SYMBOL INDEX (1247 symbols across 119 files)

FILE: pcdet/__init__.py
  function get_git_commit_number (line 11) | def get_git_commit_number():

FILE: pcdet/config.py
  function log_config_to_file (line 7) | def log_config_to_file(cfg, pre='cfg', logger=None):
  function cfg_from_list (line 16) | def cfg_from_list(cfg_list, config):
  function merge_new_config (line 51) | def merge_new_config(config, new_config):
  function cfg_from_yaml_file (line 71) | def cfg_from_yaml_file(cfg_file, config):

FILE: pcdet/datasets/__init__.py
  class DataLoaderX (line 21) | class DataLoaderX(DataLoader):
    method __iter__ (line 23) | def __iter__(self):
  class DistributedSampler (line 26) | class DistributedSampler(_DistributedSampler):
    method __init__ (line 28) | def __init__(self, dataset, num_replicas=None, rank=None, shuffle=True):
    method __iter__ (line 32) | def __iter__(self):
  function build_dataloader (line 49) | def build_dataloader(dataset_cfg, class_names, batch_size, dist, root_pa...

FILE: pcdet/datasets/augmentor/X_transform.py
  class X_TRANS (line 10) | class X_TRANS(object):
    method __init__ (line 11) | def __init__(self, augmentor_configs=None, rot_num=1):
    method get_params (line 37) | def get_params(self):
    method world_rotation (line 49) | def world_rotation(self, data_dict=None, config=None):
    method world_flip (line 79) | def world_flip(self, data_dict=None, config=None):
    method world_scaling (line 98) | def world_scaling(self, data_dict=None, config=None):
    method forward_with_param (line 122) | def forward_with_param(self, data_dict):
    method backward_with_param (line 139) | def backward_with_param(self, data_dict):
    method input_transform (line 156) | def input_transform(self, data_dict, trans_boxes=False):

FILE: pcdet/datasets/augmentor/augmentor_utils.py
  function random_flip_along_x (line 8) | def random_flip_along_x(gt_boxes, points):
  function random_flip_with_param (line 26) | def random_flip_with_param(points, enable, ax=1,offset = 0):
  function random_flip_along_y (line 34) | def random_flip_along_y(gt_boxes, points):
  function global_rotation (line 53) | def global_rotation(gt_boxes, points, rot_range):
  function global_rotation_with_param (line 73) | def global_rotation_with_param(batch_dict, noise_rotation=None,num_frame...
  function boxes_rotation_with_param (line 96) | def boxes_rotation_with_param(boxes, noise_rotation=None):
  function global_scaling (line 102) | def global_scaling(gt_boxes, points, scale_range):
  function global_scaling_with_param (line 117) | def global_scaling_with_param(batch_dict, noise_scale=None,num_frames=2):
  function get_points_in_box (line 137) | def get_points_in_box(points, gt_box):
  function get_pyramids (line 157) | def get_pyramids(boxes):
  function one_hot (line 182) | def one_hot(x, num_class=1):
  function points_in_pyramids_mask (line 190) | def points_in_pyramids_mask(points, pyramids):
  function local_pyramid_dropout (line 198) | def local_pyramid_dropout(gt_boxes, points, dropout_prob, pyramids=None):
  function local_pyramid_sparsify (line 214) | def local_pyramid_sparsify(gt_boxes, points, prob, max_num_pts, pyramids...
  function local_pyramid_swap (line 248) | def local_pyramid_swap(gt_boxes, points, prob, max_num_pts, pyramids=None):
  function noise_per_object_v3_ (line 351) | def noise_per_object_v3_(gt_boxes,
  function _rotation_box2d_jit_ (line 441) | def _rotation_box2d_jit_(corners, angle, rot_mat_T):
  function box_collision_test (line 459) | def box_collision_test(boxes, qboxes, clockwise=True):
  function noise_per_box (line 556) | def noise_per_box(boxes, valid_mask, loc_noises, rot_noises):
  function noise_per_box_v2_ (line 596) | def noise_per_box_v2_(boxes, valid_mask, loc_noises, rot_noises,
  function _select_transform (line 666) | def _select_transform(transform, indices):
  function _rotation_matrix_3d_ (line 685) | def _rotation_matrix_3d_(rot_mat_T, angle, axis):
  function points_transform_ (line 714) | def points_transform_(points, centers, point_masks, loc_transform,
  function box3d_transform_ (line 744) | def box3d_transform_(boxes, loc_transform, rot_transform, valid_mask):

FILE: pcdet/datasets/augmentor/data_augmentor.py
  class DataAugmentor (line 9) | class DataAugmentor(object):
    method __init__ (line 10) | def __init__(self, root_path, augmentor_configs, class_names, logger=N...
    method gt_sampling (line 26) | def gt_sampling(self, config=None):
    method da_sampling (line 35) | def da_sampling(self, config=None):
    method __getstate__ (line 44) | def __getstate__(self):
    method __setstate__ (line 49) | def __setstate__(self, d):
    method random_world_rotation (line 54) | def random_world_rotation(self, data_dict=None, config=None):
    method random_world_flip (line 73) | def random_world_flip(self, data_dict=None, config=None):
    method random_world_scaling (line 93) | def random_world_scaling(self, data_dict=None, config=None):
    method random_local_noise (line 110) | def random_local_noise(self, data_dict=None, config=None):
    method random_local_pyramid_aug (line 123) | def random_local_pyramid_aug(self, data_dict=None, config=None):
    method forward (line 146) | def forward(self, data_dict):

FILE: pcdet/datasets/augmentor/database_sampler.py
  class DataBaseSampler (line 12) | class DataBaseSampler(object):
    method __init__ (line 13) | def __init__(self, root_path, sampler_cfg, class_names, logger=None):
    method __getstate__ (line 57) | def __getstate__(self):
    method __setstate__ (line 62) | def __setstate__(self, d):
    method filter_by_difficulty (line 65) | def filter_by_difficulty(self, db_infos, removed_difficulty):
    method filter_by_min_points (line 81) | def filter_by_min_points(self, db_infos, min_gt_points_list):
    method sample_with_fixed_number (line 98) | def sample_with_fixed_number(self, class_name, sample_group):
    method put_boxes_on_road_planes (line 118) | def put_boxes_on_road_planes(gt_boxes, road_planes, calib):
    method points_rigid_transform (line 137) | def points_rigid_transform(self,cloud,pose):
    method get_registration_angle (line 148) | def get_registration_angle(self,mat):
    method registration (line 165) | def registration(self,pose, pre_pose, pre_obj_points, pre_box3d_lidar):
    method add_sampled_boxes_to_scene (line 178) | def add_sampled_boxes_to_scene(self, data_dict, sampled_gt_boxes, tota...
    method __call__ (line 236) | def __call__(self, data_dict):
  class DADataBaseSampler (line 284) | class DADataBaseSampler(object):
    method __init__ (line 285) | def __init__(self, root_path, sampler_cfg, class_names, logger=None):
    method __getstate__ (line 338) | def __getstate__(self):
    method __setstate__ (line 343) | def __setstate__(self, d):
    method to_sphere_coords (line 346) | def to_sphere_coords(self, points):
    method la_sampling (line 358) | def la_sampling(self, points, vert_res=0.006, hor_res=0.003):
    method random_sampling (line 392) | def random_sampling(self, points, box, dis):
    method random_drop_out (line 409) | def random_drop_out(self, points, rand_noise=0.2, offset=0.3):
    method filter_by_difficulty (line 429) | def filter_by_difficulty(self, db_infos, removed_difficulty):
    method filter_by_min_points (line 445) | def filter_by_min_points(self, db_infos, min_gt_points_list):
    method sample_with_fixed_number (line 462) | def sample_with_fixed_number(self, class_name, sample_group):
    method put_boxes_on_road_planes (line 482) | def put_boxes_on_road_planes(gt_boxes, road_planes, calib):
    method points_rigid_transform (line 501) | def points_rigid_transform(self, cloud, pose):
    method get_registration_angle (line 512) | def get_registration_angle(self, mat):
    method registration (line 529) | def registration(self, pose, pre_pose, pre_obj_points, pre_box3d_lidar):
    method add_sampled_boxes_to_scene (line 543) | def add_sampled_boxes_to_scene(self, data_dict, sampled_gt_boxes, tota...
    method __call__ (line 618) | def __call__(self, data_dict):

FILE: pcdet/datasets/dataset.py
  class DatasetTemplate (line 15) | class DatasetTemplate(torch_data.Dataset):
    method __init__ (line 16) | def __init__(self, dataset_cfg=None, class_names=None, training=True, ...
    method mode (line 65) | def mode(self):
    method __getstate__ (line 68) | def __getstate__(self):
    method __setstate__ (line 73) | def __setstate__(self, d):
    method generate_prediction_dicts (line 77) | def generate_prediction_dicts(batch_dict, pred_dicts, class_names, out...
    method merge_all_iters_to_one_epoch (line 94) | def merge_all_iters_to_one_epoch(self, merge=True, epochs=None):
    method __len__ (line 101) | def __len__(self):
    method __getitem__ (line 104) | def __getitem__(self, index):
    method prepare_data (line 118) | def prepare_data(self, data_dict):
    method collate_batch (line 203) | def collate_batch(self, batch_list, _unused=False):

FILE: pcdet/datasets/kitti/kitti_dataset.py
  class KittiDataset (line 12) | class KittiDataset(DatasetTemplate):
    method __init__ (line 13) | def __init__(self, dataset_cfg, class_names, training=True, root_path=...
    method include_kitti_data (line 34) | def include_kitti_data(self, mode):
    method set_split (line 52) | def set_split(self, split):
    method get_lidar (line 62) | def get_lidar(self, idx):
    method get_image_shape (line 67) | def get_image_shape(self, idx):
    method get_label (line 72) | def get_label(self, idx):
    method get_calib (line 77) | def get_calib(self, idx):
    method get_road_plane (line 82) | def get_road_plane(self, idx):
    method get_fov_flag (line 101) | def get_fov_flag(pts_rect, img_shape, calib):
    method get_infos (line 119) | def get_infos(self, num_workers=4, has_label=True, count_inside_pts=Tr...
    method create_groundtruth_database (line 193) | def create_groundtruth_database(self, info_path=None, used_classes=Non...
    method generate_prediction_dicts (line 248) | def generate_prediction_dicts(self,batch_dict, pred_dicts, class_names...
    method evaluation (line 332) | def evaluation(self, det_annos, class_names, **kwargs):
    method __len__ (line 344) | def __len__(self):
    method __getitem__ (line 350) | def __getitem__(self, index):
  function create_kitti_infos (line 396) | def create_kitti_infos(dataset_cfg, class_names, data_path, save_path, w...

FILE: pcdet/datasets/kitti/kitti_dataset_mm.py
  class KittiDatasetMM (line 13) | class KittiDatasetMM(DatasetTemplate):
    method __init__ (line 14) | def __init__(self, dataset_cfg, class_names, training=True, root_path=...
    method include_kitti_data (line 35) | def include_kitti_data(self, mode):
    method set_split (line 53) | def set_split(self, split):
    method get_lidar (line 63) | def get_lidar(self, idx):
    method get_lidar_mm (line 70) | def get_lidar_mm(self, idx):
    method get_image_shape (line 75) | def get_image_shape(self, idx):
    method get_image (line 80) | def get_image(self, idx):
    method get_label (line 85) | def get_label(self, idx):
    method get_calib (line 90) | def get_calib(self, idx):
    method get_road_plane (line 95) | def get_road_plane(self, idx):
    method get_fov_flag (line 114) | def get_fov_flag(pts_rect, img_shape, calib):
    method get_infos (line 132) | def get_infos(self, num_workers=4, has_label=True, count_inside_pts=Tr...
    method create_groundtruth_database (line 206) | def create_groundtruth_database(self, info_path=None, used_classes=Non...
    method generate_prediction_dicts (line 264) | def generate_prediction_dicts(self,batch_dict, pred_dicts, class_names...
    method evaluation (line 351) | def evaluation(self, det_annos, class_names, **kwargs):
    method __len__ (line 363) | def __len__(self):
    method __getitem__ (line 369) | def __getitem__(self, index):
  function create_kitti_infos (line 430) | def create_kitti_infos(dataset_cfg, class_names, data_path, save_path, w...

FILE: pcdet/datasets/kitti/kitti_object_eval_python/eval.py
  function get_thresholds (line 9) | def get_thresholds(scores: np.ndarray, num_gt, num_sample_pts=41):
  function clean_data (line 29) | def clean_data(gt_anno, dt_anno, current_class, difficulty):
  function image_box_overlap (line 86) | def image_box_overlap(boxes, query_boxes, criterion=-1):
  function bev_box_overlap (line 115) | def bev_box_overlap(boxes, qboxes, criterion=-1):
  function d3_box_overlap_kernel (line 121) | def d3_box_overlap_kernel(boxes, qboxes, rinc, criterion=-1):
  function d3_box_overlap (line 149) | def d3_box_overlap(boxes, qboxes, criterion=-1):
  function compute_statistics_jit (line 157) | def compute_statistics_jit(overlaps,
  function get_split_parts (line 277) | def get_split_parts(num, num_part):
  function fused_compute_statistics (line 290) | def fused_compute_statistics(overlaps,
  function calculate_iou_partly (line 339) | def calculate_iou_partly(gt_annos, dt_annos, metric, num_parts=50):
  function _prepare_data (line 416) | def _prepare_data(gt_annos, dt_annos, current_class, difficulty):
  function eval_class (line 447) | def eval_class(gt_annos,
  function get_mAP (line 560) | def get_mAP(prec):
  function get_mAP_R40 (line 567) | def get_mAP_R40(prec):
  function print_str (line 574) | def print_str(value, *arg, sstream=None):
  function do_eval (line 583) | def do_eval(gt_annos,
  function do_coco_style_eval (line 627) | def do_coco_style_eval(gt_annos, dt_annos, current_classes, overlap_ranges,
  function get_official_eval_result (line 645) | def get_official_eval_result(gt_annos, dt_annos, current_classes, PR_det...
  function get_coco_eval_result (line 755) | def get_coco_eval_result(gt_annos, dt_annos, current_classes):

FILE: pcdet/datasets/kitti/kitti_object_eval_python/evaluate.py
  function _read_imageset_file (line 9) | def _read_imageset_file(path):
  function evaluate (line 15) | def evaluate(label_path,
  function evaluate_dis (line 31) | def evaluate_dis(label_path,

FILE: pcdet/datasets/kitti/kitti_object_eval_python/kitti_common.py
  function get_image_index_str (line 11) | def get_image_index_str(img_idx):
  function get_kitti_info_path (line 15) | def get_kitti_info_path(idx,
  function get_image_path (line 36) | def get_image_path(idx, prefix, training=True, relative_path=True):
  function get_label_path (line 41) | def get_label_path(idx, prefix, training=True, relative_path=True):
  function get_velodyne_path (line 46) | def get_velodyne_path(idx, prefix, training=True, relative_path=True):
  function get_calib_path (line 51) | def get_calib_path(idx, prefix, training=True, relative_path=True):
  function _extend_matrix (line 56) | def _extend_matrix(mat):
  function get_kitti_image_info (line 61) | def get_kitti_image_info(path,
  function filter_kitti_anno (line 152) | def filter_kitti_anno(image_anno,
  function filter_annos_low_score (line 191) | def filter_annos_low_score(image_annos, thresh):
  function filter_gt_annos_dis (line 204) | def filter_gt_annos_dis(image_annos, dis_min=0, dis_max=100):
  function filter_det_annos_dis (line 217) | def filter_det_annos_dis(image_annos, dis_min=0, dis_max=100):
  function kitti_result_line (line 232) | def kitti_result_line(result_dict, precision=4):
  function add_difficulty_to_annos (line 277) | def add_difficulty_to_annos(info):
  function get_label_anno (line 322) | def get_label_anno(label_path):
  function get_label_annos (line 360) | def get_label_annos(label_folder, image_ids=None):
  function area (line 377) | def area(boxes, add1=False):
  function intersection (line 393) | def intersection(boxes1, boxes2, add1=False):
  function iou (line 424) | def iou(boxes1, boxes2, add1=False):

FILE: pcdet/datasets/kitti/kitti_object_eval_python/rotate_iou.py
  function div_up (line 14) | def div_up(m, n):
  function trangle_area (line 18) | def trangle_area(a, b, c):
  function area (line 24) | def area(int_pts, num_of_inter):
  function sort_vertex_in_convex_polygon (line 34) | def sort_vertex_in_convex_polygon(int_pts, num_of_inter):
  function line_segment_intersection (line 77) | def line_segment_intersection(pts1, pts2, i, j, temp_pts):
  function line_segment_intersection_v1 (line 123) | def line_segment_intersection_v1(pts1, pts2, i, j, temp_pts):
  function point_in_quadrilateral (line 162) | def point_in_quadrilateral(pt_x, pt_y, corners):
  function quadrilateral_intersection (line 181) | def quadrilateral_intersection(pts1, pts2, int_pts):
  function rbbox_to_corners (line 205) | def rbbox_to_corners(corners, rbbox):
  function inter (line 232) | def inter(rbbox1, rbbox2):
  function devRotateIoUEval (line 249) | def devRotateIoUEval(rbox1, rbox2, criterion=-1):
  function rotate_iou_kernel_eval (line 263) | def rotate_iou_kernel_eval(N, K, dev_boxes, dev_query_boxes, dev_iou, cr...
  function rotate_iou_gpu_eval (line 295) | def rotate_iou_gpu_eval(boxes, query_boxes, criterion=-1, device_id=0):

FILE: pcdet/datasets/processor/data_processor.py
  class VoxelGeneratorWrapper (line 14) | class VoxelGeneratorWrapper():
    method __init__ (line 15) | def __init__(self, vsize_xyz, coors_range_xyz, num_point_features, max...
    method generate (line 43) | def generate(self, points):
  class DataProcessor (line 61) | class DataProcessor(object):
    method __init__ (line 62) | def __init__(self, processor_configs, point_cloud_range, training, rot...
    method mask_points_and_boxes_outside_range (line 77) | def mask_points_and_boxes_outside_range(self, data_dict=None, config=N...
    method shuffle_points (line 105) | def shuffle_points(self, data_dict=None, config=None):
    method transform_points_to_voxels (line 128) | def transform_points_to_voxels(self, data_dict=None, config=None):
    method sample_points (line 185) | def sample_points(self, data_dict=None, config=None):
    method forward (line 217) | def forward(self, data_dict):

FILE: pcdet/datasets/processor/point_feature_encoder.py
  class PointFeatureEncoder (line 4) | class PointFeatureEncoder(object):
    method __init__ (line 5) | def __init__(self, config, point_cloud_range=None, rot_num=1):
    method num_point_features (line 15) | def num_point_features(self):
    method forward (line 18) | def forward(self, data_dict):
    method absolute_coordinates_encoding (line 49) | def absolute_coordinates_encoding(self, points=None):
    method absolute_coordinates_encoding_mm (line 63) | def absolute_coordinates_encoding_mm(self, points=None):

FILE: pcdet/models/__init__.py
  function build_network (line 9) | def build_network(model_cfg, num_class, dataset):
  function load_data_to_gpu (line 16) | def load_data_to_gpu(batch_dict):
  function model_fn_decorator (line 27) | def model_fn_decorator():

FILE: pcdet/models/backbones_2d/base_bev_backbone.py
  class BaseBEVBackbone (line 6) | class BaseBEVBackbone(nn.Module):
    method __init__ (line 7) | def __init__(self, model_cfg,  input_channels):
    method forward (line 84) | def forward(self, data_dict):

FILE: pcdet/models/backbones_2d/map_to_bev/height_compression.py
  function bilinear_interpolate_torch (line 6) | def bilinear_interpolate_torch(im, x, y):
  class BEVPool (line 39) | class BEVPool(nn.Module):
    method __init__ (line 40) | def __init__(self, model_cfg,  voxel_size=None, point_cloud_range=None):
    method get_pseudo_points (line 49) | def get_pseudo_points(self, pts_range=[0, -40, -3, 70.4, 40, 1], voxel...
    method interpolate_from_bev_features (line 68) | def interpolate_from_bev_features(self, points, bev_features, bev_stri...
    method bev_align (line 82) | def bev_align(self, bev_feat, transform_param, stride, stage_i):
    method forward (line 108) | def forward(self, batch_dict):

FILE: pcdet/models/backbones_2d/map_to_bev/pointpillar_scatter.py
  class PointPillarScatter (line 5) | class PointPillarScatter(nn.Module):
    method __init__ (line 6) | def __init__(self, model_cfg, grid_size, **kwargs):
    method forward (line 14) | def forward(self, batch_dict, **kwargs):

FILE: pcdet/models/backbones_3d/pfe/bev_features_interpolation.py
  function bilinear_interpolate_torch (line 9) | def bilinear_interpolate_torch(im, x, y):
  class BEVFeaturesInterpolation (line 43) | class BEVFeaturesInterpolation(nn.Module):
    method __init__ (line 44) | def __init__(self, model_cfg, voxel_size, point_cloud_range, num_frame...
    method interpolate_from_bev_features (line 73) | def interpolate_from_bev_features(self, points, bev_features, batch_si...
    method forward (line 96) | def forward(self, batch_dict):

FILE: pcdet/models/backbones_3d/pfe/voxel_set_abstraction.py
  function bilinear_interpolate_torch (line 11) | def bilinear_interpolate_torch(im, x, y):
  function sample_points_with_roi (line 45) | def sample_points_with_roi(rois, points, sample_radius_with_roi, num_max...
  function sector_fps (line 78) | def sector_fps(points, num_sampled_points, num_sectors):
  class VoxelSetAbstraction (line 124) | class VoxelSetAbstraction(nn.Module):
    method __init__ (line 125) | def __init__(self, model_cfg, voxel_size, point_cloud_range, num_bev_f...
    method interpolate_from_bev_features (line 178) | def interpolate_from_bev_features(self, keypoints, bev_features, batch...
    method sectorized_proposal_centric_sampling (line 208) | def sectorized_proposal_centric_sampling(self, roi_boxes, points):
    method get_sampled_points (line 229) | def get_sampled_points(self, batch_dict):
    method aggregate_keypoint_features_from_one_source (line 286) | def aggregate_keypoint_features_from_one_source(
    method forward (line 336) | def forward(self, batch_dict):

FILE: pcdet/models/backbones_3d/pointnet2_backbone.py
  class PointNet2MSG (line 9) | class PointNet2MSG(nn.Module):
    method __init__ (line 10) | def __init__(self, model_cfg, input_channels, **kwargs):
    method break_up_pc (line 50) | def break_up_pc(self, pc):
    method forward (line 56) | def forward(self, batch_dict):
  class PointNet2Backbone (line 97) | class PointNet2Backbone(nn.Module):
    method __init__ (line 101) | def __init__(self, model_cfg, input_channels, **kwargs):
    method break_up_pc (line 142) | def break_up_pc(self, pc):
    method forward (line 148) | def forward(self, batch_dict):

FILE: pcdet/models/backbones_3d/spconv_backbone.py
  function post_act_block (line 7) | def post_act_block(in_channels, out_channels, kernel_size, indice_key=No...
  class SparseBasicBlock (line 32) | class SparseBasicBlock(spconv.SparseModule):
    method __init__ (line 35) | def __init__(self, inplanes, planes, stride=1, norm_fn=None, downsampl...
    method forward (line 52) | def forward(self, x):
  class BasicBlock (line 70) | class BasicBlock(spconv.SparseModule):
    method __init__ (line 72) | def __init__(self, inplanes, planes,  norm_fn=None, stride=2,  padding...
    method forward (line 120) | def forward(self, x):
  class TeMMVoxelBackBone8x (line 133) | class TeMMVoxelBackBone8x(nn.Module):
    method __init__ (line 134) | def __init__(self, model_cfg, input_channels, grid_size,  **kwargs):
    method decompose_tensor (line 233) | def decompose_tensor(self, tensor, i, batch_size):
    method forward_test (line 254) | def forward_test(self, batch_dict):
    method forward_train (line 397) | def forward_train(self, batch_dict):
    method forward (line 500) | def forward(self, batch_dict):
  class TeVoxelBackBone8x (line 507) | class TeVoxelBackBone8x(nn.Module):
    method __init__ (line 508) | def __init__(self, model_cfg, input_channels, grid_size, **kwargs):
    method decompose_tensor (line 572) | def decompose_tensor(self, tensor, i, batch_size):
    method forward_test (line 593) | def forward_test(self, batch_dict):
    method forward_train (line 736) | def forward_train(self, batch_dict):
    method forward (line 840) | def forward(self, batch_dict):

FILE: pcdet/models/backbones_3d/spconv_unet.py
  class SparseBasicBlock (line 11) | class SparseBasicBlock(spconv.SparseModule):
    method __init__ (line 14) | def __init__(self, inplanes, planes, stride=1, downsample=None, indice...
    method forward (line 28) | def forward(self, x):
  class UNetV2 (line 49) | class UNetV2(nn.Module):
    method __init__ (line 55) | def __init__(self, model_cfg, input_channels, grid_size, voxel_size, p...
    method UR_block_forward (line 134) | def UR_block_forward(self, x_lateral, x_bottom, conv_t, conv_m, conv_i...
    method channel_reduction (line 145) | def channel_reduction(x, out_channels):
    method forward (line 161) | def forward(self, batch_dict):

FILE: pcdet/models/backbones_3d/vfe/mean_vfe.py
  class MeanVFE (line 6) | class MeanVFE(VFETemplate):
    method __init__ (line 7) | def __init__(self, model_cfg, num_point_features, **kwargs):
    method get_output_feature_dim (line 12) | def get_output_feature_dim(self):
    method forward (line 15) | def forward(self, batch_dict, **kwargs):

FILE: pcdet/models/backbones_3d/vfe/pillar_vfe.py
  class PFNLayer (line 8) | class PFNLayer(nn.Module):
    method __init__ (line 9) | def __init__(self,
    method forward (line 29) | def forward(self, inputs):
  class PillarVFE (line 52) | class PillarVFE(VFETemplate):
    method __init__ (line 53) | def __init__(self, model_cfg, num_point_features, voxel_size, point_cl...
    method get_output_feature_dim (line 83) | def get_output_feature_dim(self):
    method get_paddings_indicator (line 86) | def get_paddings_indicator(self, actual_num, max_num, axis=0):
    method forward (line 94) | def forward(self, batch_dict, **kwargs):

FILE: pcdet/models/backbones_3d/vfe/vfe_template.py
  class VFETemplate (line 4) | class VFETemplate(nn.Module):
    method __init__ (line 5) | def __init__(self, model_cfg, **kwargs):
    method get_output_feature_dim (line 9) | def get_output_feature_dim(self):
    method forward (line 12) | def forward(self, **kwargs):

FILE: pcdet/models/dense_heads/anchor_head_multi.py
  class SingleHead (line 9) | class SingleHead(BaseBEVBackbone):
    method __init__ (line 10) | def __init__(self, model_cfg, input_channels, num_class, num_anchors_p...
    method init_weights (line 97) | def init_weights(self):
    method forward (line 104) | def forward(self, spatial_features_2d):
  class AnchorHeadMulti (line 151) | class AnchorHeadMulti(AnchorHeadTemplate):
    method __init__ (line 152) | def __init__(self, model_cfg, input_channels, num_class, class_names, ...
    method make_multihead (line 174) | def make_multihead(self, input_channels):
    method forward (line 198) | def forward(self, data_dict):
    method get_cls_layer_loss (line 245) | def get_cls_layer_loss(self):
    method get_box_reg_layer_loss (line 303) | def get_box_reg_layer_loss(self):

FILE: pcdet/models/dense_heads/anchor_head_single.py
  function get_layer (line 9) | def get_layer(dim,out_dim,init = None):
  class AnchorHeadSingle (line 31) | class AnchorHeadSingle(AnchorHeadTemplate):
    method __init__ (line 32) | def __init__(self, model_cfg, input_channels, num_class, class_names, ...
    method init_weights (line 70) | def init_weights(self):
    method get_anchor_mask (line 75) | def get_anchor_mask(self,data_dict,shape):
    method forward (line 118) | def forward(self, data_dict):

FILE: pcdet/models/dense_heads/anchor_head_template.py
  class AnchorHeadTemplate (line 13) | class AnchorHeadTemplate(nn.Module):
    method __init__ (line 14) | def __init__(self, model_cfg, num_class, class_names, grid_size, point...
    method generate_anchors (line 45) | def generate_anchors(anchor_generator_cfg, grid_size, point_cloud_rang...
    method get_target_assigner (line 61) | def get_target_assigner(self, anchor_target_cfg):
    method proposal_layer (line 82) | def proposal_layer(self, batch_dict, nms_config):
    method build_losses (line 145) | def build_losses(self, losses_cfg):
    method assign_targets (line 165) | def assign_targets(self, gt_boxes):
    method get_cls_layer_loss (line 178) | def get_cls_layer_loss(self):
    method add_sin_difference (line 218) | def add_sin_difference(boxes1, boxes2, dim=6):
    method get_direction_target (line 227) | def get_direction_target(anchors, reg_targets, one_hot=True, dir_offse...
    method get_box_reg_layer_loss (line 242) | def get_box_reg_layer_loss(self):
    method get_od_loss (line 296) | def get_od_loss(self):
    method get_loss (line 320) | def get_loss(self):
    method generate_predicted_boxes (line 335) | def generate_predicted_boxes(self, batch_size, cls_preds, box_preds, d...
    method forward (line 384) | def forward(self, **kwargs):

FILE: pcdet/models/dense_heads/center_head.py
  class SeparateHead (line 11) | class SeparateHead(nn.Module):
    method __init__ (line 12) | def __init__(self, input_channels, sep_head_dict, init_bias=-2.19, use...
    method forward (line 40) | def forward(self, x):
  class CenterHead (line 48) | class CenterHead(nn.Module):
    method __init__ (line 49) | def __init__(self, model_cfg, num_frames, input_channels, num_class, c...
    method build_losses (line 99) | def build_losses(self):
    method assign_target_of_single_head (line 103) | def assign_target_of_single_head(
    method assign_targets (line 159) | def assign_targets(self, gt_boxes, feature_map_size=None, **kwargs):
    method sigmoid (line 221) | def sigmoid(self, x):
    method get_loss (line 225) | def get_loss(self):
    method generate_predicted_boxes (line 252) | def generate_predicted_boxes(self, batch_size, pred_dicts):
    method reorder_rois_for_refining (line 306) | def reorder_rois_for_refining(batch_size, pred_dicts):
    method forward (line 323) | def forward(self, data_dict):

FILE: pcdet/models/dense_heads/point_head_box.py
  class PointHeadBox (line 7) | class PointHeadBox(PointHeadTemplate):
    method __init__ (line 13) | def __init__(self, num_class, input_channels, model_cfg, predict_boxes...
    method assign_targets (line 32) | def assign_targets(self, input_dict):
    method get_loss (line 61) | def get_loss(self, tb_dict=None):
    method forward (line 71) | def forward(self, batch_dict):

FILE: pcdet/models/dense_heads/point_head_simple.py
  class PointHeadSimple (line 7) | class PointHeadSimple(PointHeadTemplate):
    method __init__ (line 13) | def __init__(self, num_class, input_channels, model_cfg, **kwargs):
    method assign_targets (line 21) | def assign_targets(self, input_dict):
    method get_loss (line 50) | def get_loss(self, tb_dict=None):
    method forward (line 58) | def forward(self, batch_dict):

FILE: pcdet/models/dense_heads/point_head_template.py
  class PointHeadTemplate (line 9) | class PointHeadTemplate(nn.Module):
    method __init__ (line 10) | def __init__(self, model_cfg, num_class):
    method build_losses (line 18) | def build_losses(self, losses_cfg):
    method make_fc_layers (line 36) | def make_fc_layers(fc_cfg, input_channels, output_channels):
    method assign_stack_targets (line 49) | def assign_stack_targets(self, points, gt_boxes, extend_gt_boxes=None,
    method get_cls_layer_loss (line 131) | def get_cls_layer_loss(self, tb_dict=None):
    method get_part_layer_loss (line 157) | def get_part_layer_loss(self, tb_dict=None):
    method get_box_layer_loss (line 172) | def get_box_layer_loss(self, tb_dict=None):
    method generate_predicted_boxes (line 193) | def generate_predicted_boxes(self, points, point_cls_preds, point_box_...
    method forward (line 209) | def forward(self, **kwargs):

FILE: pcdet/models/dense_heads/point_intra_part_head.py
  class PointIntraPartOffsetHead (line 7) | class PointIntraPartOffsetHead(PointHeadTemplate):
    method __init__ (line 13) | def __init__(self, num_class, input_channels, model_cfg, predict_boxes...
    method assign_targets (line 39) | def assign_targets(self, input_dict):
    method get_loss (line 68) | def get_loss(self, tb_dict=None):
    method forward (line 79) | def forward(self, batch_dict):

FILE: pcdet/models/dense_heads/target_assigner/anchor_generator.py
  class AnchorGenerator (line 4) | class AnchorGenerator(object):
    method __init__ (line 5) | def __init__(self, anchor_range, anchor_generator_config):
    method generate_anchors (line 17) | def generate_anchors(self, grid_sizes):

FILE: pcdet/models/dense_heads/target_assigner/atss_target_assigner.py
  class ATSSTargetAssigner (line 7) | class ATSSTargetAssigner(object):
    method __init__ (line 11) | def __init__(self, topk, box_coder, match_height=False):
    method assign_targets (line 16) | def assign_targets(self, anchors_list, gt_boxes_with_classes, use_mult...
    method assign_targets_single (line 75) | def assign_targets_single(self, anchors, gt_boxes, gt_classes):

FILE: pcdet/models/dense_heads/target_assigner/axis_aligned_target_assigner.py
  class AxisAlignedTargetAssigner (line 9) | class AxisAlignedTargetAssigner(object):
    method __init__ (line 10) | def __init__(self, model_cfg, class_names, box_coder, grid_size, point...
    method assign_targets (line 46) | def assign_targets(self, all_anchors, gt_boxes_with_classes):
    method assign_targets_single (line 156) | def assign_targets_single(self, anchors,

FILE: pcdet/models/detectors/__init__.py
  function build_detector (line 10) | def build_detector(model_cfg, num_class, dataset):

FILE: pcdet/models/detectors/detector3d_template.py
  class Detector3DTemplate (line 12) | class Detector3DTemplate(nn.Module):
    method __init__ (line 13) | def __init__(self, model_cfg, num_class, dataset):
    method mode (line 29) | def mode(self):
    method update_global_step (line 32) | def update_global_step(self):
    method build_networks (line 35) | def build_networks(self):
    method build_vfe (line 51) | def build_vfe(self, model_info_dict):
    method build_backbone_3d (line 65) | def build_backbone_3d(self, model_info_dict):
    method build_map_to_bev_module (line 80) | def build_map_to_bev_module(self, model_info_dict):
    method build_backbone_2d (line 93) | def build_backbone_2d(self, model_info_dict):
    method build_pfe (line 107) | def build_pfe(self, model_info_dict):
    method build_dense_head (line 127) | def build_dense_head(self, model_info_dict):
    method build_point_head (line 144) | def build_point_head(self, model_info_dict):
    method build_roi_head (line 163) | def build_roi_head(self, model_info_dict):
    method forward (line 177) | def forward(self, **kwargs):
    method post_processing (line 180) | def post_processing(self, batch_dict):
    method generate_recall_record (line 303) | def generate_recall_record(box_preds, recall_dict, batch_index, data_d...
    method _load_state_dict (line 346) | def _load_state_dict(self, model_state_disk, *, strict=True):
    method load_params_from_file (line 377) | def load_params_from_file(self, filename, logger, to_cpu=False):
    method load_params_with_optimizer (line 398) | def load_params_with_optimizer(self, filename, to_cpu=False, optimizer...

FILE: pcdet/models/detectors/voxel_rcnn.py
  class VoxelRCNN (line 3) | class VoxelRCNN(Detector3DTemplate):
    method __init__ (line 4) | def __init__(self, model_cfg, num_class, dataset):
    method forward (line 8) | def forward(self, batch_dict):
    method get_training_loss (line 24) | def get_training_loss(self):

FILE: pcdet/models/model_utils/centernet_utils.py
  function gaussian_radius (line 9) | def gaussian_radius(height, width, min_overlap=0.5):
  function gaussian2D (line 38) | def gaussian2D(shape, sigma=1):
  function draw_gaussian_to_heatmap (line 47) | def draw_gaussian_to_heatmap(heatmap, center, radius, k=1, valid_mask=No...
  function _nms (line 72) | def _nms(heat, kernel=3):
  function circle_nms (line 81) | def circle_nms(dets, thresh):
  function _circle_nms (line 107) | def _circle_nms(boxes, min_radius, post_max_size=83):
  function _gather_feat (line 118) | def _gather_feat(feat, ind, mask=None):
  function _transpose_and_gather_feat (line 129) | def _transpose_and_gather_feat(feat, ind):
  function _topk (line 136) | def _topk(scores, K=40):
  function decode_bbox_from_heatmap (line 154) | def decode_bbox_from_heatmap(heatmap, rot_cos, rot_sin, center, center_z...

FILE: pcdet/models/model_utils/ctrans.py
  class PositionalEmbedding (line 13) | class PositionalEmbedding(nn.Module):
    method __init__ (line 14) | def __init__(self, demb=256):
    method forward (line 23) | def forward(self, pos_seq, batch_size=2):
  class CrossAttention (line 32) | class CrossAttention(nn.Module):
    method __init__ (line 34) | def __init__(self, hidden_dim, pos = True, head = 4):
    method forward (line 56) | def forward(self, inputs, Q_in): # N,B,C
  class Attention_Layer (line 81) | class Attention_Layer(nn.Module):
    method __init__ (line 83) | def __init__(self, hidden_dim):
    method forward (line 92) | def forward(self, inputs): # B,K,N
  function gen_sample_grid (line 110) | def gen_sample_grid(rois, grid_size=7, grid_offsets=(0, 0), spatial_scal...
  function bilinear_interpolate_torch_gridsample (line 137) | def bilinear_interpolate_torch_gridsample(image, samples_x, samples_y):
  class MLP (line 160) | class MLP(nn.Module):
    method __init__ (line 163) | def __init__(self, input_dim, hidden_dim, output_dim, num_layers):
    method forward (line 171) | def forward(self, x):
    method init_weights (line 176) | def init_weights(self):
  function MLP_v2 (line 185) | def MLP_v2(channels: list, do_bn=True):
  class Transformer (line 198) | class Transformer(nn.Module):
    method __init__ (line 200) | def __init__(self, d_model=512, nhead=8, num_encoder_layers=6,
    method _reset_parameters (line 222) | def _reset_parameters(self):
    method forward (line 227) | def forward(self, src, query_embed, pos_embed):
  class TransformerEncoder (line 239) | class TransformerEncoder(nn.Module):
    method __init__ (line 241) | def __init__(self, encoder_layer, num_layers, norm=None):
    method forward (line 247) | def forward(self, src,
  class TransformerDecoder (line 263) | class TransformerDecoder(nn.Module):
    method __init__ (line 265) | def __init__(self, decoder_layer, num_layers, norm=None, return_interm...
    method forward (line 272) | def forward(self, tgt, memory,
  class TransformerEncoderLayer (line 304) | class TransformerEncoderLayer(nn.Module):
    method __init__ (line 306) | def __init__(self, d_model, nhead, dim_feedforward=2048, dropout=0.1,
    method with_pos_embed (line 323) | def with_pos_embed(self, tensor, pos: Optional[Tensor]):
    method forward_post (line 326) | def forward_post(self,
    method forward_pre (line 341) | def forward_pre(self, src,
    method forward (line 355) | def forward(self, src,
  function attention (line 364) | def attention(query, key,  value):
  class MultiHeadedAttention (line 372) | class MultiHeadedAttention(nn.Module):
    method __init__ (line 374) | def __init__(self, num_heads: int, d_model: int):
    method forward (line 384) | def forward(self, query, key, value):
  class TransformerDecoderLayer (line 394) | class TransformerDecoderLayer(nn.Module):
    method __init__ (line 396) | def __init__(self, d_model, nhead, dim_feedforward=2048, dropout=0.1,
    method with_pos_embed (line 418) | def with_pos_embed(self, tensor, pos: Optional[Tensor]):
    method forward_post (line 421) | def forward_post(self, tgt, memory,
    method forward_pre (line 445) | def forward_pre(self, tgt, memory,
    method forward (line 468) | def forward(self, tgt, memory,
  function _get_clones (line 482) | def _get_clones(module, N):
  function build_transformer (line 486) | def build_transformer(args):
  function _get_activation_fn (line 499) | def _get_activation_fn(activation):

FILE: pcdet/models/model_utils/model_nms_utils.py
  function limit (line 5) | def limit(ang):
  function compute_WBF (line 14) | def compute_WBF(det_names, det_scores, det_boxes, iou_thresh=0.85, iou_t...
  function class_agnostic_nms (line 108) | def class_agnostic_nms(box_scores, box_preds, nms_config, score_thresh=N...
  function multi_classes_nms (line 130) | def multi_classes_nms(cls_scores, box_preds, nms_config, score_thresh=No...

FILE: pcdet/models/roi_heads/roi_head_template.py
  class RoIHeadTemplate (line 12) | class RoIHeadTemplate(nn.Module):
    method __init__ (line 13) | def __init__(self, num_class, model_cfg):
    method build_losses (line 29) | def build_losses(self, losses_cfg):
    method make_fc_layers (line 35) | def make_fc_layers(self, input_channels, output_channels, fc_list):
    method proposal_layer (line 52) | def proposal_layer(self, batch_dict, nms_config):
    method assign_targets (line 116) | def assign_targets(self, batch_dict, rot_num_id, enable_dif = False):
    method get_box_reg_layer_loss (line 156) | def get_box_reg_layer_loss(self, forward_ret_dict):
    method get_box_cls_layer_loss (line 240) | def get_box_cls_layer_loss(self, forward_ret_dict):
    method get_loss (line 262) | def get_loss(self, tb_dict=None):
    method generate_predicted_boxes (line 289) | def generate_predicted_boxes(self, batch_size, rois, cls_preds, box_pr...

FILE: pcdet/models/roi_heads/target_assigner/proposal_target_layer.py
  class ProposalTargetLayer (line 7) | class ProposalTargetLayer(nn.Module):
    method __init__ (line 8) | def __init__(self, roi_sampler_cfg):
    method limit (line 12) | def limit(self,ang):
    method ang_weight (line 21) | def ang_weight(self,pred, gt):
    method forward (line 32) | def forward(self, batch_dict, ind=''):
    method sample_rois_for_rcnn (line 196) | def sample_rois_for_rcnn(self, batch_dict, ind=''):
    method subsample_rois (line 254) | def subsample_rois(self, max_overlaps, gts=None):
    method sample_bg_inds (line 326) | def sample_bg_inds(hard_bg_inds, easy_bg_inds, bg_rois_per_this_image,...
    method get_max_iou_with_same_class (line 356) | def get_max_iou_with_same_class(rois, roi_labels, gt_boxes, gt_labels):
  class ProposalTargetLayerT (line 391) | class ProposalTargetLayerT(nn.Module):
    method __init__ (line 392) | def __init__(self, roi_sampler_cfg):
    method limit (line 396) | def limit(self,ang):
    method ang_weight (line 405) | def ang_weight(self,pred, gt):
    method forward (line 416) | def forward(self, batch_dict):
    method sample_rois_for_rcnn (line 498) | def sample_rois_for_rcnn(self, batch_dict):
    method subsample_rois (line 579) | def subsample_rois(self, max_overlaps):
    method sample_bg_inds (line 627) | def sample_bg_inds(hard_bg_inds, easy_bg_inds, bg_rois_per_this_image,...
    method get_max_iou_with_same_class (line 657) | def get_max_iou_with_same_class(rois, roi_labels, gt_boxes, gt_labels):

FILE: pcdet/models/roi_heads/target_assigner/proposal_target_layer3.py
  class ProposalTargetLayer (line 7) | class ProposalTargetLayer(nn.Module):
    method __init__ (line 8) | def __init__(self, roi_sampler_cfg):
    method limit (line 12) | def limit(self,ang):
    method ang_weight (line 21) | def ang_weight(self,pred, gt):
    method forward (line 32) | def forward(self, batch_dict,ind=''):
    method sample_rois_for_rcnn (line 127) | def sample_rois_for_rcnn(self, batch_dict, ind=''):
    method subsample_rois (line 184) | def subsample_rois(self, max_overlaps, gts=None):
    method sample_bg_inds (line 254) | def sample_bg_inds(hard_bg_inds, easy_bg_inds, bg_rois_per_this_image,...
    method get_max_iou_with_same_class (line 284) | def get_max_iou_with_same_class(rois, roi_labels, gt_boxes, gt_labels):
  class ProposalTargetLayerT (line 319) | class ProposalTargetLayerT(nn.Module):
    method __init__ (line 320) | def __init__(self, roi_sampler_cfg):
    method limit (line 324) | def limit(self,ang):
    method ang_weight (line 333) | def ang_weight(self,pred, gt):
    method forward (line 344) | def forward(self, batch_dict):
    method sample_rois_for_rcnn (line 426) | def sample_rois_for_rcnn(self, batch_dict):
    method subsample_rois (line 507) | def subsample_rois(self, max_overlaps):
    method sample_bg_inds (line 555) | def sample_bg_inds(hard_bg_inds, easy_bg_inds, bg_rois_per_this_image,...
    method get_max_iou_with_same_class (line 585) | def get_max_iou_with_same_class(rois, roi_labels, gt_boxes, gt_labels):

FILE: pcdet/models/roi_heads/ted_head.py
  class PositionalEmbedding (line 15) | class PositionalEmbedding(nn.Module):
    method __init__ (line 16) | def __init__(self, demb=256):
    method forward (line 25) | def forward(self, pos_seq, batch_size=2):
  class CrossAttention (line 34) | class CrossAttention(nn.Module):
    method __init__ (line 36) | def __init__(self, hidden_dim, pos = True, head = 4):
    method forward (line 58) | def forward(self, inputs, Q_in): # N,B,C
  class Attention_Layer (line 82) | class Attention_Layer(nn.Module):
    method __init__ (line 84) | def __init__(self, hidden_dim):
    method forward (line 93) | def forward(self, inputs): # B,K,N
  function gen_sample_grid (line 110) | def gen_sample_grid(rois, grid_size=7, grid_offsets=(0, 0), spatial_scal...
  function bilinear_interpolate_torch_gridsample (line 137) | def bilinear_interpolate_torch_gridsample(image, samples_x, samples_y):
  class TEDSHead (line 158) | class TEDSHead(RoIHeadTemplate):
    method __init__ (line 159) | def __init__(self, input_channels, model_cfg, point_cloud_range=None, ...
    method init_weights (line 247) | def init_weights(self):
    method roi_grid_pool (line 265) | def roi_grid_pool(self, batch_dict, i):
    method get_global_grid_points_of_roi (line 369) | def get_global_grid_points_of_roi(self, rois, grid_size):
    method get_dense_grid_points (line 382) | def get_dense_grid_points(rois, batch_size_rcnn, grid_size):
    method roi_x_trans (line 392) | def roi_x_trans(self, rois, rot_num_i, transform_param):
    method pred_x_trans (line 416) | def pred_x_trans(self, preds, rot_num_i, transform_param):
    method multi_grid_pool_aggregation (line 436) | def multi_grid_pool_aggregation(self, batch_dict, targets_dict):
    method forward (line 499) | def forward(self, batch_dict):
  class TEDMHead (line 517) | class TEDMHead(RoIHeadTemplate):
    method __init__ (line 518) | def __init__(self, input_channels, model_cfg, point_cloud_range=None, ...
    method init_weights (line 765) | def init_weights(self):
    method obtain_conf_preds (line 784) | def obtain_conf_preds(self, confi_im, anchors):
    method roi_part_pool (line 803) | def roi_part_pool(self, batch_dict, parts_feat):
    method roi_grid_pool (line 809) | def roi_grid_pool(self, batch_dict, i):
    method roi_grid_pool_mm (line 912) | def roi_grid_pool_mm(self, batch_dict, i):
    method get_global_grid_points_of_roi (line 1015) | def get_global_grid_points_of_roi(self, rois, grid_size):
    method get_dense_grid_points (line 1028) | def get_dense_grid_points(rois, batch_size_rcnn, grid_size):
    method roi_x_trans (line 1039) | def roi_x_trans(self, rois, trans_i, transform_param):
    method roi_score_trans (line 1064) | def roi_score_trans(self, rois, trans_i, transform_param):
    method pred_x_trans (line 1089) | def pred_x_trans(self, preds, trans_i, transform_param):
    method multi_grid_pool_aggregation (line 1111) | def multi_grid_pool_aggregation(self, batch_dict, targets_dict):
    method forward (line 1218) | def forward(self, batch_dict):

FILE: pcdet/ops/dcn/deform_conv.py
  class DeformConvFunction (line 14) | class DeformConvFunction(Function):
    method forward (line 17) | def forward(ctx,
    method backward (line 62) | def backward(ctx, grad_output):
    method _output_size (line 99) | def _output_size(input, weight, padding, dilation, stride):
  class ModulatedDeformConvFunction (line 115) | class ModulatedDeformConvFunction(Function):
    method forward (line 118) | def forward(ctx,
    method backward (line 154) | def backward(ctx, grad_output):
    method _infer_shape (line 176) | def _infer_shape(ctx, input, weight):
  class DeformConv (line 192) | class DeformConv(nn.Module):
    method __init__ (line 194) | def __init__(self,
    method reset_parameters (line 232) | def reset_parameters(self):
    method forward (line 239) | def forward(self, x, offset):
  class DeformConvPack (line 258) | class DeformConvPack(DeformConv):
    method __init__ (line 276) | def __init__(self, *args, **kwargs):
    method init_offset (line 289) | def init_offset(self):
    method forward (line 293) | def forward(self, x):
    method _load_from_state_dict (line 298) | def _load_from_state_dict(self, state_dict, prefix, local_metadata, st...
  class ModulatedDeformConv (line 326) | class ModulatedDeformConv(nn.Module):
    method __init__ (line 328) | def __init__(self,
    method reset_parameters (line 361) | def reset_parameters(self):
    method forward (line 370) | def forward(self, x, offset, mask):
  class ModulatedDeformConvPack (line 376) | class ModulatedDeformConvPack(ModulatedDeformConv):
    method __init__ (line 394) | def __init__(self, *args, **kwargs):
    method init_offset (line 407) | def init_offset(self):
    method forward (line 411) | def forward(self, x):
    method _load_from_state_dict (line 420) | def _load_from_state_dict(self, state_dict, prefix, local_metadata, st...

FILE: pcdet/ops/dcn/src/deform_conv_cuda.cpp
  function shape_check (line 62) | void shape_check(at::Tensor input, at::Tensor offset, at::Tensor *gradOu...
  function deform_conv_forward_cuda (line 152) | int deform_conv_forward_cuda(at::Tensor input, at::Tensor weight,
  function deform_conv_backward_input_cuda (line 262) | int deform_conv_backward_input_cuda(at::Tensor input, at::Tensor offset,
  function deform_conv_backward_parameters_cuda (line 376) | int deform_conv_backward_parameters_cuda(
  function modulated_deform_conv_cuda_forward (line 490) | void modulated_deform_conv_cuda_forward(
  function modulated_deform_conv_cuda_backward (line 571) | void modulated_deform_conv_cuda_backward(
  function PYBIND11_MODULE (line 687) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/dcn/src/deform_pool_cuda.cpp
  function deform_psroi_pooling_cuda_forward (line 31) | void deform_psroi_pooling_cuda_forward(
  function deform_psroi_pooling_cuda_backward (line 56) | void deform_psroi_pooling_cuda_backward(
  function PYBIND11_MODULE (line 84) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/iou3d_nms/iou3d_nms_utils.py
  function boxes_bev_iou_cpu (line 12) | def boxes_bev_iou_cpu(boxes_a, boxes_b):
  function boxes_iou_bev (line 31) | def boxes_iou_bev(boxes_a, boxes_b):
  function boxes_dis (line 47) | def boxes_dis(boxes_a, boxes_b):
  function boxes_iou3d_gpu (line 67) | def boxes_iou3d_gpu(boxes_a, boxes_b):
  function nms_gpu (line 103) | def nms_gpu(boxes, scores, thresh, pre_maxsize=None, **kwargs):
  function nms_normal_gpu (line 121) | def nms_normal_gpu(boxes, scores, thresh, **kwargs):

FILE: pcdet/ops/iou3d_nms/src/iou3d_cpu.cpp
  function min (line 30) | inline float min(float a, float b){
  function max (line 34) | inline float max(float a, float b){
  type Point (line 39) | struct Point {
    method __device__ (line 41) | __device__ Point() {}
    method __device__ (line 42) | __device__ Point(double _x, double _y){
    method __device__ (line 46) | __device__ void set(float _x, float _y){
    method __device__ (line 50) | __device__ Point operator +(const Point &b)const{
    method __device__ (line 54) | __device__ Point operator -(const Point &b)const{
  function cross (line 59) | inline float cross(const Point &a, const Point &b){
  function cross (line 63) | inline float cross(const Point &p1, const Point &p2, const Point &p0){
  function check_rect_cross (line 67) | inline int check_rect_cross(const Point &p1, const Point &p2, const Poin...
  function check_in_box2d (line 75) | inline int check_in_box2d(const float *box, const Point &p){
  function intersection (line 87) | inline int intersection(const Point &p1, const Point &p0, const Point &q...
  function rotate_around_center (line 118) | inline void rotate_around_center(const Point &center, const float angle_...
  function point_cmp (line 124) | inline int point_cmp(const Point &a, const Point &b, const Point &center){
  function box_overlap (line 128) | inline float box_overlap(const float *box_a, const float *box_b){
  function iou_bev (line 222) | inline float iou_bev(const float *box_a, const float *box_b){
  function boxes_iou_bev_cpu (line 232) | int boxes_iou_bev_cpu(at::Tensor boxes_a_tensor, at::Tensor boxes_b_tens...

FILE: pcdet/ops/iou3d_nms/src/iou3d_nms.cpp
  function gpuAssert (line 31) | inline void gpuAssert(cudaError_t code, const char *file, int line, bool...
  function boxes_overlap_bev_gpu (line 49) | int boxes_overlap_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Te...
  function boxes_iou_bev_gpu (line 70) | int boxes_iou_bev_gpu(at::Tensor boxes_a, at::Tensor boxes_b, at::Tensor...
  function nms_gpu (line 90) | int nms_gpu(at::Tensor boxes, at::Tensor keep, float nms_overlap_thresh){
  function nms_normal_gpu (line 139) | int nms_normal_gpu(at::Tensor boxes, at::Tensor keep, float nms_overlap_...

FILE: pcdet/ops/iou3d_nms/src/iou3d_nms_api.cpp
  function PYBIND11_MODULE (line 11) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/pointnet2/pointnet2_batch/pointnet2_modules.py
  class _PointnetSAModuleBase (line 10) | class _PointnetSAModuleBase(nn.Module):
    method __init__ (line 12) | def __init__(self):
    method forward (line 19) | def forward(self, xyz: torch.Tensor, features: torch.Tensor = None, ne...
  class PointnetSAModuleMSG (line 58) | class PointnetSAModuleMSG(_PointnetSAModuleBase):
    method __init__ (line 61) | def __init__(self, *, npoint: int, radii: List[float], nsamples: List[...
  class PointnetSAModule (line 102) | class PointnetSAModule(PointnetSAModuleMSG):
    method __init__ (line 105) | def __init__(self, *, mlp: List[int], npoint: int = None, radius: floa...
  class PointnetFPModule (line 122) | class PointnetFPModule(nn.Module):
    method __init__ (line 125) | def __init__(self, *, mlp: List[int], bn: bool = True):
    method forward (line 141) | def forward(

FILE: pcdet/ops/pointnet2/pointnet2_batch/pointnet2_utils.py
  class FurthestPointSampling (line 10) | class FurthestPointSampling(Function):
    method forward (line 12) | def forward(ctx, xyz: torch.Tensor, npoint: int) -> torch.Tensor:
    method backward (line 32) | def backward(xyz, a=None):
  class GatherOperation (line 39) | class GatherOperation(Function):
    method forward (line 42) | def forward(ctx, features: torch.Tensor, idx: torch.Tensor) -> torch.T...
    method backward (line 63) | def backward(ctx, grad_out):
  class ThreeNN (line 76) | class ThreeNN(Function):
    method forward (line 79) | def forward(ctx, unknown: torch.Tensor, known: torch.Tensor) -> Tuple[...
    method backward (line 101) | def backward(ctx, a=None, b=None):
  class ThreeInterpolate (line 108) | class ThreeInterpolate(Function):
    method forward (line 111) | def forward(ctx, features: torch.Tensor, idx: torch.Tensor, weight: to...
    method backward (line 134) | def backward(ctx, grad_out: torch.Tensor) -> Tuple[torch.Tensor, torch...
  class GroupingOperation (line 156) | class GroupingOperation(Function):
    method forward (line 159) | def forward(ctx, features: torch.Tensor, idx: torch.Tensor) -> torch.T...
    method backward (line 180) | def backward(ctx, grad_out: torch.Tensor) -> Tuple[torch.Tensor, torch...
  class BallQuery (line 200) | class BallQuery(Function):
    method forward (line 203) | def forward(ctx, radius: float, nsample: int, xyz: torch.Tensor, new_x...
    method backward (line 224) | def backward(ctx, a=None):
  class QueryAndGroup (line 231) | class QueryAndGroup(nn.Module):
    method __init__ (line 232) | def __init__(self, radius: float, nsample: int, use_xyz: bool = True):
    method forward (line 241) | def forward(self, xyz: torch.Tensor, new_xyz: torch.Tensor, features: ...
  class GroupAll (line 267) | class GroupAll(nn.Module):
    method __init__ (line 268) | def __init__(self, use_xyz: bool = True):
    method forward (line 272) | def forward(self, xyz: torch.Tensor, new_xyz: torch.Tensor, features: ...

FILE: pcdet/ops/pointnet2/pointnet2_batch/src/ball_query.cpp
  function ball_query_wrapper_fast (line 32) | int ball_query_wrapper_fast(int b, int n, int m, float radius, int nsample,

FILE: pcdet/ops/pointnet2/pointnet2_batch/src/cuda_utils.h
  function opt_n_threads (line 10) | inline int opt_n_threads(int work_size) {

FILE: pcdet/ops/pointnet2/pointnet2_batch/src/group_points.cpp
  function group_points_grad_wrapper_fast (line 18) | int group_points_grad_wrapper_fast(int b, int c, int n, int npoints, int...
  function group_points_wrapper_fast (line 30) | int group_points_wrapper_fast(int b, int c, int n, int npoints, int nsam...

FILE: pcdet/ops/pointnet2/pointnet2_batch/src/interpolate.cpp
  function three_nn_wrapper_fast (line 21) | void three_nn_wrapper_fast(int b, int n, int m, at::Tensor unknown_tensor,
  function three_interpolate_wrapper_fast (line 32) | void three_interpolate_wrapper_fast(int b, int c, int m, int n,
  function three_interpolate_grad_wrapper_fast (line 46) | void three_interpolate_grad_wrapper_fast(int b, int c, int n, int m,

FILE: pcdet/ops/pointnet2/pointnet2_batch/src/pointnet2_api.cpp
  function PYBIND11_MODULE (line 10) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/pointnet2/pointnet2_batch/src/sampling.cpp
  function gather_points_wrapper_fast (line 18) | int gather_points_wrapper_fast(int b, int c, int n, int npoints,
  function gather_points_grad_wrapper_fast (line 29) | int gather_points_grad_wrapper_fast(int b, int c, int n, int npoints,
  function furthest_point_sampling_wrapper (line 41) | int furthest_point_sampling_wrapper(int b, int n, int m,

FILE: pcdet/ops/pointnet2/pointnet2_stack/pointnet2_modules.py
  function build_local_aggregation_module (line 10) | def build_local_aggregation_module(input_channels, config):
  class StackSAModuleMSG (line 30) | class StackSAModuleMSG(nn.Module):
    method __init__ (line 32) | def __init__(self, *, radii: List[float], nsamples: List[int], mlps: L...
    method init_weights (line 68) | def init_weights(self):
    method forward (line 78) | def forward(self, xyz, xyz_batch_cnt, new_xyz, new_xyz_batch_cnt, feat...
  class StackPointnetFPModule (line 115) | class StackPointnetFPModule(nn.Module):
    method __init__ (line 116) | def __init__(self, *, mlp: List[int]):
    method forward (line 131) | def forward(self, unknown, unknown_batch_cnt, known, known_batch_cnt, ...
  class VectorPoolLocalInterpolateModule (line 160) | class VectorPoolLocalInterpolateModule(nn.Module):
    method __init__ (line 161) | def __init__(self, mlp, num_voxels, max_neighbour_distance, nsample, n...
    method forward (line 200) | def forward(self, support_xyz, support_features, xyz_batch_cnt, new_xy...
  class VectorPoolAggregationModule (line 247) | class VectorPoolAggregationModule(nn.Module):
    method __init__ (line 248) | def __init__(
    method init_weights (line 299) | def init_weights(self):
    method extra_repr (line 309) | def extra_repr(self) -> str:
    method vector_pool_with_voxel_query (line 316) | def vector_pool_with_voxel_query(self, xyz, xyz_batch_cnt, features, n...
    method get_dense_voxels_by_center (line 337) | def get_dense_voxels_by_center(point_centers, max_neighbour_distance, ...
    method vector_pool_with_local_interpolate (line 361) | def vector_pool_with_local_interpolate(self, xyz, xyz_batch_cnt, featu...
    method forward (line 383) | def forward(self, xyz, xyz_batch_cnt, new_xyz, new_xyz_batch_cnt, feat...
  class VectorPoolAggregationModuleMSG (line 423) | class VectorPoolAggregationModuleMSG(nn.Module):
    method __init__ (line 424) | def __init__(self, input_channels, config):
    method forward (line 458) | def forward(self, **kwargs):

FILE: pcdet/ops/pointnet2/pointnet2_stack/pointnet2_utils.py
  class BallQuery (line 8) | class BallQuery(Function):
    method forward (line 11) | def forward(ctx, radius: float, nsample: int, xyz: torch.Tensor, xyz_b...
    method backward (line 41) | def backward(ctx, a=None):
  class GroupingOperation (line 48) | class GroupingOperation(Function):
    method forward (line 51) | def forward(ctx, features: torch.Tensor, features_batch_cnt: torch.Ten...
    method backward (line 85) | def backward(ctx, grad_out: torch.Tensor):
  class QueryAndGroup (line 108) | class QueryAndGroup(nn.Module):
    method __init__ (line 109) | def __init__(self, radius: float, nsample: int, use_xyz: bool = True):
    method forward (line 119) | def forward(self, xyz: torch.Tensor, xyz_batch_cnt: torch.Tensor,
  class FarthestPointSampling (line 158) | class FarthestPointSampling(Function):
    method forward (line 160) | def forward(ctx, xyz: torch.Tensor, npoint: int):
    method backward (line 180) | def backward(xyz, a=None):
  class StackFarthestPointSampling (line 187) | class StackFarthestPointSampling(Function):
    method forward (line 189) | def forward(ctx, xyz, xyz_batch_cnt, npoint):
    method backward (line 217) | def backward(xyz, a=None):
  class ThreeNN (line 224) | class ThreeNN(Function):
    method forward (line 226) | def forward(ctx, unknown, unknown_batch_cnt, known, known_batch_cnt):
    method backward (line 253) | def backward(ctx, a=None, b=None):
  class ThreeInterpolate (line 260) | class ThreeInterpolate(Function):
    method forward (line 263) | def forward(ctx, features: torch.Tensor, idx: torch.Tensor, weight: to...
    method backward (line 282) | def backward(ctx, grad_out: torch.Tensor):
  class ThreeNNForVectorPoolByTwoStep (line 302) | class ThreeNNForVectorPoolByTwoStep(Function):
    method forward (line 304) | def forward(ctx, support_xyz, xyz_batch_cnt, new_xyz, new_xyz_grid_cen...
  class VectorPoolWithVoxelQuery (line 357) | class VectorPoolWithVoxelQuery(Function):
    method forward (line 359) | def forward(ctx, support_xyz: torch.Tensor, xyz_batch_cnt: torch.Tenso...
    method backward (line 428) | def backward(ctx, grad_new_features: torch.Tensor, grad_local_xyz: tor...

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/ball_query.cpp
  function ball_query_wrapper_stack (line 31) | int ball_query_wrapper_stack(int B, int M, float radius, int nsample,

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/ball_query_deform.cpp
  function ball_query_deform_wrapper_stack (line 24) | int ball_query_deform_wrapper_stack(int B, int M, int nsample,

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/group_points.cpp
  function group_points_grad_wrapper_stack (line 31) | int group_points_grad_wrapper_stack(int B, int M, int C, int N, int nsam...
  function group_points_wrapper_stack (line 52) | int group_points_wrapper_stack(int B, int M, int C, int nsample,

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/interpolate.cpp
  function three_nn_wrapper_stack (line 35) | void three_nn_wrapper_stack(at::Tensor unknown_tensor,
  function three_interpolate_wrapper_stack (line 66) | void three_interpolate_wrapper_stack(at::Tensor features_tensor,
  function three_interpolate_grad_wrapper_stack (line 89) | void three_interpolate_grad_wrapper_stack(at::Tensor grad_out_tensor, at...

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/pointnet2_api.cpp
  function PYBIND11_MODULE (line 12) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/sampling.cpp
  function farthest_point_sampling_wrapper (line 24) | int farthest_point_sampling_wrapper(int b, int n, int m,
  function stack_farthest_point_sampling_wrapper (line 40) | int stack_farthest_point_sampling_wrapper(at::Tensor points_tensor,

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/vector_pool.cpp
  function query_stacked_local_neighbor_idxs_wrapper_stack (line 35) | int query_stacked_local_neighbor_idxs_wrapper_stack(at::Tensor support_x...
  function query_three_nn_by_stacked_local_idxs_wrapper_stack (line 78) | int query_three_nn_by_stacked_local_idxs_wrapper_stack(at::Tensor suppor...
  function vector_pool_wrapper_stack (line 116) | int vector_pool_wrapper_stack(at::Tensor support_xyz_tensor, at::Tensor ...
  function vector_pool_grad_wrapper_stack (line 173) | int vector_pool_grad_wrapper_stack(at::Tensor grad_new_features_tensor,

FILE: pcdet/ops/pointnet2/pointnet2_stack/src/voxel_query.cpp
  function voxel_query_wrapper_stack (line 25) | int voxel_query_wrapper_stack(int M, int R1, int R2, int R3, int nsample...

FILE: pcdet/ops/pointnet2/pointnet2_stack/voxel_pool_modules.py
  class NeighborVoxelSAModuleMSG (line 8) | class NeighborVoxelSAModuleMSG(nn.Module):
    method __init__ (line 10) | def __init__(self, *, query_ranges: List[List[int]], radii: List[float],
    method init_weights (line 60) | def init_weights(self):
    method forward (line 70) | def forward(self, xyz, xyz_batch_cnt, new_xyz, new_xyz_batch_cnt, \

FILE: pcdet/ops/pointnet2/pointnet2_stack/voxel_query_utils.py
  class VoxelQuery (line 10) | class VoxelQuery(Function):
    method forward (line 13) | def forward(ctx, max_range: int, radius: float, nsample: int, xyz: tor...
    method backward (line 45) | def backward(ctx, a=None):
  class VoxelQueryAndGrouping (line 51) | class VoxelQueryAndGrouping(nn.Module):
    method __init__ (line 52) | def __init__(self, max_range: int, radius: float, nsample: int):
    method forward (line 61) | def forward(self, new_coords: torch.Tensor, xyz: torch.Tensor, xyz_bat...

FILE: pcdet/ops/roiaware_pool3d/roiaware_pool3d_utils.py
  function points_in_boxes_cpu (line 9) | def points_in_boxes_cpu(points, boxes):
  function points_in_boxes_gpu (line 28) | def points_in_boxes_gpu(points, boxes):
  class RoIAwarePool3d (line 44) | class RoIAwarePool3d(nn.Module):
    method __init__ (line 45) | def __init__(self, out_size, max_pts_each_voxel=128):
    method forward (line 50) | def forward(self, rois, pts, pts_feature, pool_method='max'):
  class RoIAwarePool3dFunction (line 55) | class RoIAwarePool3dFunction(Function):
    method forward (line 57) | def forward(ctx, rois, pts, pts_feature, out_size, max_pts_each_voxel,...
    method backward (line 96) | def backward(ctx, grad_out):

FILE: pcdet/ops/roiaware_pool3d/src/roiaware_pool3d.cpp
  function roiaware_pool3d_gpu (line 29) | int roiaware_pool3d_gpu(at::Tensor rois, at::Tensor pts, at::Tensor pts_...
  function roiaware_pool3d_gpu_backward (line 68) | int roiaware_pool3d_gpu_backward(at::Tensor pts_idx_of_voxels, at::Tenso...
  function points_in_boxes_gpu (line 98) | int points_in_boxes_gpu(at::Tensor boxes_tensor, at::Tensor pts_tensor, ...
  function lidar_to_local_coords_cpu (line 121) | inline void lidar_to_local_coords_cpu(float shift_x, float shift_y, floa...
  function check_pt_in_box3d_cpu (line 128) | inline int check_pt_in_box3d_cpu(const float *pt, const float *box3d, fl...
  function points_in_boxes_cpu (line 143) | int points_in_boxes_cpu(at::Tensor boxes_tensor, at::Tensor pts_tensor, ...
  function PYBIND11_MODULE (line 172) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/roipoint_pool3d/roipoint_pool3d_utils.py
  class RoIPointPool3d (line 9) | class RoIPointPool3d(nn.Module):
    method __init__ (line 10) | def __init__(self, num_sampled_points=512, pool_extra_width=1.0):
    method forward (line 15) | def forward(self, points, point_features, boxes3d):
  class RoIPointPool3dFunction (line 31) | class RoIPointPool3dFunction(Function):
    method forward (line 33) | def forward(ctx, points, point_features, boxes3d, pool_extra_width, nu...
    method backward (line 62) | def backward(ctx, grad_out):

FILE: pcdet/ops/roipoint_pool3d/src/roipoint_pool3d.cpp
  function roipool3d_gpu (line 23) | int roipool3d_gpu(at::Tensor xyz, at::Tensor boxes3d, at::Tensor pts_fea...
  function PYBIND11_MODULE (line 57) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/votr_ops/src/build_attention_indices.cpp
  function sparse_local_attention_with_tensor_wrapper (line 29) | int sparse_local_attention_with_tensor_wrapper(int x_max, int y_max, int...
  function sparse_local_attention_with_hash_wrapper (line 45) | int sparse_local_attention_with_hash_wrapper(int x_max, int y_max, int z...
  function subm_local_attention_with_tensor_wrapper (line 61) | int subm_local_attention_with_tensor_wrapper(int x_max, int y_max, int z...
  function subm_local_attention_with_hash_wrapper (line 76) | int subm_local_attention_with_hash_wrapper(int x_max, int y_max, int z_m...
  function sparse_strided_attention_with_tensor_wrapper (line 91) | int sparse_strided_attention_with_tensor_wrapper(int x_max, int y_max, i...
  function sparse_strided_attention_with_hash_wrapper (line 110) | int sparse_strided_attention_with_hash_wrapper(int x_max, int y_max, int...
  function subm_strided_attention_with_tensor_wrapper (line 129) | int subm_strided_attention_with_tensor_wrapper(int x_max, int y_max, int...
  function subm_strided_attention_with_hash_wrapper (line 147) | int subm_strided_attention_with_hash_wrapper(int x_max, int y_max, int z...

FILE: pcdet/ops/votr_ops/src/build_mapping.cpp
  function build_mapping_with_tensor_wrapper (line 29) | int build_mapping_with_tensor_wrapper(int x_max, int y_max, int z_max, i...
  function downsample_with_tensor_wrapper (line 43) | int downsample_with_tensor_wrapper(int x_max, int y_max, int z_max, int ...
  function build_mapping_with_hash_wrapper (line 61) | int build_mapping_with_hash_wrapper(int x_max, int y_max, int z_max, int...
  function downsample_with_hash_wrapper (line 75) | int downsample_with_hash_wrapper(int x_max, int y_max, int z_max, int x_...

FILE: pcdet/ops/votr_ops/src/group_features.cpp
  function group_features_grad_wrapper_stack (line 31) | int group_features_grad_wrapper_stack(int B, int M, int C, int N, int ns...
  function group_features_wrapper_stack (line 52) | int group_features_wrapper_stack(int B, int M, int C, int nsample,

FILE: pcdet/ops/votr_ops/src/votr_api.cpp
  function PYBIND11_MODULE (line 8) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {

FILE: pcdet/ops/votr_ops/votr_utils.py
  class BuildTensorTable (line 6) | class BuildTensorTable(Function):
    method forward (line 9) | def forward(ctx, batch_size, spatial_shape, voxel_indices, v_bs_cnt):
    method backward (line 26) | def backward(ctx, a=None):
  class BuildHashTable (line 31) | class BuildHashTable(Function):
    method forward (line 34) | def forward(ctx, batch_size, hash_size, spatial_shape, voxel_indices, ...
    method backward (line 51) | def backward(ctx, a=None):
  class TensorDownSample (line 56) | class TensorDownSample(Function):
    method forward (line 58) | def forward(ctx, strides, num_ds_voxels, batch_size, spatial_shape, vo...
    method backward (line 88) | def backward(ctx, a=None):
  class HashTableDownSample (line 93) | class HashTableDownSample(Function):
    method forward (line 95) | def forward(ctx, strides, num_ds_voxels, batch_size, hash_size, spatia...
    method backward (line 125) | def backward(ctx, a=None):
  class SparseLocalAttentionTensorIndices (line 130) | class SparseLocalAttentionTensorIndices(Function):
    method forward (line 133) | def forward(ctx, attend_size, attend_range, strides, dense_map, voxel_...
    method backward (line 154) | def backward(ctx, a=None):
  class SparseLocalAttentionHashIndices (line 159) | class SparseLocalAttentionHashIndices(Function):
    method forward (line 162) | def forward(ctx, spatial_shape, attend_size, attend_range, strides, de...
    method backward (line 184) | def backward(ctx, a=None):
  class SparseStridedAttentionTensorIndices (line 189) | class SparseStridedAttentionTensorIndices(Function):
    method forward (line 192) | def forward(ctx, attend_size, range_spec, strides, dense_map, voxel_in...
    method backward (line 215) | def backward(ctx, a=None):
  class SparseStridedAttentionHashIndices (line 220) | class SparseStridedAttentionHashIndices(Function):
    method forward (line 223) | def forward(ctx, spatial_shape, attend_size, range_spec, strides, dens...
    method backward (line 247) | def backward(ctx, a=None):
  class SubMLocalAttentionTensorIndices (line 252) | class SubMLocalAttentionTensorIndices(Function):
    method forward (line 255) | def forward(ctx, attend_size, attend_range, dense_map, voxel_indices):
    method backward (line 275) | def backward(ctx, a=None):
  class SubMLocalAttentionHashIndices (line 280) | class SubMLocalAttentionHashIndices(Function):
    method forward (line 283) | def forward(ctx, spatial_shape, attend_size, attend_range, dense_map, ...
    method backward (line 304) | def backward(ctx, a=None):
  class SubMStridedAttentionTensorIndices (line 309) | class SubMStridedAttentionTensorIndices(Function):
    method forward (line 312) | def forward(ctx, attend_size, range_spec, dense_map, voxel_indices):
    method backward (line 333) | def backward(ctx, a=None):
  class SubMStridedAttentionHashIndices (line 338) | class SubMStridedAttentionHashIndices(Function):
    method forward (line 341) | def forward(ctx, spatial_shape, attend_size, range_spec, dense_map, vo...
    method backward (line 363) | def backward(ctx, a=None):
  class GroupingOperation (line 368) | class GroupingOperation(Function):
    method forward (line 371) | def forward(ctx, features: torch.Tensor, features_batch_cnt: torch.Ten...
    method backward (line 405) | def backward(ctx, grad_out: torch.Tensor):

FILE: pcdet/utils/bbloss.py
  function limit (line 4) | def limit( ang):
  function ang_weight (line 14) | def ang_weight(pred, gt):
  function compute_iou (line 20) | def compute_iou(x,w,y,l):
  function bb_loss (line 30) | def bb_loss(pred, target):
  class APLoss (line 50) | class APLoss(torch.autograd.Function):
    method forward (line 52) | def forward(ctx, logits, targets):
    method backward (line 61) | def backward(ctx, out_grad1):
  function AP_loss (line 66) | def AP_loss(logits, targets):

FILE: pcdet/utils/box_coder_utils.py
  class ResidualCoder (line 5) | class ResidualCoder(object):
    method __init__ (line 6) | def __init__(self, code_size=7, encode_angle_by_sincos=False, **kwargs):
    method encode_torch (line 13) | def encode_torch(self, boxes, anchors):
    method decode_torch (line 46) | def decode_torch(self, box_encodings, anchors):
  class ResidualCoderV2 (line 81) | class ResidualCoderV2(object):
    method __init__ (line 82) | def __init__(self, code_size=7, encode_angle_by_sincos=False, **kwargs):
    method encode_torch (line 89) | def encode_torch(self, boxes, anchors):
    method decode_torch (line 124) | def decode_torch(self, box_encodings, anchors):
  class ResidualCoderFree (line 160) | class ResidualCoderFree(object):
    method __init__ (line 161) | def __init__(self, code_size=8,  **kwargs):
    method encode_torch (line 165) | def encode_torch(self, boxes, centers):
    method decode_torch (line 193) | def decode_torch(self, box_encodings, centers):
  class PreviousResidualDecoder (line 218) | class PreviousResidualDecoder(object):
    method __init__ (line 219) | def __init__(self, code_size=7, **kwargs):
    method decode_torch (line 224) | def decode_torch(box_encodings, anchors):
  class PreviousResidualRoIDecoder (line 250) | class PreviousResidualRoIDecoder(object):
    method __init__ (line 251) | def __init__(self, code_size=7, **kwargs):
    method decode_torch (line 256) | def decode_torch(box_encodings, anchors):
  class PointResidualCoder (line 282) | class PointResidualCoder(object):
    method __init__ (line 283) | def __init__(self, code_size=8, use_mean_size=True, **kwargs):
    method encode_torch (line 291) | def encode_torch(self, gt_boxes, points, gt_classes=None):
    method decode_torch (line 327) | def decode_torch(self, box_encodings, points, pred_classes=None):

FILE: pcdet/utils/box_np_ops.py
  function corners_nd (line 5) | def corners_nd(dims, origin=0.5):
  function rotation_3d_in_axis (line 38) | def rotation_3d_in_axis(points, angles, axis=0):
  function center_to_corner_box3d (line 69) | def center_to_corner_box3d(centers,
  function box2d_to_corner_jit (line 106) | def box2d_to_corner_jit(boxes):
  function corner_to_standup_nd_jit (line 140) | def corner_to_standup_nd_jit(boxes_corner):
  function corner_to_surfaces_3d_jit (line 161) | def corner_to_surfaces_3d_jit(corners):
  function rotation_points_single_angle (line 190) | def rotation_points_single_angle(points, angle, axis=0):
  function corner_to_surfaces_3d (line 222) | def corner_to_surfaces_3d(corners):
  function surface_equ_3d (line 244) | def surface_equ_3d(polygon_surfaces):
  function _points_in_convex_polygon_3d_jit (line 269) | def _points_in_convex_polygon_3d_jit(points, polygon_surfaces, normal_ve...
  function points_in_convex_polygon_3d_jit (line 306) | def points_in_convex_polygon_3d_jit(points,
  function points_in_convex_polygon_jit (line 336) | def points_in_convex_polygon_jit(points, polygon, clockwise=True):

FILE: pcdet/utils/box_utils.py
  function in_hull (line 10) | def in_hull(p, hull):
  function boxes_to_corners_3d (line 27) | def boxes_to_corners_3d(boxes3d):
  function mask_boxes_outside_range_numpy (line 55) | def mask_boxes_outside_range_numpy(boxes, limit_range, min_num_corners=1):
  function remove_points_in_boxes3d (line 74) | def remove_points_in_boxes3d(points, boxes3d):
  function boxes3d_kitti_camera_to_lidar (line 91) | def boxes3d_kitti_camera_to_lidar(boxes3d_camera, calib):
  function boxes3d_kitti_fakelidar_to_lidar (line 108) | def boxes3d_kitti_fakelidar_to_lidar(boxes3d_lidar):
  function boxes3d_kitti_lidar_to_fakelidar (line 122) | def boxes3d_kitti_lidar_to_fakelidar(boxes3d_lidar):
  function enlarge_box3d (line 136) | def enlarge_box3d(boxes3d, extra_width=(0, 0, 0)):
  function boxes3d_lidar_to_kitti_camera (line 152) | def boxes3d_lidar_to_kitti_camera(boxes3d_lidar, calib):
  function boxes3d_to_corners3d_kitti_camera (line 169) | def boxes3d_to_corners3d_kitti_camera(boxes3d, bottom_center=True):
  function boxes3d_kitti_camera_to_imageboxes (line 215) | def boxes3d_kitti_camera_to_imageboxes(boxes3d, calib, image_shape=None):
  function boxes_iou_normal (line 238) | def boxes_iou_normal(boxes_a, boxes_b):
  function boxes3d_lidar_to_aligned_bev_boxes (line 261) | def boxes3d_lidar_to_aligned_bev_boxes(boxes3d):
  function boxes3d_nearest_bev_iou (line 275) | def boxes3d_nearest_bev_iou(boxes_a, boxes_b):

FILE: pcdet/utils/calibration_kitti.py
  function get_calib_from_file (line 24) | def get_calib_from_file(filepath):
  class Calibration (line 60) | class Calibration(object):
    method __init__ (line 61) | def __init__(self, calib_file):
    method cart_to_hom (line 79) | def cart_to_hom(self, pts):
    method cart_to_hom_cuda (line 87) | def cart_to_hom_cuda(self, pts):
    method rect_to_lidar (line 95) | def rect_to_lidar(self, pts_rect):
    method lidar_to_rect (line 110) | def lidar_to_rect(self, pts_lidar):
    method lidar_to_rect_cuda (line 120) | def lidar_to_rect_cuda(self, pts_lidar):
    method rect_to_img (line 132) | def rect_to_img(self, pts_rect):
    method rect_to_img_cuda (line 143) | def rect_to_img_cuda(self, pts_rect):
    method lidar_to_img (line 155) | def lidar_to_img(self, pts_lidar):
    method img_to_rect (line 164) | def img_to_rect(self, u, v, depth_rect):
    method corners3d_to_img_boxes (line 176) | def corners3d_to_img_boxes(self, corners3d):

FILE: pcdet/utils/common_utils.py
  function check_numpy_to_torch (line 14) | def check_numpy_to_torch(x):
  function limit_period (line 20) | def limit_period(val, offset=0.5, period=np.pi):
  function drop_info_with_name (line 26) | def drop_info_with_name(info, name):
  function rotate_points_along_z (line 34) | def rotate_points_along_z(points, angle):
  function mask_points_by_range (line 59) | def mask_points_by_range(points, limit_range):
  function get_voxel_centers (line 65) | def get_voxel_centers(voxel_coords, downsample_times, voxel_size, point_...
  function create_logger (line 84) | def create_logger(log_file=None, rank=0, log_level=logging.INFO):
  function set_random_seed (line 100) | def set_random_seed(seed):
  function keep_arrays_by_name (line 108) | def keep_arrays_by_name(gt_names, used_classes):
  function init_dist_slurm (line 114) | def init_dist_slurm(tcp_port, local_rank, backend='nccl'):
  function init_dist_pytorch (line 141) | def init_dist_pytorch(tcp_port, local_rank, backend='nccl'):
  function get_dist_info (line 157) | def get_dist_info():
  function merge_results_dist (line 174) | def merge_results_dist(result_part, size, tmpdir):

FILE: pcdet/utils/commu_utils.py
  function get_world_size (line 15) | def get_world_size():
  function get_rank (line 23) | def get_rank():
  function is_main_process (line 31) | def is_main_process():
  function synchronize (line 35) | def synchronize():
  function all_gather (line 50) | def all_gather(data):
  function reduce_dict (line 114) | def reduce_dict(input_dict, average=True):
  function average_reduce_value (line 143) | def average_reduce_value(data):
  function all_reduce (line 148) | def all_reduce(data, op="sum", average=False):
  function concat_all_gather (line 172) | def concat_all_gather(tensor):

FILE: pcdet/utils/loss_utils.py
  class SigmoidFocalClassificationLoss (line 9) | class SigmoidFocalClassificationLoss(nn.Module):
    method __init__ (line 14) | def __init__(self, gamma: float = 2.0, alpha: float = 0.25):
    method sigmoid_cross_entropy_with_logits (line 25) | def sigmoid_cross_entropy_with_logits(input: torch.Tensor, target: tor...
    method forward (line 44) | def forward(self, input: torch.Tensor, target: torch.Tensor, weights: ...
  class WeightedSmoothL1Loss (line 75) | class WeightedSmoothL1Loss(nn.Module):
    method __init__ (line 84) | def __init__(self, beta: float = 1.0 / 9.0, code_weights: list = None):
    method smooth_l1_loss (line 100) | def smooth_l1_loss(diff, beta):
    method forward (line 109) | def forward(self, input: torch.Tensor, target: torch.Tensor, weights: ...
  class WeightedL1Loss (line 139) | class WeightedL1Loss(nn.Module):
    method __init__ (line 140) | def __init__(self, code_weights: list = None):
    method forward (line 151) | def forward(self, input: torch.Tensor, target: torch.Tensor, weights: ...
  class WeightedCrossEntropyLoss (line 181) | class WeightedCrossEntropyLoss(nn.Module):
    method __init__ (line 186) | def __init__(self):
    method forward (line 189) | def forward(self, input: torch.Tensor, target: torch.Tensor, weights: ...
  function get_corner_loss_lidar (line 209) | def get_corner_loss_lidar(pred_bbox3d: torch.Tensor, gt_bbox3d: torch.Te...
  function compute_fg_mask (line 235) | def compute_fg_mask(gt_boxes2d, shape, downsample_factor=1, device=torch...
  function neg_loss_cornernet (line 264) | def neg_loss_cornernet(pred, gt, mask=None):
  class FocalLossCenterNet (line 302) | class FocalLossCenterNet(nn.Module):
    method __init__ (line 306) | def __init__(self):
    method forward (line 310) | def forward(self, out, target, mask=None):
  function _reg_loss (line 314) | def _reg_loss(regr, gt_regr, mask):
  function _gather_feat (line 346) | def _gather_feat(feat, ind, mask=None):
  function _transpose_and_gather_feat (line 357) | def _transpose_and_gather_feat(feat, ind):
  class RegLossCenterNet (line 364) | class RegLossCenterNet(nn.Module):
    method __init__ (line 369) | def __init__(self):
    method forward (line 372) | def forward(self, output, mask, ind=None, target=None):

FILE: pcdet/utils/object3d_kitti.py
  function get_objects_from_label (line 4) | def get_objects_from_label(label_file):
  function get_objects_from_tracking_label (line 11) | def get_objects_from_tracking_label(label_file):
  function cls_type_to_id (line 16) | def cls_type_to_id(cls_type):
  class Object3d (line 23) | class Object3d(object):
    method __init__ (line 24) | def __init__(self, line):
    method get_kitti_obj_level (line 48) | def get_kitti_obj_level(self):
    method get_kitti_tracking_obj_level (line 63) | def get_kitti_tracking_obj_level(self):
    method generate_corners3d (line 79) | def generate_corners3d(self):
    method to_str (line 97) | def to_str(self):
    method to_kitti_format (line 103) | def to_kitti_format(self):

FILE: pcdet/utils/odiou_loss.py
  class compute_vertex (line 15) | class compute_vertex(Function):
    method forward (line 21) | def forward(ctx, corners_gboxes, corners_qboxes):
    method backward (line 139) | def backward(ctx, *grad_outputs):
  class sort_vertex (line 278) | class sort_vertex(Function):
    method forward (line 280) | def forward(ctx, int_pts, num_of_inter):
    method backward (line 323) | def backward(ctx, grad_output):
  class area_polygon (line 342) | class area_polygon(Function):
    method forward (line 345) | def forward(ctx, int_pts, num_of_inter):
    method backward (line 365) | def backward(ctx, *grad_outputs):
  class rbbox_to_corners (line 448) | class rbbox_to_corners(nn.Module):
    method _init_ (line 450) | def _init_(self, rbbox):
    method forward (line 455) | def forward(ctx, rbbox):
  class rinter_area_compute (line 486) | class rinter_area_compute(nn.Module):
    method _init_ (line 488) | def _init_(self, corners_gboxes, corners_qboxes):
    method forward (line 494) | def forward(ctx, corners_gboxes, corners_qboxes):
  class find_convex_hull (line 505) | class find_convex_hull(Function):
    method forward (line 509) | def forward(ctx, corners):
    method backward (line 523) | def backward(ctx, *grad_outputs):
  class mbr_convex_hull (line 535) | class mbr_convex_hull(nn.Module):
    method _init_ (line 542) | def _init_(self, hull_points_2d):
    method forward (line 547) | def forward(ctx, hull_points_2d):
  class mbr_area_compute (line 569) | class mbr_area_compute(nn.Module):
    method _init_ (line 572) | def _init_(self, corners):
    method forward (line 577) | def forward(ctx, corners):
  class mbr_diag_convex_hull (line 595) | class mbr_diag_convex_hull(nn.Module):
    method _init_ (line 600) | def _init_(self, hull_points_2d):
    method forward (line 605) | def forward(ctx, hull_points_2d):
  class mbr_diag_compute (line 631) | class mbr_diag_compute(nn.Module):
    method _init_ (line 633) | def _init_(self, corners):
    method forward (line 638) | def forward(ctx, corners):
  class _second_box_decode_operation (line 649) | class _second_box_decode_operation(nn.Module):
    method _init_ (line 658) | def _init_(self, box_encodings, anchors, encode_angle_to_vector, smoot...
    method forward (line 666) | def forward(ctx, box_encodings, anchors, encode_angle_to_vector, smoot...
  class rbbox_corners_aligned (line 709) | class rbbox_corners_aligned(nn.Module):
    method _init_ (line 711) | def _init_(self, gboxes):
    method forward (line 716) | def forward(ctx, gboxes):
  class align_inter_aligned (line 756) | class align_inter_aligned(nn.Module):
    method _init_ (line 758) | def _init_(self, gboxes, qboxes):
    method forward (line 764) | def forward(ctx, gboxes, qboxes):
  class odiou_3D (line 835) | class odiou_3D(nn.Module):
    method _init_ (line 836) | def _init_(self, gboxes=None, qboxes=None, aligned=False):
    method forward (line 843) | def forward(ctx, gboxes, qboxes, weights, batch_size):

FILE: pcdet/utils/spconv_utils.py
  function scatter_point_inds (line 4) | def scatter_point_inds(indices, point_inds, shape):
  function generate_voxel2pinds (line 13) | def generate_voxel2pinds(sparse_tensor):
  function generate_voxel2pinds2 (line 23) | def generate_voxel2pinds2(batch_size,spatial_shape,indices):
  function find_all_spconv_keys (line 41) | def find_all_spconv_keys(model: nn.Module, prefix="") -> Set[str]:
  function replace_feature (line 58) | def replace_feature(out, new_features):

FILE: pcdet/utils/transform_utils.py
  function project_to_image (line 14) | def project_to_image(project, points):
  function normalize_coords (line 38) | def normalize_coords(coords, shape):
  function bin_depths (line 56) | def bin_depths(depth_map, mode, depth_min, depth_max, num_bins, target=F...

FILE: setup.py
  function get_git_commit_number (line 8) | def get_git_commit_number():
  function make_cuda_ext (line 17) | def make_cuda_ext(name, module, sources):
  function write_version_to_file (line 25) | def write_version_to_file(version, target_file):

FILE: tools/PENet/CoordConv.py
  class AddCoordsNp (line 5) | class AddCoordsNp():
    method __init__ (line 7) | def __init__(self, x_dim=64, y_dim=64, with_r=False):
    method call (line 12) | def call(self):

FILE: tools/PENet/basic.py
  function weights_init (line 42) | def weights_init(m):
  function convbnrelu (line 58) | def convbnrelu(in_channels, out_channels, kernel_size=3,stride=1, paddin...
  function deconvbnrelu (line 65) | def deconvbnrelu(in_channels, out_channels, kernel_size=5, stride=2, pad...
  function convbn (line 72) | def convbn(in_channels, out_channels, kernel_size=3,stride=1, padding=1):
  function deconvbn (line 78) | def deconvbn(in_channels, out_channels, kernel_size=4, stride=2, padding...
  class BasicBlock (line 84) | class BasicBlock(nn.Module):
    method __init__ (line 88) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
    method forward (line 112) | def forward(self, x):
  function conv3x3 (line 130) | def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, bias=...
  function conv1x1 (line 137) | def conv1x1(in_planes, out_planes, stride=1, groups=1, bias=False):
  class SparseDownSampleClose (line 141) | class SparseDownSampleClose(nn.Module):
    method __init__ (line 142) | def __init__(self, stride):
    method forward (line 146) | def forward(self, d, mask):
  class CSPNGenerate (line 155) | class CSPNGenerate(nn.Module):
    method __init__ (line 156) | def __init__(self, in_channels, kernel_size):
    method forward (line 161) | def forward(self, feature):
  class CSPN (line 190) | class CSPN(nn.Module):
    method __init__ (line 191) | def __init__(self, kernel_size):
    method forward (line 195) | def forward(self, guide_weight, hn, h0):
  class CSPNGenerateAccelerate (line 220) | class CSPNGenerateAccelerate(nn.Module):
    method __init__ (line 221) | def __init__(self, in_channels, kernel_size):
    method forward (line 226) | def forward(self, feature):
  function kernel_trans (line 242) | def kernel_trans(kernel, weight):
  class CSPNAccelerate (line 247) | class CSPNAccelerate(nn.Module):
    method __init__ (line 248) | def __init__(self, kernel_size, dilation=1, padding=1, stride=1):
    method forward (line 255) | def forward(self, kernel, input, input0): #with standard CSPN, an addi...
  class GeometryFeature (line 270) | class GeometryFeature(nn.Module):
    method __init__ (line 271) | def __init__(self):
    method forward (line 274) | def forward(self, z, vnorm, unorm, h, w, ch, cw, fh, fw):
  class BasicBlockGeo (line 279) | class BasicBlockGeo(nn.Module):
    method __init__ (line 283) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
    method forward (line 308) | def forward(self, x, g1=None, g2=None):

FILE: tools/PENet/criteria.py
  class MaskedMSELoss (line 6) | class MaskedMSELoss(nn.Module):
    method __init__ (line 7) | def __init__(self):
    method forward (line 10) | def forward(self, pred, target):
  class MaskedL1Loss (line 19) | class MaskedL1Loss(nn.Module):
    method __init__ (line 20) | def __init__(self):
    method forward (line 23) | def forward(self, pred, target, weight=None):

FILE: tools/PENet/dataloaders/calibration_kitti.py
  function get_calib_from_file (line 23) | def get_calib_from_file(filepath):
  class Calibration (line 59) | class Calibration(object):
    method __init__ (line 60) | def __init__(self, calib_file):
    method cart_to_hom (line 78) | def cart_to_hom(self, pts):
    method rect_to_lidar (line 86) | def rect_to_lidar(self, pts_rect):
    method lidar_to_rect (line 101) | def lidar_to_rect(self, pts_lidar):
    method rect_to_img (line 111) | def rect_to_img(self, pts_rect):
    method lidar_to_img (line 122) | def lidar_to_img(self, pts_lidar):
    method img_to_rect (line 131) | def img_to_rect(self, u, v, depth_rect):
    method corners3d_to_img_boxes (line 143) | def corners3d_to_img_boxes(self, corners3d):

FILE: tools/PENet/dataloaders/kitti_loader.py
  function load_calib (line 18) | def load_calib():
  function get_paths_and_transform (line 40) | def get_paths_and_transform(split, args):
  function rgb_read (line 167) | def rgb_read(filename):
  function depth_read (line 176) | def depth_read(filename):
  function drop_depth_measurements (line 193) | def drop_depth_measurements(depth, prob_keep):
  function train_transform (line 198) | def train_transform(rgb, sparse, target, position, args):
  function val_transform (line 275) | def val_transform(rgb, sparse, target, position, args):
  function no_transform (line 294) | def no_transform(rgb, sparse, target, position, args):
  function handle_gray (line 302) | def handle_gray(rgb, args):
  function get_rgb_near (line 317) | def get_rgb_near(path, args):
  class KittiDepth (line 348) | class KittiDepth(data.Dataset):
    method __init__ (line 352) | def __init__(self, split, args):
    method __getraw__ (line 362) | def __getraw__(self, index):
    method __getitem__ (line 371) | def __getitem__(self, index):
    method __len__ (line 392) | def __len__(self):

FILE: tools/PENet/dataloaders/my_loader.py
  class VoxelGeneratorWrapper (line 20) | class VoxelGeneratorWrapper():
    method __init__ (line 21) | def __init__(self, vsize_xyz, coors_range_xyz, num_point_features, max...
    method generate (line 49) | def generate(self, points):
  function get_fov_flag (line 76) | def get_fov_flag(pts_rect, img_shape, calib):
  function load_depth_input (line 93) | def load_depth_input(calib, image, points):
  function depth_read (line 115) | def depth_read(filename):
  function depth2points (line 133) | def depth2points(depth, calib):
  function depth2pointsrgb (line 143) | def depth2pointsrgb(depth, image, calib):
  function to_sphere_coords (line 157) | def to_sphere_coords(points):
  function de_noise (line 173) | def de_noise(points, vert_res = 0.05, hor_res = 0.05):
  function la_sampling (line 206) | def la_sampling(points, vert_res = 0.002, hor_res = 0.002):
  function la_sampling2 (line 238) | def la_sampling2(points, vert_res=0.002, hor_res=0.002):
  function voxel_sampling (line 254) | def voxel_sampling(point2, res_x=0.05, res_y=0.05, res_z = 0.05):
  function lidar_guied_voxel_sampling (line 277) | def lidar_guied_voxel_sampling(point2, ref_points, res_x=0.2, res_y=0.2,...
  function lidar_guied_dis_sampling (line 315) | def lidar_guied_dis_sampling(point2, ref_points, dis = 0.3, res_z = 0.3):
  function range_sampling (line 337) | def range_sampling(points2, ref_points, calib, pix_dis_x = 1, pix_dis_y ...
  function range_sampling_torch (line 363) | def range_sampling_torch(points2, ref_points, calib, pix_dis_x = 4, pix_...
  function depth2pointsrgbp (line 391) | def depth2pointsrgbp(depth, image, calib, lidar):
  class MyLoader (line 420) | class MyLoader():
    method __init__ (line 421) | def __init__(self, root_path=''):
    method include_all_files (line 425) | def include_all_files(self):
    method __len__ (line 434) | def __len__(self):
    method __getitem__ (line 437) | def __getitem__(self, item):

FILE: tools/PENet/dataloaders/spconv_utils.py
  function scatter_point_inds (line 4) | def scatter_point_inds(indices, point_inds, shape):
  function generate_voxel2pinds (line 13) | def generate_voxel2pinds(sparse_tensor):
  function generate_voxel2pinds2 (line 23) | def generate_voxel2pinds2(batch_size,spatial_shape,indices):
  function find_all_spconv_keys (line 41) | def find_all_spconv_keys(model: nn.Module, prefix="") -> Set[str]:
  function replace_feature (line 58) | def replace_feature(out, new_features):

FILE: tools/PENet/dataloaders/transforms.py
  function _is_numpy_image (line 22) | def _is_numpy_image(img):
  function _is_pil_image (line 26) | def _is_pil_image(img):
  function _is_tensor_image (line 33) | def _is_tensor_image(img):
  function adjust_brightness (line 37) | def adjust_brightness(img, brightness_factor):
  function adjust_contrast (line 57) | def adjust_contrast(img, contrast_factor):
  function adjust_saturation (line 77) | def adjust_saturation(img, saturation_factor):
  function adjust_hue (line 97) | def adjust_hue(img, hue_factor):
  function adjust_gamma (line 143) | def adjust_gamma(img, gamma, gain=1):
  class Compose (line 177) | class Compose(object):
    method __init__ (line 189) | def __init__(self, transforms):
    method __call__ (line 192) | def __call__(self, img):
  class ToTensor (line 198) | class ToTensor(object):
    method __call__ (line 203) | def __call__(self, img):
  class NormalizeNumpyArray (line 229) | class NormalizeNumpyArray(object):
    method __init__ (line 239) | def __init__(self, mean, std):
    method __call__ (line 243) | def __call__(self, img):
  class NormalizeTensor (line 260) | class NormalizeTensor(object):
    method __init__ (line 270) | def __init__(self, mean, std):
    method __call__ (line 274) | def __call__(self, tensor):
  class Rotate (line 290) | class Rotate(object):
    method __init__ (line 296) | def __init__(self, angle):
    method __call__ (line 299) | def __call__(self, img):
  class Resize (line 312) | class Resize(object):
    method __init__ (line 323) | def __init__(self, size, interpolation='nearest'):
    method __call__ (line 328) | def __call__(self, img):
  class CenterCrop (line 345) | class CenterCrop(object):
    method __init__ (line 353) | def __init__(self, size):
    method get_params (line 360) | def get_params(img, output_size):
    method __call__ (line 382) | def __call__(self, img):
  class BottomCrop (line 409) | class BottomCrop(object):
    method __init__ (line 417) | def __init__(self, size):
    method get_params (line 424) | def get_params(img, output_size):
    method __call__ (line 446) | def __call__(self, img):
  class RandomCrop (line 473) | class RandomCrop(object):
    method __init__ (line 481) | def __init__(self, size):
    method get_params (line 488) | def get_params(img, output_size):
    method __call__ (line 508) | def __call__(self, img):
  class Crop (line 535) | class Crop(object):
    method __init__ (line 543) | def __init__(self, crop):
    method get_params (line 547) | def get_params(img, crop):
    method __call__ (line 568) | def __call__(self, img):
  class Lambda (line 595) | class Lambda(object):
    method __init__ (line 601) | def __init__(self, lambd):
    method __call__ (line 605) | def __call__(self, img):
  class HorizontalFlip (line 609) | class HorizontalFlip(object):
    method __init__ (line 616) | def __init__(self, do_flip):
    method __call__ (line 619) | def __call__(self, img):
  class ColorJitter (line 636) | class ColorJitter(object):
    method __init__ (line 649) | def __init__(self, brightness=0, contrast=0, saturation=0, hue=0):
    method __call__ (line 660) | def __call__(self, img):

FILE: tools/PENet/helper.py
  class logger (line 16) | class logger:
    method __init__ (line 17) | def __init__(self, args, prepare=True):
    method conditional_print (line 47) | def conditional_print(self, split, i, epoch, lr, n_set, blk_avg_meter,
    method conditional_save_info (line 76) | def conditional_save_info(self, split, average_meter, epoch):
    method save_single_txt (line 112) | def save_single_txt(self, filename, result, epoch):
    method save_best_txt (line 126) | def save_best_txt(self, result, epoch):
    method _get_img_comparison_name (line 129) | def _get_img_comparison_name(self, mode, epoch, is_best=False):
    method conditional_save_img_comparison (line 138) | def conditional_save_img_comparison(self, mode, i, ele, pred, epoch, p...
    method save_img_comparison_as_best (line 151) | def save_img_comparison_as_best(self, mode, epoch):
    method get_ranking_error (line 156) | def get_ranking_error(self, result):
    method rank_conditional_save_best (line 159) | def rank_conditional_save_best(self, mode, result, epoch):
    method conditional_save_pred (line 169) | def conditional_save_pred(self, mode, i, pred, epoch):
    method conditional_summarize (line 181) | def conditional_summarize(self, mode, avg, is_best):
  function backup_source_code (line 210) | def backup_source_code(backup_directory):
  function adjust_learning_rate (line 216) | def adjust_learning_rate(lr_init, optimizer, epoch, args):
  function save_checkpoint (line 245) | def save_checkpoint(state, is_best, epoch, output_directory):
  function get_folder_name (line 259) | def get_folder_name(args):
  function multiscale (line 272) | def multiscale(img):

FILE: tools/PENet/main.py
  function iterate (line 178) | def iterate(mode, args, loader, model, optimizer, logger, epoch):
  function main (line 296) | def main():

FILE: tools/PENet/metrics.py
  function log10 (line 8) | def log10(x):
  class Result (line 13) | class Result(object):
    method __init__ (line 14) | def __init__(self):
    method set_to_worst (line 31) | def set_to_worst(self):
    method update (line 47) | def update(self, irmse, imae, mse, rmse, mae, absrel, squared_rel, lg1...
    method evaluate (line 65) | def evaluate(self, output, target, photometric=0):
  class AverageMeter (line 105) | class AverageMeter(object):
    method __init__ (line 106) | def __init__(self):
    method reset (line 109) | def reset(self, time_stable):
    method update (line 130) | def update(self, result, gpu_time, data_time, n=1):
    method average (line 151) | def average(self):

FILE: tools/PENet/model.py
  class ENet (line 3) | class ENet(nn.Module):
    method __init__ (line 4) | def __init__(self, args):
    method forward (line 68) | def forward(self, input):
  class PENet_C1 (line 236) | class PENet_C1(nn.Module):
    method __init__ (line 237) | def __init__(self, args):
    method forward (line 290) | def forward(self, input):
  class PENet_C2 (line 382) | class PENet_C2(nn.Module):
    method __init__ (line 383) | def __init__(self, args):
    method forward (line 447) | def forward(self, input):
  class PENet_C4 (line 526) | class PENet_C4(nn.Module):
    method __init__ (line 527) | def __init__(self, args):
    method forward (line 605) | def forward(self, input):
  class PENet_C1_train (line 742) | class PENet_C1_train(nn.Module):
    method __init__ (line 743) | def __init__(self, args):
    method forward (line 761) | def forward(self, input):
  class PENet_C2_train (line 852) | class PENet_C2_train(nn.Module):
    method __init__ (line 853) | def __init__(self, args):
    method forward (line 882) | def forward(self, input):

FILE: tools/PENet/vis_utils.py
  function validcrop (line 16) | def validcrop(img):
  function depth_colorize (line 22) | def depth_colorize(depth):
  function feature_colorize (line 27) | def feature_colorize(feature):
  function mask_vis (line 32) | def mask_vis(mask):
  function merge_into_row (line 37) | def merge_into_row(ele, pred, predrgb=None, predg=None, extra=None, extr...
  function add_row (line 85) | def add_row(img_merge, row):
  function save_image (line 89) | def save_image(img_merge, filename):
  function save_image_torch (line 93) | def save_image_torch(rgb, filename):
  function save_depth_as_uint16png (line 103) | def save_depth_as_uint16png(img, filename):
  function get_fov_flag (line 109) | def get_fov_flag(pts_rect, img_shape, calib):
  function save_depth_as_points (line 126) | def save_depth_as_points(depth, idx, root_path):
  function save_depth_as_uint16png_upload (line 155) | def save_depth_as_uint16png_upload(img, filename):
  function save_depth_as_uint8colored (line 164) | def save_depth_as_uint8colored(img, filename):
  function save_mask_as_uint8colored (line 172) | def save_mask_as_uint8colored(img, filename, colored=True, normalized=Tr...
  function save_feature_as_uint8colored (line 185) | def save_feature_as_uint8colored(img, filename):

FILE: tools/eval_utils/eval_utils.py
  function statistics_info (line 14) | def statistics_info(cfg, ret_dict, metric, disp_dict):
  function eval_one_epoch (line 24) | def eval_one_epoch(cfg, model, dataloader, epoch_id, logger, dist_test=F...

FILE: tools/test.py
  function parse_config (line 21) | def parse_config():
  function eval_single_ckpt (line 57) | def eval_single_ckpt(model, test_loader, args, eval_output_dir, logger, ...
  function get_no_evaluated_ckpt (line 69) | def get_no_evaluated_ckpt(ckpt_dir, ckpt_record_file, args):
  function repeat_eval_ckpt (line 87) | def repeat_eval_ckpt(model, test_loader, args, eval_output_dir, logger, ...
  function main (line 126) | def main():

FILE: tools/train.py
  function parse_config (line 21) | def parse_config():
  function main (line 56) | def main():

FILE: tools/train_utils/optimization/__init__.py
  function build_optimizer (line 11) | def build_optimizer(model, optim_cfg):
  function build_scheduler (line 39) | def build_scheduler(optimizer, total_iters_each_epoch, total_epochs, las...

FILE: tools/train_utils/optimization/fastai_optim.py
  function split_bn_bias (line 13) | def split_bn_bias(layer_groups):
  function get_master (line 27) | def get_master(layer_groups, flat_master: bool = False):
  function model_g2master_g (line 49) | def model_g2master_g(model_params, master_params, flat_master: bool = Fa...
  function master2model (line 65) | def master2model(model_params, master_params, flat_master: bool = False)...
  function listify (line 77) | def listify(p=None, q=None):
  function trainable_params (line 91) | def trainable_params(m: nn.Module):
  function is_tuple (line 97) | def is_tuple(x) -> bool: return isinstance(x, tuple)
  class OptimWrapper (line 101) | class OptimWrapper():
    method __init__ (line 104) | def __init__(self, opt, wd, true_wd: bool = False, bn_wd: bool = True):
    method create (line 112) | def create(cls, opt_func, lr,
    method new (line 121) | def new(self, layer_groups):
    method __repr__ (line 128) | def __repr__(self) -> str:
    method step (line 132) | def step(self) -> None:
    method zero_grad (line 151) | def zero_grad(self) -> None:
    method __getattr__ (line 156) | def __getattr__(self, k: str):
    method clear (line 159) | def clear(self):
    method lr (line 167) | def lr(self) -> float:
    method lr (line 171) | def lr(self, val: float) -> None:
    method mom (line 175) | def mom(self) -> float:
    method mom (line 179) | def mom(self, val: float) -> None:
    method beta (line 187) | def beta(self) -> float:
    method beta (line 191) | def beta(self, val: float) -> None:
    method wd (line 201) | def wd(self) -> float:
    method wd (line 205) | def wd(self, val: float) -> None:
    method read_defaults (line 211) | def read_defaults(self) -> None:
    method set_val (line 220) | def set_val(self, key: str, val, bn_groups: bool = True):
    method read_val (line 228) | def read_val(self, key: str):
  class FastAIMixedOptim (line 235) | class FastAIMixedOptim(OptimWrapper):
    method create (line 237) | def create(cls, opt_func, lr,
    method step (line 254) | def step(self):

FILE: tools/train_utils/optimization/learning_schedules_fastai.py
  class LRSchedulerStep (line 12) | class LRSchedulerStep(object):
    method __init__ (line 13) | def __init__(self, fai_optimizer: OptimWrapper, total_step, lr_phases,
    method step (line 44) | def step(self, step):
  function annealing_cos (line 53) | def annealing_cos(start, end, pct):
  class OneCycle (line 60) | class OneCycle(LRSchedulerStep):
    method __init__ (line 61) | def __init__(self, fai_optimizer, total_step, lr_max, moms, div_factor,
  class CosineWarmup (line 79) | class CosineWarmup():
    method __init__ (line 80) | def __init__(self, optimizer, total_step, up_steps, lr_max, moms, div_...
    method step (line 87) | def step(self, step):
  class CosineWarmupLR (line 92) | class CosineWarmupLR(lr_sched._LRScheduler):
    method __init__ (line 93) | def __init__(self, optimizer, T_max, eta_min=0, last_epoch=-1):
    method get_lr (line 98) | def get_lr(self):
  class FakeOptim (line 104) | class FakeOptim:
    method __init__ (line 105) | def __init__(self):

FILE: tools/train_utils/train_utils.py
  function train_one_epoch (line 13) | def train_one_epoch(model, optimizer, train_loader, model_func, lr_sched...
  function train_model (line 73) | def train_model(model, optimizer, train_loader, model_func, lr_scheduler...
  function model_state_to_cpu (line 121) | def model_state_to_cpu(model_state):
  function checkpoint_state (line 128) | def checkpoint_state(model=None, optimizer=None, epoch=None, it=None):
  function save_checkpoint (line 147) | def save_checkpoint(state, filename='checkpoint'):

FILE: tools/visual_utils/visualize_utils.py
  function check_numpy_to_torch (line 13) | def check_numpy_to_torch(x):
  function rotate_points_along_z (line 19) | def rotate_points_along_z(points, angle):
  function boxes_to_corners_3d (line 44) | def boxes_to_corners_3d(boxes3d):
  function visualize_pts (line 72) | def visualize_pts(pts, fig=None, bgcolor=(0, 0, 0), fgcolor=(1.0, 1.0, 1...
  function draw_sphere_pts (line 94) | def draw_sphere_pts(pts, color=(0, 1, 0), fig=None, bgcolor=(0, 0, 0), s...
  function draw_grid (line 126) | def draw_grid(x1, y1, x2, y2, fig, tube_radius=None, color=(0.5, 0.5, 0....
  function draw_multi_grid_range (line 134) | def draw_multi_grid_range(fig, grid_size=20, bv_range=(-60, -60, 60, 60)):
  function draw_scenes (line 142) | def draw_scenes(points, gt_boxes=None, ref_boxes=None, ref_scores=None, ...
  function draw_corners3d (line 173) | def draw_corners3d(corners3d, fig, color=(1, 1, 1), line_width=2, cls=No...