Merge branch 'master' of github.com:open-mmlab/mmdetection3d into migrage-collect-env

.gitignore

@@ -105,8 +105,6 @@ venv.bak/
 .mypy_cache/
 
 # cython generated cpp
-mmdet3d/ops/nms/src/soft_nms_cpu.cpp
-mmdet3d/version.py
 data
 .vscode
 .idea

README.md

@@ -70,6 +70,8 @@ Results and models are available in the [model zoo](docs/model_zoo.md).
 | PointPillars       | ☐        | ☐        | ☐        | ✗         | ☐     | ✓        | ☐     |
 | FreeAnchor         | ☐        | ☐        | ☐        | ✗         | ☐     | ✓        | ☐     |
 | VoteNet            | ✗        | ✗        | ✗        | ✓         | ✗     | ✗        | ✗     |
+| H3DNet            | ✗        | ✗        | ✗        | ✓         | ✗     | ✗        | ✗     |
+| 3DSSD            | ✗        | ✗        | ✗        | ✓         | ✗     | ✗        | ✗     |
 | Part-A2            | ☐        | ☐        | ☐        | ✗         | ☐     | ✓        | ☐     |
 | MVXNet             | ☐        | ☐        | ☐        | ✗         | ☐     | ✓        | ☐     |
 

configs/3dssd/README.md

+# 3DSSD: Point-based 3D Single Stage Object Detector
+
+## Introduction
+We implement 3DSSD and provide the results and checkpoints on KITTI datasets.
+
+```
+@inproceedings{yang20203dssd,
+    author = {Zetong Yang and Yanan Sun and Shu Liu and Jiaya Jia},
+    title = {3DSSD: Point-based 3D Single Stage Object Detector},
+    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
+    year = {2020}
+}
+```
+
+### Experiment details on KITTI datasets
+Some settings in our implementation are different from the [official implementation](https://github.com/Jia-Research-Lab/3DSSD), which bring marginal differences to the performance on KITTI datasets in our experiments. To simplify and unify the models of our implementation, we skip them in our models. These differences are listed as below:
+1. We keep the scenes without any object while the official code skips these scenes in training. In the official implementation, only 3229 and 3394 samples are used as training and validation sets, respectively. In our implementation, we keep using 3712 and 3769 samples as training and validation sets, respectively, as those used for all the other models in our implementation on KITTI datasets.
+2. We do not modify the decay of `batch normalization` during training.
+3. While using [`DataBaseSampler`](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/datasets/pipelines/dbsampler.py#L80) for data augmentation, the official code uses road planes as reference to place the sampled objects while we do not.
+4. We perform detection using LIDAR coordinates while the official code uses camera coordinates.
+
+## Results
+
+### KITTI
+|  Backbone   |Class| Lr schd | Mem (GB) | Inf time (fps) | mAP |Download |
+| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
+|    [PointNet2SAMSG](./3dssd_kitti-3d-car.py)| Car |72e|4.7||78.35(80.42)<sup>1</sup>||
+
+[1]: We report two different 3D object detection performance here. 78.35mAP is evaluated by our evaluation code and 80.42mAP is evaluated by the official development kit （so as that used in the paper and official code of 3DSSD ）. We found that the commonly used Python implementation of [`rotate_iou`](https://github.com/traveller59/second.pytorch/blob/e42e4a0e17262ab7d180ee96a0a36427f2c20a44/second/core/non_max_suppression/nms_gpu.py#L605) which is used in our KITTI dataset evaluation, is different from the official implemention in [KITTI benchmark](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d).

docs/model_zoo.md

@@ -38,3 +38,11 @@ Please refer to [RegNet](https://github.com/open-mmlab/mmdetection3d/blob/master
 
 ### nuImages
 We also support baseline models on [nuImages dataset](https://www.nuscenes.org/nuimages). Please refer to [nuImages](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/nuimages) for details.
+
+### H3DNet
+
+Please refer to [H3DNet](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/h3dnet) for details.
+
+### 3DSSD
+
+Please refer to [3DSSD](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/3dssd) for details.

mmdet3d/VERSION

-0.5.0

mmdet3d/version.py

+# Copyright (c) Open-MMLab. All rights reserved.
+
+__version__ = '0.5.0'
+short_version = __version__
+
+
+def parse_version_info(version_str):
+    version_info = []
+    for x in version_str.split('.'):
+        if x.isdigit():
+            version_info.append(int(x))
+        elif x.find('rc') != -1:
+            patch_version = x.split('rc')
+            version_info.append(int(patch_version[0]))
+            version_info.append(f'rc{patch_version[1]}')
+    return tuple(version_info)
+
+
+version_info = parse_version_info(__version__)

setup.py

 from setuptools import find_packages, setup
 
 import os
-import subprocess
-import time
 import torch
 from torch.utils.cpp_extension import (BuildExtension, CppExtension,
                                        CUDAExtension)
@@ -17,67 +15,6 @@ def readme():
 version_file = 'mmdet3d/version.py'
 
 
-def get_git_hash():
-
-    def _minimal_ext_cmd(cmd):
-        # construct minimal environment
-        env = {}
-        for k in ['SYSTEMROOT', 'PATH', 'HOME']:
-            v = os.environ.get(k)
-            if v is not None:
-                env[k] = v
-        # LANGUAGE is used on win32
-        env['LANGUAGE'] = 'C'
-        env['LANG'] = 'C'
-        env['LC_ALL'] = 'C'
-        out = subprocess.Popen(
-            cmd, stdout=subprocess.PIPE, env=env).communicate()[0]
-        return out
-
-    try:
-        out = _minimal_ext_cmd(['git', 'rev-parse', 'HEAD'])
-        sha = out.strip().decode('ascii')
-    except OSError:
-        sha = 'unknown'
-
-    return sha
-
-
-def get_hash():
-    if os.path.exists('.git'):
-        sha = get_git_hash()[:7]
-    elif os.path.exists(version_file):
-        try:
-            from mmdet3d.version import __version__
-            sha = __version__.split('+')[-1]
-        except ImportError:
-            raise ImportError('Unable to get git version')
-    else:
-        sha = 'unknown'
-
-    return sha
-
-
-def write_version_py():
-    content = """# GENERATED VERSION FILE
-# TIME: {}
-__version__ = '{}'
-short_version = '{}'
-version_info = ({})
-"""
-    sha = get_hash()
-    with open('mmdet3d/VERSION', 'r') as f:
-        SHORT_VERSION = f.read().strip()
-    VERSION_INFO = ', '.join(
-        [x if x.isdigit() else f'"{x}"' for x in SHORT_VERSION.split('.')])
-    VERSION = SHORT_VERSION + '+' + sha
-
-    version_file_str = content.format(time.asctime(), VERSION, SHORT_VERSION,
-                                      VERSION_INFO)
-    with open(version_file, 'w') as f:
-        f.write(version_file_str)
-
-
 def get_version():
     with open(version_file, 'r') as f:
         exec(compile(f.read(), version_file, 'exec'))
@@ -199,7 +136,6 @@ def parse_requirements(fname='requirements.txt', with_version=True):
 
 
 if __name__ == '__main__':
-    write_version_py()
     setup(
         name='mmdet3d',
         version=get_version(),