │ │ ├── test_augmentations │ │ ├── test_data_augment_utils.py │ │ ├── test_test_augment_utils.py │ │ └── test_transforms_3d.py │ │ ├── test_indoor_pipeline.py │ │ ├── test_indoor_sample.py │ │ ├── test_loadings │ │ ├── test_load_images_from_multi_views.py │ │ ├── test_load_points_from_multi_sweeps.py │ │ └── test_loading.py │ │ └── test_outdoor_pipeline.py ├── test_metrics │ ├── test_indoor_eval.py │ ├── test_instance_seg_eval.py │ ├── test_kitti_eval.py │ ├── test_losses.py │ └── test_seg_eval.py ├── test_models │ ├── test_backbones.py │ ├── test_common_modules │ │ ├── test_dgcnn_modules.py │ │ ├── test_middle_encoders.py │ │ ├── test_paconv_modules.py │ │ ├── test_paconv_ops.py │ │ ├── test_pointnet_modules.py │ │ ├── test_sparse_unet.py │ │ └── test_vote_module.py │ ├── test_detectors.py │ ├── test_forward.py │ ├── test_fusion │ │ ├── test_fusion_coord_trans.py │ │ ├── test_point_fusion.py │ │ └── test_vote_fusion.py │ ├── test_heads │ │ ├── test_dgcnn_decode_head.py │ │ ├── test_heads.py │ │ ├── test_paconv_decode_head.py │ │ ├── test_parta2_bbox_head.py │ │ ├── test_pointnet2_decode_head.py │ │ ├── test_roi_extractors.py │ │ └── test_semantic_heads.py │ ├── test_necks │ │ ├── test_fpn.py │ │ └── test_necks.py │ ├── test_segmentors.py │ └── test_voxel_encoder │ │ ├── test_voxel_encoders.py │ │ └── test_voxel_generator.py ├── test_runtime │ ├── test_apis.py │ └── test_config.py ├── test_samples │ └── parta2_roihead_inputs.npz └── test_utils │ ├── test_anchors.py │ ├── test_assigners.py │ ├── test_bbox_coders.py │ ├── test_box3d.py │ ├── test_box_np_ops.py │ ├── test_compat_cfg.py │ ├── test_coord_3d_mode.py │ ├── test_merge_augs.py │ ├── test_nms.py │ ├── test_points.py │ ├── test_samplers.py │ ├── test_setup_env.py │ └── test_utils.py └── tools ├── analysis_tools ├── analyze_logs.py ├── benchmark.py └── get_flops.py ├── create_data.py ├── create_data.sh ├── create_sparse_infos.py ├── 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 ├── nuimage_converter.py ├── nuscenes_converter.py ├── s3dis_data_utils.py ├── scannet_data_utils.py ├── sunrgbd_data_utils.py └── waymo_converter.py ├── dist_test.sh ├── dist_train.sh ├── misc ├── browse_dataset.py ├── fuse_conv_bn.py ├── print_config.py └── visualize_results.py ├── model_converters ├── convert_h3dnet_checkpoints.py ├── convert_votenet_checkpoints.py ├── publish_model.py └── regnet2mmdet.py ├── slurm_test.sh ├── slurm_train.sh ├── test.py ├── train.py ├── update_data_coords.py └── update_data_coords.sh /LICENSE: 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