GitLab

* update numba

* update

* fix numba version in doc

* fix typo

* fix_typos

* fix collect3d meta keys

* support inference smoke on nuscenes and fix some bugs

* fix some bugs

* add tochserve support

* fully support torchserve

* Delete the empty file

* fix typos

* add docstrings and doc

* add config.properties

* fix typos and dosctrings

* change pipeline name
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* [Refactor] Main code modification for coordinate system refactor (#677)

* [Enhance] Add script for data update (#774)

* Fixed wrong config paths and fixed a bug in test

* Fixed metafile

* Coord sys refactor (main code)

* Update test_waymo_dataset.py

* Manually resolve conflict

* Removed unused lines and fixed imports

* remove coord2box and box2coord

* update dir_limit_offset

* Some minor improvements

* Removed some \s in comments

* Revert a change

* Change Box3DMode to Coord3DMode where points are converted

* Fix points_in_bbox function

* Fix Imvoxelnet config

* Revert adding a line

* Fix rotation bug when batch size is 0

* Keep sign of dir_scores as before

* Fix several comments

* Add a comment

* Fix docstring

* Add data update scripts

* Fix comments

* fix import (#839)

* [Enhance]  refactor  iou_neg_piecewise_sampler.py (#842)

* [Refactor] Main code modification for coordinate system refactor (#677)

* [Enhance] Add script for data update (#774)

* Fixed wrong config paths and fixed a bug in test

* Fixed metafile

* Coord sys refactor (main code)

* Update test_waymo_dataset.py

* Manually resolve conflict

* Removed unused lines and fixed imports

* remove coord2box and box2coord

* update dir_limit_offset

* Some minor improvements

* Removed some \s in comments

* Revert a change

* Change Box3DMode to Coord3DMode where points are converted

* Fix points_in_bbox function

* Fix Imvoxelnet config

* Revert adding a line

* Fix rotation bug when batch size is 0

* Keep sign of dir_scores as before

* Fix several comments

* Add a comment

* Fix docstring

* Add data update scripts

* Fix comments

* fix import

* refactor iou_neg_piecewise_sampler.py

* add docstring

* modify docstring
Co-authored-by: Yezhen Cong <52420115+THU17cyz@users.noreply.github.com>
Co-authored-by: THU17cyz <congyezhen71@hotmail.com>

* [Feature] Add roipooling cuda ops (#843)

* [Refactor] Main code modification for coordinate system refactor (#677)

* [Enhance] Add script for data update (#774)

* Fixed wrong config paths and fixed a bug in test

* Fixed metafile

* Coord sys refactor (main code)

* Update test_waymo_dataset.py

* Manually resolve conflict

* Removed unused lines and fixed imports

* remove coord2box and box2coord

* update dir_limit_offset

* Some minor improvements

* Removed some \s in comments

* Revert a change

* Change Box3DMode to Coord3DMode where points are converted

* Fix points_in_bbox function

* Fix Imvoxelnet config

* Revert adding a line

* Fix rotation bug when batch size is 0

* Keep sign of dir_scores as before

* Fix several comments

* Add a comment

* Fix docstring

* Add data update scripts

* Fix comments

* fix import

* add roipooling cuda ops

* add roi extractor

* add test_roi_extractor unittest

* Modify setup.py to install roipooling ops

* modify docstring

* remove enlarge bbox in roipoint pooling

* add_roipooling_ops

* modify docstring
Co-authored-by: Yezhen Cong <52420115+THU17cyz@users.noreply.github.com>
Co-authored-by: THU17cyz <congyezhen71@hotmail.com>

* [Refactor] Refactor code structure and docstrings (#803)

* refactor points_in_boxes

* Merge same functions of three boxes

* More docstring fixes and unify x/y/z size

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Remove None in function param type

* Fix unittest

* Add comments for NMS functions

* Merge methods of Points

* Add unittest

* Add optional and default value

* Fix box conversion and add unittest

* Fix comments

* Add unit test

* Indent

* Fix CI

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Add unit test for box bev

* More unit tests and refine docstrings in box_np_ops

* Fix comment

* Add deprecation warning

* [Feature] PointXYZWHLRBBoxCoder (#856)

* support PointBasedBoxCoder

* fix unittest bug

* support unittest in gpu

* support unittest in gpu

* modified docstring

* add args

* add args

* [Enhance] Change Groupfree3D config (#855)

* All mods

* PointSample

* PointSample

* [Doc] Add tutorials/data_pipeline Chinese version (#827)

* [Doc] Add tutorials/data_pipeline Chinese version

* refine doc

* Use the absolute link

* Use the absolute link
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* [Doc] Add Chinese doc for `scannet_det.md` (#836)

* Part

* Complete

* Fix comments

* Fix comments

* [Doc] Add Chinese doc for `waymo_det.md` (#859)

* Add complete translation

* Refinements

* Fix comments

* Fix a minor typo
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* Remove 2D annotations on Lyft (#867)

* Add header for files (#869)

* Add header for files

* Add header for files

* Add header for files

* Add header for files

* [fix] fix typos (#872)

* Fix 3 unworking configs (#882)

* [Fix] Fix `index.rst` for Chinese docs (#873)

* Fix index.rst for zh docs

* Change switch language

* [Fix] Centerpoint head nested list transpose  (#879)

* FIX Transpose nested lists without Numpy

* Removed unused Numpy import

* [Enhance] Update PointFusion (#791)

* update point fusion

* remove LIDAR hardcode

* move get_proj_mat_by_coord_type to utils

* fix lint

* remove todo

* fix lint

* [Doc] Add nuscenes_det.md Chinese version (#854)

* add nus chinese doc

* add nuScenes Chinese doc

* fix typo

* fix typo

* fix typo

* fix typo

* fix typo

* [Fix] Fix RegNet pretrained weight loading (#889)

* Fix regnet pretrained weight loading

* Remove unused file

* Fix centerpoint tta (#892)

* [Enhance] Add benchmark regression script (#808)

* Initial commit

* [Feature] Support DGCNN (v1.0.0.dev0) (#896)

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* support dgcnn

* fix typo

* fix typo

* fix typo

* del gf&fa registry (wo reuse pointnet module)

* fix typo

* add benchmark and add copyright header (for DGCNN only)

* fix typo

* fix typo

* fix typo

* fix typo

* fix typo

* support dgcnn

* Change cam rot_3d_in_axis (#906)

* [Doc] Add coord sys tutorial pic and change links to dev branch (#912)

* Modify link branch and add pic

* Fix pic

* [Feature] add kitti AP40 evaluation metric (v1.0.0.dev0) (#927)

* Add citation (#901)

* [Feature] Add python3.9 in CI (#900)

* Add python3.0 in CI

* Add python3.0 in CI

* Bump to v0.17.0 (#898)

* Update README.md

* Update README_zh-CN.md

* Update version.py

* Update getting_started.md

* Update getting_started.md

* Update changelog.md

* Remove "recent" in the news

* Remove "recent" in the news

* Fix comments

* [Docs] Fix the version of sphinx (#902)

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* Fix sphinx version

* add AP40

* add unitest

* add unitest

* seperate AP11 and AP40

* fix some typos
Co-authored-by: dingchang <hudingchang.vendor@sensetime.com>
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* [Feature] add smoke backbone neck (#939)

* add smoke detecotor and it's backbone and neck

* typo fix

* fix typo

* add docstring

* fix typo

* fix comments

* fix comments

* fix comments

* fix typo

* fix typo

* fix

* fix typo

* fix docstring

* refine feature

* fix typo

* use Basemodule in Neck

* [Refactor] Refactor the transformation from image to camera coordinates (#938)

* Refactor points_img2cam

* Refine docstring

* Support array converter and add unit tests

* [Feature] FCOS3D BBox Coder (#940)

* FCOS3D BBox Coder

* Add unit tests

* Change the value from long to float/double

* Rename bbox_out as bbox

* Add comments to forward returns

* [Feature] PGD BBox Coder (#948)

* Support PGD BBox Coder

* Refine docstring

* add smoke augmentation method

* add docs

* fix docstrings

* fix typos

* change point name

* fix typos

* fix typos

* fix typos
Co-authored-by: Yezhen Cong <52420115+THU17cyz@users.noreply.github.com>
Co-authored-by: Xi Liu <75658786+xiliu8006@users.noreply.github.com>
Co-authored-by: THU17cyz <congyezhen71@hotmail.com>
Co-authored-by: Wenhao Wu <79644370+wHao-Wu@users.noreply.github.com>
Co-authored-by: Tai-Wang <tab_wang@outlook.com>
Co-authored-by: dingchang <hudingchang.vendor@sensetime.com>
Co-authored-by: 谢恩泽 <Johnny_ez@163.com>
Co-authored-by: Robin Karlsson <34254153+robin-karlsson0@users.noreply.github.com>
Co-authored-by: Danila Rukhovich <danrukh@gmail.com>

* refactor points_in_boxes

* Merge same functions of three boxes

* More docstring fixes and unify x/y/z size

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Remove None in function param type

* Fix unittest

* Add comments for NMS functions

* Merge methods of Points

* Add unittest

* Add optional and default value

* Fix box conversion and add unittest

* Fix comments

* Add unit test

* Indent

* Fix CI

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Add unit test for box bev

* More unit tests and refine docstrings in box_np_ops

* Fix comment

* Add deprecation warning

* Add header for files

* Add header for files

* Add header for files

* Add header for files

* replace all cam_intrinsic

* revert cam_intrinsic in test

* remove rect and fix lint

* replace IndoorPointSample to PointSample

* add comments for PointSample transform

* fix bug when far points > num_sample

* refine format

* add unit test

* minor fix

* minor fix

* [Enhance] Sampling points based on distance metric

* fix typo

* refine unittest

* refine unittest

* refine details & add unittest & refine configs

* remove __repr__ & rename arg

* fix unittest

* add unitest

* refine unittest

* refine code

* refine code

* refine depth calculation

* refine code

* add cfg

* add eps format

* update README

* update model zoo

* add paconv readme

* add metafile

* hack drop_ratio

* use base schedule cfg

* remove paconv cuda

* monor fix

* remove paconv cuda config related

* update paconv benchmark

* update model link

* set gravity center origin

* remove filter transform in 3DSSD cfg

* add PAConv decode head

* add config files

* add paconv's correlation loss

* support reg loss in Segmentor class

* minor fix

* add augmentation to configs

* fix ed7 in cfg

* fix bug in corr loss

* enable syncbn in paconv

* rename to loss_regularization

* rename loss_reg to loss_regularize

* use SyncBN

* change weight kernels to kernel weights

* rename corr_loss to reg_loss

* minor fix

* configs fix IndoorPatchPointSample

* fix grouped points minus center error

* update transform_3d & add configs

* merge master

* fix enlarge_size bug

* refine config

* remove cfg files

* minor fix

* add comments on PAConv's ScoreNet

* refine comments

* update compatibility doc

* remove useless lines in transforms_3d

* rename with_loss_regularization to with_regularization_loss

* revert palette change

* remove xavier init from PAConv's ScoreNet

* Fix rotation and dim hacks between nuscbox and our cambox

* Remove hack in the mono browse, fix cam_intrinsic in the RandomFlip3D

* Apply a more suitable hack transformation (dim & yaw hack)

* Fix incorrect transformation of dim in post-processing

* Remove transformation from global to local yaw in kitti mono dataset

* Add comments for cam_intrinsic modification in the doc and code

* Fix typos and invalid links

* Add compatibility doc for fixing nus hacks

* Update benchmark

* fix bev_range problem with points in different coordinate systems

* changed checking instance on points to gt_bboxes_3d to make it compatible with test

* sort imports

* unravel multi-view img to list

* add unit test

* refactor K and Rt to depth2img for SUN RGB-D

* fix lint

* update 3 tests

* fix extra calib key and comments

* remove calib from browse_dataset

* fix cam to depth; rename return_z

* enhance IndoorPatchPointSample

* modify configs and unit test

* add docs & comment

* fix legacy bug

* minor fix

* keep sample_rate and add warning

* fix bg_points_filter

* fix 3dssd bg_point_filter bug

* fix bg_filter bug in 3dssd

* update performance

* add model download link

* unit test for LoadImageFromFileMono3D

* fix GlobalRotScaleTrans assertion

* add unit test for ObjectNameFilter

* add unit test for ObjectRangeFilter

* add RandomJitterPoints transform

* add unit test

* add comments

* minor fix

* add RandomDropPointsColor transform

* add unit test

* add link to PAConv

* remove registry.py in datasets/

* remove registry.py in ops/pointnet_modules/

* remove registry.py in models/

* refactor builder using mmcv.MODELS registry

* update mmcv min version requirement

* change min mmcv version requirement in mmdet3d/__init__.py

* min mmcv version to 1.3.2

* efficient mapping by matrix indexing

* add pointsegmapping unit test

* add max_cat_id args everywhere PointSegClassMapping is called in codebase

* add default value for max_cat_id for safety

* add assertion of max_cat_id

* reuse pipeline in scannet-det dataset

* reuse pipeline in kitti dataset

* reuse pipeline in lyft dataset

* reuse pipeline in sunrgbd dataset

* reuse pipeline in nuscenes dataset

* reuse pipeline in waymo dataset

* reuse pipeline in scannet-seg dataset

* add eval_pipeline in configs which have custom data pipelines

* move data loading via pipeline to dataset._extract_data() for clarity

* use eval_pipeline in tools/misc/visualize_results.py

* get_pipeline from self when no pipeline is provided

* fix small bugs

* fix small bugs

* simplify and clear code

* remove unnecessary eval_pipeline added

* add comment about why we set self.test_mode=False

* small fix

* modify docs about config

* modify PointShuffle and add unittest

* modify PointsRangeFilter and add unittest

* fix small bugs in IndoorPointSample

* fix small typos in docstring

* Support nuscenes mono3d json info generation

* Support nuscenes mono3d dataset class

* Support attribute and bbox2d prediction in bbox3dnms and bbox3d2result

* Rename dataset class and add comments to 'attrs'

* Support mono3d related pipelines

* Fix unittest for loading 3D annotations

* Add unit test for nuscenes mono3d dataset

* Rename the sample result file

* Upload sample data for mono3d unit test

* Upload sample data for mono3d unit test

* Upload sample image for unit test

* Delete tests/data/nuscenes/samples/LIDAR_TOP/CAM_BACK_LEFT directory

* Add files via upload

* Remove unnecessary 'f'

* Remove unnecessary \ in arguments

* Remove check for pycocotools version because it has been done in the cocodataset

* Remove unnecessary comma, add TODO and change init of attrs in format_results

* Merge RandomFlip3D and RandomFlipMono3D

* Add pytest to check whether cuda is available in the unit test

* Add visualization TODO

* Remove useless init in loading mono3d images

* remove max_num_point in ScanNet data preprocessing

* add config file for ScanNet semantic segmentation dataset

* modify NormalizePointsColor in pipeline

* add visualization function for semantic segmentation

* add ignore_index to semantic segmentation visualization function

* add ignore_index to semantic segmentation evaluation function

* fix ignore_index bug in semantic segmentation evaluation function

* add test function to check ignore_index assignment in PointSegClassMapping

* fix slicing bug in BasePoints class and add unittest

* add IndoorPatchPointSample class for indoor semantic segmentation data loading and add unittest

* modify LoadPointsFromFile class and its unittest to support point color loading

* fix data path in unittest

* add setter function for coord and attributes of BasePoint and modify unittest

* modify color normalization operation to work on BasePoint class

* add unittest for ScanNet semantic segmentation data loading pipeline

* fix ignore_index bug in seg_eval function

* add ScanNet semantic segmentation dataset and unittest

* modify config file for ScanNet semantic segmentation

* fix visualization function and modify unittest

* fix a typo in seg_eval.py

* raise exception when semantic mask is not provided in train/eval data loading

* support custom computation of label weight for loss calculation

* modify seg_eval function to be more efficient

* fix small bugs & change variable names for clarity & add more cases to unittest

* move room index resampling and label weight computation to data pre-processing

* add option allowing user to determine whether to sub-sample point clouds

* fix typos & change .format to f-string & fix link in comment

* save all visualizations into .obj format for consistency

* infer num_classes from label2cat in eval_seg function

* add pre-computed room index and label weight for ScanNet dataset

* replace .ply with .obj in unittests and documents

* add TODO in case data is on ceph

* add base dataset for all semantic segmentation tasks & add ScanNet dataset inheriting from base dataset

* rename class for consistency

* fix minor typos in comment

* move Custom3DSegDataset to a new file

* modify BasePoint setter function to enable attribute adding

* add unittest for NormalizePointsColor and fix small bugs

* fix unittest for BasePoints

* modify ScanNet data pre-processing scripts

* change ignore_idx to -1 in seg_eval function

* remove sliding inference from PatchSample function and modify unittest

* remove PatchSample from scannet seg test_pipeline

* Added image loading in SUNRGB-D dataset (#195)

* image loading

* format and docstring fix

* removed irrelevant files

* removed irrelevant files

* load image only if modality is pc+img

* added modality like nuscenes

* Added imvotenet image branch pretrain (#217)

* image loading

* naive commit

* format and docstring fix

* removed irrelevant files

* removed irrelevant files

* load image only if modality is pc+img

* added modality like nuscenes

* pretrain_2d_model

* finetune sunrgbd

* finetune sunrgbd

* deleted unused code

* fixed a bug

* resolve conflict

* update config file

* fix docstring and configs

* integrated vote fusion

* coords transform and unit test

* Update docstring

* refactor and add unit test

* fix bug caused by mmcv upgrade; delete pdb breakpoint

* add point fusion unittest

* remove unused file

* fix typos

* updates

* add assertion info

* update

* add unittest

* add vote fusion unittest

* add vote fusion unittest

* [Refactor] VoteNet refactor (#322)

* votenet refactor

* remove file

* minor update

* docstring

* initial update of imvotenet

* [Feature] Support vote fusion (#297)

* integrated vote fusion

* coords transform and unit test

* Update docstring

* refactor and add unit test

* add point fusion unittest

* remove unused file

* updates

* add assertion info

* update

* add unittest

* add vote fusion unittest

* add vote fusion unittest

* minor update

* docstring

* change np ops to torch

* refactor test

* update

* refactor of image mlp and np random ops to torch

* add docstring

* add config and mod dataset

* fix bugs

* add_comments

* fix bugs

* fix_bug

* fix bug

* fix bug

* fix bug

* fix bug

* final fix

* fix bug

* ?

* add docstring

* move train/test cfg

* change img mlp default param

* rename config

* minor mod

* change config name

* move train/test cfg

* some fixes and 2d utils

* fix config name

* fix config override issue

* config simplify & reformat

* explicitly set eval mode->override train()

* add fix_img_branch to config

* remove set_img_branch_eval_mode

* temporal fix, change calibs to calib

* more docstring and view/reshape, expand/repeat change

* complete imvotenet docstring

* fix docstring

* add config and some minor fix

* rename config
Co-authored-by: ZwwWayne <wayne.zw@outlook.com>

* add ini

* add semantickitti_dataset

* add test semantickitti_dataset

* delete last line in test_semmaticdataset

* add test data

* change_names

* load_labels dytype

* change_name

* numpy

* name

* dtype string

* minor issue-string

* seg_3d_dtype

* add h3d backbone

* add h3d backbone

* add h3dnet

* modify scannet config

* fix bugs for proposal refine

* fix bugs for test backbone

* add primitive head test

* modify h3dhead

* modify h3d head

* update loss weight config

* fix bugs for h3d head loss

* modify h3d head get targets function

* update h3dnet base config

* modify weighted loss

* Revert "Merge branch 'h3d_u2' into 'master'"

This reverts merge request !5

* modify pipeline

* modify kitti pipeline

* fix bugs for points rotation

* modify multi sweeps

* modify multi sweep points

* fix bugs for points slicing

* modify BackgroundPointsFilter

* modify pipeline

* modify unittest

* modify unittest

* modify docstring

* modify config files

* update configs

* modify docstring

* Able to double_flip test.

* Remove nms_post_max_size

* Able to merge then nms for tta.

* Able to merge then nms for tta.

* reproducible performance.

* Add more configs.

* Able to use scale tta.

* Move scale aug to merge_aug_bboxes_3d

* Remove brackets, add comments.

* Delete unnecessary configs, Add instruction in README.

* Add docstring.

* Change readme, add empty line.

* Change name.

* Add tta in unittest.

* Add 'to cpu'

* Add simple test

* Move 'to cpu'

* Add full tta config

* Delete circle_nms tta config, change max_num.

* Update benchmark

* Remove unnecessary code, move position of flip.

* Complete docstring.

* Add comment for double flip change.

* add sweep points sampler

* add sweep points sampler

* rebase master

* modify unittest

* modify voxel based point sampler

* modify voxel based point sampler

* fix bugs for voxel based point sampler

* modify voxel based points sampler

* fix bugs

* modify repr string

* Add gitlab CI back

* clean isort

* Update gitlab CI version

* Update mmcv install

* fix unit test bug

* waymo

* Use new flake8

* Update mmdet3d/core/evaluation/waymo_utils/prediction_kitti_to_waymo.py, tools/data_converter/waymo_converter.py files

* Add baseline configs for waymo

* fix linting

* yapf reformat

* update waymo results

* Update waymo model zoo and docs

* Bump v0.6.0

* Fix a minor bug when converting waymo data

* Fix cmds in the waymo doc

* Fix setup.cfg to pass isort test

* Fix waymo configs

* Update model zoo link & doc

* update version date

* clean ci
Co-authored-by: wangtai <wangtai@sensetime.com>
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* [Fix]: fix label type bug when using dbsampler

* Unify cat_id for more general usage

* fix CI bugs

* keep astype np.long

* Change gt_database and dbsampler.

* Add int condition for use_dim.

* Change default sweep_num.

* Change docstring.

* Change to pipeline in db_sampler.

* remove comments.