Merge branch 'master' into v1.0.0.dev0

.github/workflows/build.yml

@@ -3,30 +3,30 @@
 
 name: build
 
-on: [push, pull_request]
+on:
+  push:
+    paths-ignore:
+      - '.dev_scripts/**'
+      - '.github/**.md'
+      - 'demo/**'
+      - 'docker/**'
+      - 'tools/**'
 
-jobs:
-  lint:
-    runs-on: ubuntu-18.04
-    steps:
-      - uses: actions/checkout@v2
-      - name: Set up Python 3.7
-        uses: actions/setup-python@v1
-        with:
-          python-version: 3.7
-      - name: Install linting dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install flake8 isort yapf interrogate
-      - name: Lint with flake8
-        run: flake8 .
-      - name: Lint with isort
-        run: isort --recursive --check-only --diff mmdet3d/ tests/ examples/
-      - name: Format python codes with yapf
-        run: yapf -r -d mmdet3d/ tests/ examples/
-      - name: Check docstring
-        run: interrogate -v --ignore-init-method --ignore-module --ignore-nested-functions --exclude mmdet3d/ops --ignore-regex "__repr__" --fail-under 95 mmdet3d
+  pull_request:
+    paths-ignore:
+      - '.dev_scripts/**'
+      - '.github/**.md'
+      - 'demo/**'
+      - 'docker/**'
+      - 'tools/**'
+      - 'docs/**'
+      - 'docs_zh-CN/**'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
   build:
     env:
       FORCE_CUDA: 1

.github/workflows/deploy.yml

@@ -2,6 +2,10 @@ name: deploy
 
 on: push
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-n-publish:
     runs-on: ubuntu-18.04

.github/workflows/lint.yml

+name: lint
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  lint:
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.7
+        uses: actions/setup-python@v1
+        with:
+          python-version: 3.7
+      - name: Install linting dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install flake8 isort yapf interrogate
+      - name: Lint with flake8
+        run: flake8 .
+      - name: Lint with isort
+        run: isort --recursive --check-only --diff mmdet3d/ tests/ examples/
+      - name: Format python codes with yapf
+        run: yapf -r -d mmdet3d/ tests/ examples/
+      - name: Check docstring
+        run: interrogate -v --ignore-init-method --ignore-module --ignore-nested-functions --exclude mmdet3d/ops --ignore-regex "__repr__" --fail-under 95 mmdet3d

.gitignore

@@ -65,7 +65,8 @@ instance/
 .scrapy
 
 # Sphinx documentation
-docs/_build/
+docs/en/_build/
+docs/zh_cn/_build/
 
 # PyBuilder
 target/

.pre-commit-config.yaml

@@ -28,6 +28,12 @@ repos:
         args: ["--remove"]
       - id: mixed-line-ending
         args: ["--fix=lf"]
+  - repo: https://github.com/markdownlint/markdownlint
+    rev: v0.11.0
+    hooks:
+      - id: markdownlint
+        args: ["-r", "~MD002,~MD013,~MD029,~MD033,~MD034",
+              "-t", "allow_different_nesting"]
   - repo: https://github.com/codespell-project/codespell
     rev: v2.1.0
     hooks:

.readthedocs.yml

@@ -8,4 +8,3 @@ python:
     - requirements: requirements/docs.txt
     - requirements: requirements/runtime.txt
     - requirements: requirements/readthedocs.txt
-    - requirements: requirements/mminstall.txt

README.md

@@ -8,7 +8,7 @@
 [![license](https://img.shields.io/github/license/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/blob/master/LICENSE)
 
 
-**News**: We released the codebase v0.17.2.
+**News**: We released the codebase v0.17.3.
 
 In addition, we have preliminarily supported several new models on the [v1.0.0.dev0](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0) branch, including [DGCNN](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/configs/dgcnn/README.md), [SMOKE](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/configs/smoke/README.md) and [PGD](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/configs/pgd/README.md).
 
@@ -48,11 +48,11 @@ a part of the OpenMMLab project developed by [MMLab](http://mmlab.ie.cuhk.edu.hk
 
 - **Natural integration with 2D detection**
 
-  All the about **300+ models, methods of 40+ papers**, and modules supported in [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/model_zoo.md) can be trained or used in this codebase.
+  All the about **300+ models, methods of 40+ papers**, and modules supported in [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/en/model_zoo.md) can be trained or used in this codebase.
 
 - **High efficiency**
 
-  It trains faster than other codebases. The main results are as below. Details can be found in [benchmark.md](./docs/benchmarks.md). We compare the number of samples trained per second (the higher, the better). The models that are not supported by other codebases are marked by `×`.
+  It trains faster than other codebases. The main results are as below. Details can be found in [benchmark.md](./docs/en/benchmarks.md). We compare the number of samples trained per second (the higher, the better). The models that are not supported by other codebases are marked by `×`.
 
   | Methods | MMDetection3D | [OpenPCDet](https://github.com/open-mmlab/OpenPCDet) |[votenet](https://github.com/facebookresearch/votenet)| [Det3D](https://github.com/poodarchu/Det3D) |
   |:-------:|:-------------:|:---------:|:-----:|:-----:|
@@ -70,15 +70,15 @@ This project is released under the [Apache 2.0 license](LICENSE).
 
 ## Changelog
 
-v0.17.2 was released in 1/11/2021.
-Please refer to [changelog.md](docs/changelog.md) for details and release history.
+v0.17.3 was released in 1/12/2021.
+Please refer to [changelog.md](docs/en/changelog.md) for details and release history.
 
 For branch v1.0.0.dev0, please refer to [changelog_v1.0.md](https://github.com/Tai-Wang/mmdetection3d/blob/v1.0.0.dev0-changelog/docs/changelog_v1.0.md) for our latest features and more details.
 
 ## Benchmark and model zoo
 
 Supported methods and backbones are shown in the below table.
-Results and models are available in the [model zoo](docs/model_zoo.md).
+Results and models are available in the [model zoo](docs/en/model_zoo.md).
 
 Support backbones:
 
@@ -135,17 +135,17 @@ Support methods
 Other features
 - [x] [Dynamic Voxelization](configs/dynamic_voxelization/README.md)
 
-**Note:** All the about **300+ models, methods of 40+ papers** in 2D detection supported by [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/model_zoo.md) can be trained or used in this codebase.
+**Note:** All the about **300+ models, methods of 40+ papers** in 2D detection supported by [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/en/model_zoo.md) can be trained or used in this codebase.
 
 ## Installation
 
-Please refer to [getting_started.md](docs/getting_started.md) for installation.
+Please refer to [getting_started.md](docs/en/getting_started.md) for installation.
 
 ## Get Started
 
-Please see [getting_started.md](docs/getting_started.md) for the basic usage of MMDetection3D. We provide guidance for quick run [with existing dataset](docs/1_exist_data_model.md) and [with customized dataset](docs/2_new_data_model.md) for beginners. There are also tutorials for [learning configuration systems](docs/tutorials/config.md), [adding new dataset](docs/tutorials/customize_dataset.md), [designing data pipeline](docs/tutorials/data_pipeline.md), [customizing models](docs/tutorials/customize_models.md), [customizing runtime settings](docs/tutorials/customize_runtime.md) and [Waymo dataset](docs/datasets/waymo_det.md).
+Please see [getting_started.md](docs/en/getting_started.md) for the basic usage of MMDetection3D. We provide guidance for quick run [with existing dataset](docs/en/1_exist_data_model.md) and [with customized dataset](docs/en/2_new_data_model.md) for beginners. There are also tutorials for [learning configuration systems](docs/en/tutorials/config.md), [adding new dataset](docs/en/tutorials/customize_dataset.md), [designing data pipeline](docs/en/tutorials/data_pipeline.md), [customizing models](docs/en/tutorials/customize_models.md), [customizing runtime settings](docs/en/tutorials/customize_runtime.md) and [Waymo dataset](docs/en/datasets/waymo_det.md).
 
-Please refer to [FAQ](docs/faq.md) for frequently asked questions. When updating the version of MMDetection3D, please also check the [compatibility doc](docs/compatibility.md) to be aware of the BC-breaking updates introduced in each version.
+Please refer to [FAQ](docs/en/faq.md) for frequently asked questions. When updating the version of MMDetection3D, please also check the [compatibility doc](docs/en/compatibility.md) to be aware of the BC-breaking updates introduced in each version.
 
 ## Citation
 
@@ -183,3 +183,6 @@ We wish that the toolbox and benchmark could serve the growing research communit
 - [MMEditing](https://github.com/open-mmlab/mmediting): OpenMMLab image and video editing toolbox.
 - [MMOCR](https://github.com/open-mmlab/mmocr): OpenMMLab text detection, recognition and understanding toolbox.
 - [MMGeneration](https://github.com/open-mmlab/mmgeneration): OpenMMLab image and video generative models toolbox.
+- [MMFlow](https://github.com/open-mmlab/mmflow): OpenMMLab optical flow toolbox and benchmark.
+- [MMFewShot](https://github.com/open-mmlab/mmfewshot): OpenMMLab fewshot learning toolbox and benchmark.
+- [MMHuman3D](https://github.com/open-mmlab/mmhuman3d): OpenMMLab 3D human parametric model toolbox and benchmark.

README_zh-CN.md

@@ -8,7 +8,7 @@
 [![license](https://img.shields.io/github/license/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/blob/master/LICENSE)
 
 
-**新闻**: 我们发布了版本 v0.17.2.
+**新闻**: 我们发布了版本 v0.17.3.
 
 另外，我们在 [v1.0.0.dev0](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0) 分支初步支持了多个新模型，包括 [DGCNN](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/configs/dgcnn/README.md), [SMOKE](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/configs/smoke/README.md) 和 [PGD](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/configs/pgd/README.md)。
 
@@ -48,11 +48,11 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱, 下一代
 
 - **与 2D 检测器的自然整合**
 
-   [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/model_zoo.md) 支持的**300+个模型 , 40+的论文算法**, 和相关模块都可以在此代码库中训练或使用。
+   [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/zh_cn/model_zoo.md) 支持的**300+个模型 , 40+的论文算法**, 和相关模块都可以在此代码库中训练或使用。
 
 - **性能高**
 
-   训练速度比其他代码库更快。下表可见主要的对比结果。更多的细节可见[基准测评文档](./docs/benchmarks.md)。我们对比了每秒训练的样本数（值越高越好）。其他代码库不支持的模型被标记为 `×`。
+   训练速度比其他代码库更快。下表可见主要的对比结果。更多的细节可见[基准测评文档](./docs/zh_cn/benchmarks.md)。我们对比了每秒训练的样本数（值越高越好）。其他代码库不支持的模型被标记为 `×`。
 
   | Methods | MMDetection3D | [OpenPCDet](https://github.com/open-mmlab/OpenPCDet) |[votenet](https://github.com/facebookresearch/votenet)| [Det3D](https://github.com/poodarchu/Det3D) |
   |:-------:|:-------------:|:---------:|:-----:|:-----:|
@@ -70,14 +70,14 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱, 下一代
 
 ## 更新日志
 
-最新的版本 v0.17.2 在 2021.11.01 发布。
-如果想了解更多版本更新细节和历史信息，请阅读[更新日志](docs/changelog.md)。
+最新的版本 v0.17.3 在 2021.12.01 发布。
+如果想了解更多版本更新细节和历史信息，请阅读[更新日志](docs/zh_cn/changelog.md)。
 
 对于分支 [v1.0.0.dev0](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0) ，请参考 [v1.0 更新日志](https://github.com/Tai-Wang/mmdetection3d/blob/v1.0.0.dev0-changelog/docs/changelog_v1.0.md) 来了解我们的最新功能和更多细节。
 
 ## 基准测试和模型库
 
-测试结果和模型可以在[模型库](docs/model_zoo.md)中找到。
+测试结果和模型可以在[模型库](docs/zh_cn/model_zoo.md)中找到。
 
 已支持的骨干网络：
 
@@ -134,17 +134,17 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱, 下一代
 其他特性
 - [x] [Dynamic Voxelization](configs/dynamic_voxelization/README.md)
 
-**注意：** [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/model_zoo.md) 支持的基于2D检测的**300+个模型 , 40+的论文算法**在 MMDetection3D 中都可以被训练或使用。
+**注意：** [MMDetection](https://github.com/open-mmlab/mmdetection/blob/master/docs/zh_cn/model_zoo.md) 支持的基于2D检测的**300+个模型 , 40+的论文算法**在 MMDetection3D 中都可以被训练或使用。
 
 ## 安装
 
-请参考[快速入门文档](docs/getting_started.md)进行安装。
+请参考[快速入门文档](docs/zh_cn/getting_started.md)进行安装。
 
 ## 快速入门
 
-请参考[快速入门文档](docs/getting_started.md)学习 MMDetection3D 的基本使用。 我们为新手提供了分别针对[已有数据集](docs/1_exist_data_model.md)和[新数据集](docs/2_new_data_model.md)的使用指南。我们也提供了一些进阶教程，内容覆盖了[学习配置文件](docs/tutorials/config.md), [增加数据集支持](docs/tutorials/customize_dataset.md), [设计新的数据预处理流程](docs/tutorials/data_pipeline.md), [增加自定义模型](docs/tutorials/customize_models.md), [增加自定义的运行时配置](docs/tutorials/customize_runtime.md)和 [Waymo 数据集](docs/tutorials/waymo.md).
+请参考[快速入门文档](docs/zh_cn/getting_started.md)学习 MMDetection3D 的基本使用。 我们为新手提供了分别针对[已有数据集](docs/zh_cn/1_exist_data_model.md)和[新数据集](docs/zh_cn/2_new_data_model.md)的使用指南。我们也提供了一些进阶教程，内容覆盖了[学习配置文件](docs/zh_cn/tutorials/config.md), [增加数据集支持](docs/zh_cn/tutorials/customize_dataset.md), [设计新的数据预处理流程](docs/zh_cn/tutorials/data_pipeline.md), [增加自定义模型](docs/zh_cn/tutorials/customize_models.md), [增加自定义的运行时配置](docs/zh_cn/tutorials/customize_runtime.md)和 [Waymo 数据集](docs/zh_cn/tutorials/waymo.md).
 
-请参考 [FAQ](docs/faq.md) 查看一些常见的问题与解答。在升级 MMDetection3D 的版本时，请查看[兼容性文档](docs/compatibility.md)以知晓每个版本引入的不与之前版本兼容的更新。
+请参考 [FAQ](docs/zh_cn/faq.md) 查看一些常见的问题与解答。在升级 MMDetection3D 的版本时，请查看[兼容性文档](docs/zh_cn/compatibility.md)以知晓每个版本引入的不与之前版本兼容的更新。
 
 ## 引用
 
@@ -181,6 +181,9 @@ MMDetection3D 是一款由来自不同高校和企业的研发人员共同参与
 - [MMEditing](https://github.com/open-mmlab/mmediting): OpenMMLab 图像视频编辑工具箱
 - [MMOCR](https://github.com/open-mmlab/mmocr): OpenMMLab 全流程文字检测识别理解工具包
 - [MMGeneration](https://github.com/open-mmlab/mmgeneration): OpenMMLab 图片视频生成模型工具箱
+- [MMFlow](https://github.com/open-mmlab/mmflow): OpenMMLab 光流估计工具箱与测试基准
+- [MMFewShot](https://github.com/open-mmlab/mmfewshot): OpenMMLab 少样本学习工具箱与测试基准
+- [MMHuman3D](https://github.com/open-mmlab/mmhuman3d): OpenMMLab 人体参数化模型工具箱与测试基准
 
 ## 欢迎加入 OpenMMLab 社区
 

configs/h3dnet/README.md

@@ -44,4 +44,4 @@ We implement H3DNet and provide the result and checkpoints on ScanNet datasets.
 python ./tools/model_converters/convert_h3dnet_checkpoints.py ${ORIGINAL_CHECKPOINT_PATH} --out=${NEW_CHECKPOINT_PATH}
 ```
 
-Then you can use the converted checkpoints following [getting_started.md](../../docs/getting_started.md).
+Then you can use the converted checkpoints following [getting_started.md](../../docs/en/getting_started.md).

configs/votenet/README.md

@@ -50,7 +50,7 @@ We implement VoteNet and provide the result and checkpoints on ScanNet and SUNRG
 python ./tools/model_converters/convert_votenet_checkpoints.py ${ORIGINAL_CHECKPOINT_PATH} --out=${NEW_CHECKPOINT_PATH}
 ```
 
-Then you can use the converted checkpoints following [getting_started.md](../../docs/getting_started.md).
+Then you can use the converted checkpoints following [getting_started.md](../../docs/en/getting_started.md).
 
 ## Indeterminism
 

docs/changelog.md → docs/en/changelog.md

 ## Changelog
 
+### 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

docs_zh-CN/conf.py → docs/en/conf.py

@@ -17,7 +17,7 @@ import sys
 from m2r import MdInclude
 from recommonmark.transform import AutoStructify
 
-sys.path.insert(0, os.path.abspath('..'))
+sys.path.insert(0, os.path.abspath('../../'))
 
 # -- Project information -----------------------------------------------------
 
@@ -25,7 +25,7 @@ project = 'MMDetection3D'
 copyright = '2020-2023, OpenMMLab'
 author = 'MMDetection3D Authors'
 
-version_file = '../mmdet3d/version.py'
+version_file = '../../mmdet3d/version.py'
 
 
 def get_version():
@@ -54,7 +54,7 @@ extensions = [
 
 autodoc_mock_imports = [
     'matplotlib', 'nuscenes', 'PIL', 'pycocotools', 'pyquaternion',
-    'terminaltables', 'mmdet3d.version', 'mmdet3d.ops'
+    'terminaltables', 'mmdet3d.version', 'mmdet3d.ops', 'mmcv.ops'
 ]
 autosectionlabel_prefix_document = True
 
@@ -95,75 +95,30 @@ html_theme_options = {
         },
         {
             'name':
-            '算法库',
+            'Upstream',
             'children': [
-                {
-                    'name': 'MMAction2',
-                    'url': 'https://github.com/open-mmlab/mmaction2',
-                },
-                {
-                    'name': 'MMClassification',
-                    'url': 'https://github.com/open-mmlab/mmclassification',
-                },
                 {
                     'name': 'MMCV',
-                    'url': 'https://github.com/open-mmlab/mmmmcv',
+                    'url': 'https://github.com/open-mmlab/mmcv',
+                    'description': 'Foundational library for computer vision'
                 },
                 {
                     'name': 'MMDetection',
                     'url': 'https://github.com/open-mmlab/mmdetection',
-                },
-                {
-                    'name': 'MMEditing',
-                    'url': 'https://github.com/open-mmlab/mmediting',
-                },
-                {
-                    'name': 'MMGeneration',
-                    'url': 'https://github.com/open-mmlab/mmgeneration',
-                },
-                {
-                    'name': 'MMOCR',
-                    'url': 'https://github.com/open-mmlab/mmocr',
-                },
-                {
-                    'name': 'MMPose',
-                    'url': 'https://github.com/open-mmlab/mmpose',
-                },
-                {
-                    'name': 'MMSegmentation',
-                    'url': 'https://github.com/open-mmlab/mmsegmentation',
-                },
-                {
-                    'name': 'MMTracking',
-                    'url': 'https://github.com/open-mmlab/mmtracking',
-                },
-            ]
-        },
-        {
-            'name':
-            'OpenMMLab',
-            'children': [
-                {
-                    'name': '官网',
-                    'url': 'https://openmmlab.com/'
-                },
-                {
-                    'name': 'GitHub',
-                    'url': 'https://github.com/open-mmlab/'
-                },
-                {
-                    'name': '推特',
-                    'url': 'https://twitter.com/OpenMMLab'
-                },
-                {
-                    'name': '知乎',
-                    'url': 'https://zhihu.com/people/openmmlab'
+                    'description': 'Object detection toolbox and benchmark'
                 },
             ]
         },
-    ]
+    ],
+    # Specify the language of shared menu
+    'menu_lang':
+    'en'
 }
 
+language = 'en'
+
+master_doc = 'index'
+
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".