## Changelog

### v1.0.0rc0 (18/2/2022)

#### Compatibility

- We refactor our three coordinate systems to make their rotation directions and origins more consistent, and further remove unnecessary hacks in different datasets and models. Therefore, please re-generate data infos or convert the old version to the new one with our provided scripts. We will also provide updated checkpoints in the next version. Please refer to the [compatibility documentation](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/docs/en/compatibility.md) for more details.
- Unify the camera keys for consistent transformation between coordinate systems on different datasets. The modification changes the key names to `lidar2img`, `depth2img`, `cam2img`, etc., for easier understanding. Customized codes using legacy keys may be influenced.
- The next release will begin to move files of CUDA ops to [MMCV](https://github.com/open-mmlab/mmcv). It will influence the way to import related functions. We will not break the compatibility but will raise a warning first and please prepare to migrate it.

#### Highlights

- Support new monocular 3D detectors: [PGD](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/pgd), [SMOKE](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/smoke), [MonoFlex](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/monoflex)
- Support a new LiDAR-based detector: [PointRCNN](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/point_rcnn)
- Support a new backbone: [DGCNN](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/dgcnn)
- Support 3D object detection on the S3DIS dataset
- Support compilation on Windows
- Full benchmark for PAConv on S3DIS
- Further enhancement for documentation, especially on the Chinese documentation

#### New Features

- Support 3D object detection on the S3DIS dataset (#835)
- Support PointRCNN (#842, #843, #856, #974, #1022, #1109, #1125)
- Support DGCNN (#896)
- Support PGD (#938, #940, #948, #950, #964, #1014, #1065, #1070, #1157)
- Support SMOKE (#939, #955, #959, #975, #988, #999, #1029)
- Support MonoFlex (#1026, #1044, #1114, #1115, #1183)
- Support CPU Training (#1196)

#### Improvements

- Support point sampling based on distance metric (#667, #840)
- Refactor coordinate systems (#677, #774, #803, #899, #906, #912, #968, #1001)
- Unify camera keys in PointFusion and transformations between different systems (#791, #805)
- Refine documentation (#792, #827, #829, #836, #849, #854, #859, #1111, #1113, #1116, #1121, #1132, #1135, #1185, #1193, #1226)
- Add a script to support benchmark regression (#808)
- Benchmark PAConvCUDA on S3DIS (#847)
- Support to download pdf and epub documentation (#850)
- Change the `repeat` setting in Group-Free-3D configs to reduce training epochs (#855)
- Support KITTI AP40 evaluation metric (#927)
- Add the mmdet3d2torchserve tool for SECOND (#977)
- Add code-spell pre-commit hook and fix typos (#995)
- Support the latest numba version (#1043)
- Set a default seed to use when the random seed is not specified (#1072)
- Distribute mix-precision models to each algorithm folder (#1074)
- Add abstract and a representative figure for each algorithm (#1086)
- Upgrade pre-commit hook (#1088, #1217)
- Support augmented data and ground truth visualization (#1092)
- Add local yaw property for `CameraInstance3DBoxes` (#1130)
- Lock the required numba version to 0.53.0 (#1159)
- Support the usage of plane information for KITTI dataset (#1162)
- Deprecate the support for "python setup.py test" (#1164)
- Reduce the number of multi-process threads to accelerate training (#1168)
- Support 3D flip augmentation for semantic segmentation (#1181)
- Update README format for each model (#1195)

#### Bug Fixes

- Fix compiling errors on Windows (#766)
- Fix the deprecated nms setting in the ImVoteNet config (#828)
- Use the latest `wrap_fp16_model` import from mmcv (#861)
- Remove 2D annotations generation on Lyft (#867)
- Update index files for the Chinese documentation to be consistent with the English version (#873)
- Fix the nested list transpose in the CenterPoint head (#879)
- Fix deprecated pretrained model loading for RegNet (#889)
- Fix the incorrect dimension indices of rotations and testing config in the CenterPoint test time augmentation (#892)
- Fix and improve visualization tools (#956, #1066, #1073)
- Fix PointPillars FLOPs calculation error (#1075)
- Fix missing dimension information in the SUN RGB-D data generation (#1120)
- Fix incorrect anchor range settings in the PointPillars [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/_base_/models/hv_pointpillars_secfpn_kitti.py) for KITTI (#1163)
- Fix incorrect model information in the RegNet metafile (#1184)
- Fix bugs in non-distributed multi-gpu training and testing (#1197)
- Fix a potential assertion error when generating corners from an empty box (#1212)
- Upgrade bazel version according to the requirement of Waymo Devkit (#1223)

#### Contributors

A total of 12 developers contributed to this release.

@THU17cyz, @wHao-Wu, @wangruohui, @Wuziyi616, @filaPro, @ZwwWayne, @Tai-Wang, @DCNSW, @xieenze, @robin-karlsson0, @ZCMax, @Otteri

### v0.18.1 (1/2/2022)

#### Improvements

- Support Flip3D augmentation in semantic segmentation task (#1182)
- Update regnet metafile (#1184)
- Add point cloud annotation tools introduction in FAQ (#1185)
- Add missing explanations of `cam_intrinsic` in the nuScenes dataset doc (#1193)

#### Bug Fixes

- Deprecate the support for "python setup.py test" (#1164)
- Fix the rotation matrix while rotation axis=0 (#1182)
- Fix the bug in non-distributed multi-gpu training/testing (#1197)
- Fix a potential bug when generating corners for empty bounding boxes (#1212)

#### Contributors

A total of 4 developers contributed to this release.

@ZwwWayne, @ZCMax, @Tai-Wang, @wHao-Wu

### v0.18.0 (1/1/2022)

#### Highlights

- Update the required minimum version of mmdet and mmseg

#### Improvements

- Use the official markdownlint hook and add codespell hook for pre-committing (#1088)
- Improve CI operation (#1095, #1102, #1103)
- Use shared menu content from OpenMMLab's theme and remove duplicated contents from config (#1111)
- Refactor the structure of documentation (#1113, #1121)
- Update the required minimum version of mmdet and mmseg (#1147)

#### Bug Fixes

- Fix symlink failure on Windows (#1096)
- Fix the upper bound of mmcv version in the mminstall requirements (#1104)
- Fix API documentation compilation and mmcv build errors (#1116)
- Fix figure links and pdf documentation compilation (#1132, #1135)

#### Contributors

A total of 4 developers contributed to this release.

@ZwwWayne, @ZCMax, @Tai-Wang, @wHao-Wu

### v0.17.3 (1/12/2021)

#### Improvements

- Change the default show value to `False` in show_result function to avoid unnecessary errors (#1034)
- Improve the visualization of detection results with colorized points in [single_gpu_test](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/apis/test.py#L11) (#1050)
- Clean unnecessary custom_imports in entrypoints (#1068)

#### Bug Fixes

- Update mmcv version in the Dockerfile (#1036)
- Fix the memory-leak problem when loading checkpoints in [init_model](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/apis/inference.py#L36) (#1045)
- Fix incorrect velocity indexing when formatting boxes on nuScenes (#1049)
- Explicitly set cuda device ID in [init_model](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/apis/inference.py#L36) to avoid memory allocation on unexpected devices (#1056)
- Fix PointPillars FLOPs calculation error (#1076)

#### Contributors

A total of 5 developers contributed to this release.

@wHao-Wu, @Tai-Wang, @ZCMax, @MilkClouds, @aldakata

### v0.17.2 (1/11/2021)

#### Improvements

- Update Group-Free-3D and FCOS3D bibtex (#985)
- Update the solutions for incompatibility of pycocotools in the FAQ (#993)
- Add Chinese documentation for the KITTI (#1003) and Lyft (#1010) dataset tutorial
- Add the H3DNet checkpoint converter for incompatible keys (#1007)

#### Bug Fixes

- Update mmdetection and mmsegmentation version in the Dockerfile (#992)
- Fix links in the Chinese documentation (#1015)

#### Contributors

A total of 4 developers contributed to this release.

@Tai-Wang, @wHao-Wu, @ZwwWayne, @ZCMax

### v0.17.1 (1/10/2021)

#### Highlights

- Support a faster but non-deterministic version of hard voxelization
- Completion of dataset tutorials and the Chinese documentation
- Improved the aesthetics of the documentation format

#### Improvements

- Add Chinese documentation for training on customized datasets and designing customized models (#729, #820)
- Support a faster but non-deterministic version of hard voxelization (#904)
- Update paper titles and code details for metafiles (#917)
- Add a tutorial for KITTI dataset (#953)
- Use Pytorch sphinx theme to improve the format of documentation (#958)
- Use the docker to accelerate CI (#971)

#### Bug Fixes

- Fix the sphinx version used in the documentation (#902)
- Fix a dynamic scatter bug that discards the first voxel by mistake when all input points are valid (#915)
- Fix the inconsistent variable names used in the [unit test](https://github.com/open-mmlab/mmdetection3d/blob/master/tests/test_models/test_voxel_encoder/test_voxel_generator.py) for voxel generator (#919)
- Upgrade to use `build_prior_generator` to replace the legacy `build_anchor_generator` (#941)
- Fix a minor bug caused by a too small difference set in the FreeAnchor Head (#944)

#### Contributors

A total of 8 developers contributed to this release.

@DCNSW, @zhanggefan, @mickeyouyou, @ZCMax, @wHao-Wu, @tojimahammatov, @xiliu8006, @Tai-Wang

### v0.17.0 (1/9/2021)

#### Compatibility

- Unify the camera keys for consistent transformation between coordinate systems on different datasets. The modification change the key names to `lidar2img`, `depth2img`, `cam2img`, etc. for easier understanding. Customized codes using legacy keys may be influenced.
- The next release will begin to move files of CUDA ops to [MMCV](https://github.com/open-mmlab/mmcv). It will influence the way to import related functions. We will not break the compatibility but will raise a warning first and please prepare to migrate it.

#### Highlights

- Support 3D object detection on the S3DIS dataset
- Support compilation on Windows
- Full benchmark for PAConv on S3DIS
- Further enhancement for documentation, especially on the Chinese documentation

#### New Features

- Support 3D object detection on the S3DIS dataset (#835)

#### Improvements

- Support point sampling based on distance metric (#667, #840)
- Update PointFusion to support unified camera keys (#791)
- Add Chinese documentation for customized dataset (#792), data pipeline (#827), customized runtime (#829), 3D Detection on ScanNet (#836), nuScenes (#854) and Waymo (#859)
- Unify camera keys used in transformation between different systems (#805)
- Add a script to support benchmark regression (#808)
- Benchmark PAConvCUDA on S3DIS (#847)
- Add a tutorial for 3D detection on the Lyft dataset (#849)
- Support to download pdf and epub documentation (#850)
- Change the `repeat` setting in Group-Free-3D configs to reduce training epochs (#855)

#### Bug Fixes

- Fix compiling errors on Windows (#766)
- Fix the deprecated nms setting in the ImVoteNet config (#828)
- Use the latest `wrap_fp16_model` import from mmcv (#861)
- Remove 2D annotations generation on Lyft (#867)
- Update index files for the Chinese documentation to be consistent with the English version (#873)
- Fix the nested list transpose in the CenterPoint head (#879)
- Fix deprecated pretrained model loading for RegNet (#889)

#### Contributors

A total of 11 developers contributed to this release.

@THU17cyz, @wHao-Wu, @wangruohui, @Wuziyi616, @filaPro, @ZwwWayne, @Tai-Wang, @DCNSW, @xieenze, @robin-karlsson0, @ZCMax

### v0.16.0 (1/8/2021)

#### Compatibility

- Remove the rotation and dimension hack in the monocular 3D detection on nuScenes by applying corresponding transformation in the pre-processing and post-processing. The modification only influences nuScenes coco-style json files. Please re-run the data preparation scripts if necessary. See more details in the PR #744.
- Add a new pre-processing module for the ScanNet dataset in order to support multi-view detectors. Please run the updated scripts to extract the RGB data and its annotations. See more details in the PR #696.

#### Highlights

- Support to use [MIM](https://github.com/open-mmlab/mim) with pip installation
- Support PAConv [models and benchmarks](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/paconv) on S3DIS
- Enhance the documentation especially on dataset tutorials

#### New Features

- Support RGB images on ScanNet for multi-view detectors (#696)
- Support FLOPs and number of parameters calculation (#736)
- Support to use [MIM](https://github.com/open-mmlab/mim) with pip installation (#782)
- Support PAConv models and benchmarks on the S3DIS dataset (#783, #809)

#### Improvements

- Refactor Group-Free-3D to make it inherit BaseModule from MMCV (#704)
- Modify the initialization methods of FCOS3D to be consistent with the refactored approach (#705)
- Benchmark the Group-Free-3D [models](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/groupfree3d) on ScanNet (#710)
- Add Chinese documentation for Getting Started (#725), FAQ (#730), Model Zoo (#735), Demo (#745), Quick Run (#746), Data Preparation (#787) and Configs (#788)
- Add documentation for semantic segmentation on ScanNet and S3DIS (#743, #747, #806, #807)
- Add a parameter `max_keep_ckpts` to limit the maximum number of saved Group-Free-3D checkpoints (#765)
- Add documentation for 3D detection on SUN RGB-D and nuScenes (#770, #793)
- Remove mmpycocotools in the Dockerfile (#785)

#### Bug Fixes

- Fix versions of OpenMMLab dependencies (#708)
- Convert `rt_mat` to `torch.Tensor` in coordinate transformation for compatibility (#709)
- Fix the `bev_range` initialization in `ObjectRangeFilter` according to the `gt_bboxes_3d` type (#717)
- Fix Chinese documentation and incorrect doc format due to the incompatible Sphinx version (#718)
- Fix a potential bug when setting `interval == 1` in [analyze_logs.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/analysis_tools/analyze_logs.py) (#720)
- Update the structure of Chinese documentation (#722)
- Fix FCOS3D FPN BC-Breaking caused by the code refactoring in MMDetection (#739)
- Fix wrong `in_channels` when `with_distance=True` in the [Dynamic VFE Layers](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/voxel_encoders/voxel_encoder.py#L87) (#749)
- Fix the dimension and yaw hack of FCOS3D on nuScenes (#744, #794, #795, #818)
- Fix the missing default `bbox_mode` in the `show_multi_modality_result` (#825)

#### Contributors

A total of 12 developers contributed to this release.

@yinchimaoliang, @gopi231091, @filaPro, @ZwwWayne, @ZCMax, @hjin2902, @wHao-Wu, @Wuziyi616, @xiliu8006, @THU17cyz, @DCNSW, @Tai-Wang


### v0.15.0 (1/7/2021)

#### Compatibility

In order to fix the problem that the priority of EvalHook is too low, all hook priorities have been re-adjusted in 1.3.8, so MMDetection 2.14.0 needs to rely on the latest MMCV 1.3.8 version. For related information, please refer to [#1120](https://github.com/open-mmlab/mmcv/pull/1120), for related issues, please refer to [#5343](https://github.com/open-mmlab/mmdetection/issues/5343).

#### Highlights

- Support [PAConv](https://arxiv.org/abs/2103.14635)
- Support monocular/multi-view 3D detector [ImVoxelNet](https://arxiv.org/abs/2106.01178) on KITTI
- Support Transformer-based 3D detection method [Group-Free-3D](https://arxiv.org/abs/2104.00678) on ScanNet
- Add documentation for tasks including LiDAR-based 3D detection, vision-only 3D detection and point-based 3D semantic segmentation
- Add dataset documents like ScanNet

#### New Features

- Support Group-Free-3D on ScanNet (#539)
- Support PAConv modules (#598, #599)
- Support ImVoxelNet on KITTI (#627, #654)

#### Improvements

- Add unit tests for pipeline functions `LoadImageFromFileMono3D`, `ObjectNameFilter` and `ObjectRangeFilter` (#615)
- Enhance [IndoorPatchPointSample](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/datasets/pipelines/transforms_3d.py) (#617)
- Refactor model initialization methods based MMCV (#622)
- Add Chinese docs (#629)
- Add documentation for LiDAR-based 3D detection (#642)
- Unify intrinsic and extrinsic matrices for all datasets (#653)
- Add documentation for point-based 3D semantic segmentation (#663)
- Add documentation of ScanNet for 3D detection (#664)
- Refine docs for tutorials (#666)
- Add documentation for vision-only 3D detection (#669)
- Refine docs for Quick Run and Useful Tools (#686)


#### Bug Fixes

- Fix the bug of [BackgroundPointsFilter](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/datasets/pipelines/transforms_3d.py) using the bottom center of ground truth (#609)
- Fix [LoadMultiViewImageFromFiles](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/datasets/pipelines/loading.py) to unravel stacked multi-view images to list to be consistent with DefaultFormatBundle (#611)
- Fix the potential bug in [analyze_logs](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/analysis_tools/analyze_logs.py) when the training resumes from a checkpoint or is stopped before evaluation (#634)
- Fix test commands in docs and make some refinements (#635)
- Fix wrong config paths in unit tests (#641)


### v0.14.0 (1/6/2021)

#### Highlights
- Support the point cloud segmentation method [PointNet++](https://arxiv.org/abs/1706.02413)

#### New Features

- Support PointNet++ (#479, #528, #532, #541)
- Support RandomJitterPoints transform for point cloud segmentation (#584)
- Support RandomDropPointsColor transform for point cloud segmentation (#585)

#### Improvements

- Move the point alignment of ScanNet from data pre-processing to pipeline (#439, #470)
- Add compatibility document to provide detailed descriptions of BC-breaking changes (#504)
- Add MMSegmentation installation requirement (#535)
- Support points rotation even without bounding box in GlobalRotScaleTrans for point cloud segmentaiton (#540)
- Support visualization of detection results and dataset browse for nuScenes Mono-3D dataset (#542, #582)
- Support faster implementation of KNN (#586)
- Support RegNetX models on Lyft dataset (#589)
- Remove a useless parameter `label_weight` from segmentation datasets including `Custom3DSegDataset`, `ScanNetSegDataset` and `S3DISSegDataset` (#607)

#### Bug Fixes
- Fix a corrupted lidar data file in Lyft dataset in [data_preparation](https://github.com/open-mmlab/mmdetection3d/tree/master/docs/data_preparation.md) (#546)
- Fix evaluation bugs in nuScenes and Lyft dataset (#549)
- Fix converting points between coordinates with specific transformation matrix in the [coord_3d_mode.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/core/bbox/structures/coord_3d_mode.py) (#556)
- Support PointPillars models on Lyft dataset (#578)
- Fix the bug of demo with pre-trained VoteNet model on ScanNet (#600)


### v0.13.0 (1/5/2021)

#### Highlights
- Support a monocular 3D detection method [FCOS3D](https://arxiv.org/abs/2104.10956)
- Support ScanNet and S3DIS semantic segmentation dataset
- Enhancement of visualization tools for dataset browsing and demos, including support of visualization for multi-modality data and point cloud segmentation.

#### New Features

- Support ScanNet semantic segmentation dataset (#390)
- Support monocular 3D detection on nuScenes (#392)
- Support multi-modality visualization (#405)
- Support nuimages visualization (#408)
- Support monocular 3D detection on KITTI (#415)
- Support online visualization of semantic segmentation results (#416)
- Support ScanNet test results submission to online benchmark (#418)
- Support S3DIS data pre-processing and dataset class (#433)
- Support FCOS3D (#436, #442, #482, #484)
- Support dataset browse for multiple types of datasets (#467)
- Adding paper-with-code (PWC) metafile for each model in the model zoo (#485)

#### Improvements

- Support dataset browsing for SUNRGBD, ScanNet or KITTI points and detection results (#367)
- Add the pipeline to load data using file client (#430)
- Support to customize the type of runner (#437)
- Make pipeline functions process points and masks simultaneously when sampling points (#444)
- Add waymo unit tests (#455)
- Split the visualization of projecting points onto image from that for only points (#480)
- Efficient implementation of PointSegClassMapping (#489)
- Use the new model registry from mmcv (#495)

#### Bug Fixes

- Fix Pytorch 1.8 Compilation issue in the [scatter_points_cuda.cu](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) (#404)
- Fix [dynamic_scatter](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) errors triggered by empty point input (#417)
- Fix the bug of missing points caused by using break incorrectly in the voxelization (#423)
- Fix the missing `coord_type` in the waymo dataset [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/_base_/datasets/waymoD5-3d-3class.py) (#441)
- Fix errors in four unittest functions of [configs](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py), [test_detectors.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tests/test_models/test_detectors.py), [test_heads.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tests/test_models/test_heads/test_heads.py) (#453)
- Fix 3DSSD training errors and simplify configs (#462)
- Clamp 3D votes projections to image boundaries in ImVoteNet (#463)
- Update out-of-date names of pipelines in the [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py) of pointpillars benchmark (#474)
- Fix the lack of a placeholder when unpacking RPN targets in the [h3d_bbox_head.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/roi_heads/bbox_heads/h3d_bbox_head.py) (#508)
- Fix the incorrect value of `K` when creating pickle files for SUN RGB-D (#511)

### v0.12.0 (1/4/2021)

#### Highlights

- Support a new multi-modality method [ImVoteNet](https://arxiv.org/abs/2001.10692).
- Support PyTorch 1.7 and 1.8
- Refactor the structure of tools and [train.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/train.py)/[test.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/test.py)

#### New Features

- Support LiDAR-based semantic segmentation metrics (#332)
- Support [ImVoteNet](https://arxiv.org/abs/2001.10692) (#352, #384)
- Support the KNN GPU operation (#360, #371)

#### Improvements

- Add FAQ for common problems in the documentation (#333)
- Refactor the structure of tools (#339)
- Refactor [train.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/train.py) and [test.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/test.py) (#343)
- Support demo on nuScenes (#353)
- Add 3DSSD checkpoints (#359)
- Update the Bibtex of CenterPoint (#368)
- Add citation format and reference to other OpenMMLab projects in the README (#374)
- Upgrade the mmcv version requirements (#376)
- Add numba and numpy version requirements in FAQ (#379)
- Avoid unnecessary for-loop execution of vfe layer creation (#389)
- Update SUNRGBD dataset documentation to stress the requirements for training ImVoteNet (#391)
- Modify vote head to support 3DSSD (#396)

#### Bug Fixes

- Fix missing keys `coord_type` in database sampler config (#345)
- Rename H3DNet configs (#349)
- Fix CI by using ubuntu 18.04 in github workflow (#350)
- Add assertions to avoid 4-dim points being input to [points_in_boxes](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/roiaware_pool3d/points_in_boxes.py) (#357)
- Fix the SECOND results on Waymo in the corresponding [README](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/second) (#363)
- Fix the incorrect adopted pipeline when adding val to workflow (#370)
- Fix a potential bug when indices used in the backwarding in ThreeNN (#377)
- Fix a compilation error triggered by [scatter_points_cuda.cu](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) in PyTorch 1.7 (#393)

### v0.11.0 (1/3/2021)

#### Highlights

- Support more friendly visualization interfaces based on open3d
- Support a faster and more memory-efficient implementation of DynamicScatter
- Refactor unit tests and details of configs

#### New Features

- Support new visualization methods based on open3d (#284, #323)

#### Improvements

- Refactor unit tests (#303)
- Move the key `train_cfg` and `test_cfg` into the model configs (#307)
- Update [README](https://github.com/open-mmlab/mmdetection3d/blob/master/README.md/) with [Chinese version](https://github.com/open-mmlab/mmdetection3d/blob/master/README_zh-CN.md/) and [instructions for getting started](https://github.com/open-mmlab/mmdetection3d/blob/master/docs/getting_started.md/). (#310, #316)
- Support a faster and more memory-efficient implementation of DynamicScatter (#318, #326)

#### Bug Fixes

- Fix an unsupported bias setting in the unit test for centerpoint head (#304)
- Fix errors due to typos in the centerpoint head (#308)
- Fix a minor bug in [points_in_boxes.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/roiaware_pool3d/points_in_boxes.py) when tensors are not in the same device. (#317)
- Fix warning of deprecated usages of nonzero during training with PyTorch 1.6 (#330)

### v0.10.0 (1/2/2021)

#### Highlights

- Preliminary release of API for SemanticKITTI dataset.
- Documentation and demo enhancement for better user experience.
- Fix a number of underlying minor bugs and add some corresponding important unit tests.

#### New Features

- Support SemanticKITTI dataset preliminarily (#287)

#### Improvements

- Add tag to README in configurations for specifying different uses (#262)
- Update instructions for evaluation metrics in the documentation (#265)
- Add nuImages entry in [README.md](https://github.com/open-mmlab/mmdetection3d/blob/master/README.md/) and gif demo (#266, #268)
- Add unit test for voxelization (#275)

#### Bug Fixes

- Fixed the issue of unpacking size in [furthest_point_sample.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/furthest_point_sample/furthest_point_sample.py) (#248)
- Fix bugs for 3DSSD triggered by empty ground truths (#258)
- Remove models without checkpoints in model zoo statistics of documentation (#259)
- Fix some unclear installation instructions in [getting_started.md](https://github.com/open-mmlab/mmdetection3d/blob/master/docs/getting_started.md/) (#269)
- Fix relative paths/links in the documentation (#271)
- Fix a minor bug in [scatter_points_cuda.cu](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) when num_features != 4 (#275)
- Fix the bug about missing text files when testing on KITTI (#278)
- Fix issues caused by inplace modification of tensors in `BaseInstance3DBoxes` (#283)
- Fix log analysis for evaluation and adjust the documentation accordingly (#285)

### v0.9.0 (31/12/2020)

#### Highlights

- Documentation refactoring with better structure, especially about how to implement new models and customized datasets.
- More compatible with refactored point structure by bug fixes in ground truth sampling.

#### Improvements

- Documentation refactoring (#242)

#### Bug Fixes

- Fix point structure related bugs in ground truth sampling (#211)
- Fix loading points in ground truth sampling augmentation on nuScenes (#221)
- Fix channel setting in the SeparateHead of CenterPoint (#228)
- Fix evaluation for indoors 3D detection in case of less classes in prediction (#231)
- Remove unreachable lines in nuScenes data converter (#235)
- Minor adjustments of numpy implementation for perspective projection and prediction filtering criterion in KITTI evaluation (#241)

### v0.8.0 (30/11/2020)

#### Highlights

- Refactor points structure with more constructive and clearer implementation.
- Support axis-aligned IoU loss for VoteNet with better performance.
- Update and enhance [SECOND](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/second) benchmark on Waymo.

#### New Features

- Support axis-aligned IoU loss for VoteNet. (#194)
- Support points structure for consistent processing of all the point related representation. (#196, #204)

#### Improvements

- Enhance [SECOND](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/second) benchmark on Waymo with stronger baselines. (#205)
- Add model zoo statistics and polish the documentation. (#201)

### v0.7.0 (1/11/2020)

#### Highlights

- Support a new method [SSN](https://www.ecva.net/papers/eccv_2020/papers_ECCV/papers/123700579.pdf) with benchmarks on nuScenes and Lyft datasets.
- Update benchmarks for SECOND on Waymo, CenterPoint with TTA on nuScenes and models with mixed precision training on KITTI and nuScenes.
- Support semantic segmentation on nuImages and provide [HTC](https://arxiv.org/abs/1901.07518) models with configurations and performance for reference.

#### New Features

- Modified primitive head which can support the setting on SUN-RGBD dataset (#136)
- Support semantic segmentation and [HTC](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/nuimages) with models for reference on nuImages dataset (#155)
- Support [SSN](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/ssn) on nuScenes and Lyft datasets (#147, #174, #166, #182)
- Support double flip for test time augmentation of CenterPoint with updated benchmark (#143)

#### Improvements

- Update [SECOND](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/second) benchmark with configurations for reference on Waymo (#166)
- Delete checkpoints on Waymo to comply its specific license agreement (#180)
- Update models and instructions with [mixed precision training](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/fp16) on KITTI and nuScenes (#178)

#### Bug Fixes

- Fix incorrect code weights in anchor3d_head when introducing mixed precision training (#173)
- Fix the incorrect label mapping on nuImages dataset (#155)

### v0.6.1 (11/10/2020)

#### Highlights

- Support mixed precision training of voxel-based methods
- Support docker with PyTorch 1.6.0
- Update baseline configs and results ([CenterPoint](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/centerpoint) on nuScenes and [PointPillars](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/pointpillars) on Waymo with full dataset)
- Switch model zoo to download.openmmlab.com

#### New Features

- Support dataset pipeline `VoxelBasedPointSampler` to sample multi-sweep points based on voxelization. (#125)
- Support mixed precision training of voxel-based methods (#132)
- Support docker with PyTorch 1.6.0 (#160)

#### Improvements

- Reduce requirements for the case exclusive of Waymo (#121)
- Switch model zoo to download.openmmlab.com (#126)
- Update docs related to Waymo (#128)
- Add version assertion in the [init file](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/__init__.py) (#129)
- Add evaluation interval setting for CenterPoint (#131)
- Add unit test for CenterPoint (#133)
- Update [PointPillars](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/pointpillars) baselines on Waymo with full dataset (#142)
- Update [CenterPoint](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/centerpoint) results with models and logs (#154)

#### Bug Fixes

- Fix a bug of visualization in multi-batch case (#120)
- Fix bugs in dcn unit test (#130)
- Fix dcn bias bug in centerpoint (#137)
- Fix dataset mapping in the evaluation of nuScenes mini dataset (#140)
- Fix origin initialization in `CameraInstance3DBoxes` (#148, #150)
- Correct documentation link in the getting_started.md (#159)
- Fix model save path bug in gather_models.py (#153)
- Fix image padding shape bug in `PointFusion` (#162)

### v0.6.0 (20/9/2020)

#### Highlights

- Support new methods [H3DNet](https://arxiv.org/abs/2006.05682), [3DSSD](https://arxiv.org/abs/2002.10187), [CenterPoint](https://arxiv.org/abs/2006.11275).
- Support new dataset [Waymo](https://waymo.com/open/) (with PointPillars baselines) and [nuImages](https://www.nuscenes.org/nuimages) (with Mask R-CNN and Cascade Mask R-CNN baselines).
- Support Batch Inference
- Support Pytorch 1.6
- Start to publish `mmdet3d` package to PyPI since v0.5.0. You can use mmdet3d through `pip install mmdet3d`.

#### Backwards Incompatible Changes

- Support Batch Inference (#95, #103, #116): MMDetection3D v0.6.0 migrates to support batch inference based on MMDetection >= v2.4.0. This change influences all the test APIs in MMDetection3D and downstream codebases.
- Start to use collect environment function from MMCV (#113): MMDetection3D v0.6.0 migrates to use `collect_env` function in MMCV.
`get_compiler_version` and `get_compiling_cuda_version` compiled in `mmdet3d.ops.utils` are removed. Please import these two functions from `mmcv.ops`.

#### New Features

- Support [nuImages](https://www.nuscenes.org/nuimages) dataset by converting them into coco format and release Mask R-CNN and Cascade Mask R-CNN baseline models (#91, #94)
- Support to publish to PyPI in github-action (#17, #19, #25, #39, #40)
- Support CBGSDataset and make it generally applicable to all the supported datasets (#75, #94)
- Support [H3DNet](https://arxiv.org/abs/2006.05682) and release models on ScanNet dataset (#53, #58, #105)
- Support Fusion Point Sampling used in [3DSSD](https://arxiv.org/abs/2002.10187) (#66)
- Add `BackgroundPointsFilter` to filter background points in data pipeline (#84)
- Support pointnet2 with multi-scale grouping in backbone and refactor pointnets (#82)
- Support dilated ball query used in [3DSSD](https://arxiv.org/abs/2002.10187) (#96)
- Support [3DSSD](https://arxiv.org/abs/2002.10187) and release models on KITTI dataset (#83, #100, #104)
- Support [CenterPoint](https://arxiv.org/abs/2006.11275) and release models on nuScenes dataset (#49, #92)
- Support [Waymo](https://waymo.com/open/) dataset and release PointPillars baseline models (#118)
- Allow `LoadPointsFromMultiSweeps` to pad empty sweeps and select multiple sweeps randomly (#67)

#### Improvements

- Fix all warnings and bugs in PyTorch 1.6.0 (#70, #72)
- Update issue templates (#43)
- Update unit tests (#20, #24, #30)
- Update documentation for using `ply` format point cloud data (#41)
- Use points loader to load point cloud data in ground truth (GT) samplers (#87)
- Unify version file of OpenMMLab projects by using `version.py` (#112)
- Remove unnecessary data preprocessing commands of SUN RGB-D dataset (#110)

#### Bug Fixes

- Rename CosineAnealing to CosineAnnealing (#57)
- Fix device inconsistent bug in 3D IoU computation (#69)
- Fix a minor bug in json2csv of lyft dataset (#78)
- Add missed test data for pointnet modules (#85)
- Fix `use_valid_flag` bug in `CustomDataset` (#106)

### v0.5.0 (9/7/2020)

MMDetection3D is released.
