GitLab

* update point fusion

* remove LIDAR hardcode

* move get_proj_mat_by_coord_type to utils

* fix lint

* remove todo

* fix lint

* Add header for files

* Add header for files

* Add header for files

* Add header for files

* Remove the legacy hack function for monocular dataset browsing

* Remove legacy import from stucture/__init__.py

* Remove legacy hacks for nuScenes visualization

* Add deleted show_bboxes initialization in inference.py

* Rollback deletion of hack function in core

* Adjust the deprecationwarning

* Fix docstring typos and change formats for api-doc to work

* Test on fixing noqa

* Fix noqa

* Fix noqa

* converted rt_mat from ndarray to tensor to make it further compatible

* changed if condition of rt_mat to be consistent with code

* group-free-3d head

* GroupFree3DNet->VoteNet

* modify docstring

* bugfix: calculate pts_instance_label, decoder self/cross posembed init

* support GroupFree3DNet, modify scannnet train config

* support point cloud input features dim = 0

* add groupfree3dnet test case

* bugfix: softmax in decode boxes

* support multi-stage predictions

* modify GroupFree3DMultiheadAttention input parameters

* refactor: support sunrgbd-based train

* refactor: support sunrgbd-based train

* fix parts of bug

* modify multi-stage prediction

* fixbug: conv_channels

* bugfix: permute

* bugfix: permute

* bugfix: expand

* fix MAX_NUM_OBJ=64

* 4 gpu training, score_thr = 0.0

* modify config, repeattime=1

* bigfix: expand

* modify: GroupFree3DMHA, build_positional_encoding

* modify: GroupFree3DMHA, build_positional_encoding

* bugfix: torch.nn

* bugfix: mean loss

* residual -> identity

* fix name: DropOut -> Dropout

* delete sunrgbd-based congfig

* Fix: trailing whitespace

* suffix -> prefix

* bugfix: groupfree3d config
Co-authored-by: jinhui <PJLAB\jinhui@shai14001019l.pjlab.org>

* 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

* [Fix] Converting point with specify rt_matrix

* boundary condition

* more readability and comprehensibility

* fix comment errors

* add eval_pipeline in mono-nuscene cfg

* add vis function in nuscene-mono dataset

* refactor vis function to support all three mode boxes proj to img

* add unit test for nuscene-mono show func

* browse_dataset support nuScenes_mono

* add show_results() to SingleStageMono3DDetector

* support mono-3d dataset browse

* support nus_mono_dataset and single_stage_mono_detector show function

* update useful_tools.md docs

* support mono-3d demo

* add unit test

* update demo docs

* fix typos & remove unused comments

* polish docs

* 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

* 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>

* Fix an old bug in box_np_ops, not used or influencing results

* Update a minor filter criterion in KITTI evaluation

* Update the fixed criterion, not influencing KITTI results

* support axis-aligned iou loss for votenet

* added doc for iou loss

* fixed problems in format

* updated docstring

* rename and format fix

* rename and format fix

* rename and format fix

* rename and format fix

* modified config

* abstracted axis_aligned_iou3d

* abstracted a bbox corner decode func

* fix docstring

* 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

* 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

* add points structure

* modify points rotation and add coord_3d_mode unittest

* modify docstring

* Add modules.

* Add test_center_head.

* Add docstring.

* Change comments.

* Add dcn_head.

* Add doc_string.

* Add get_targets.

* Can use_get_targets.

* get_targets results aligned.

* Use box_structure.

* Use get_targets_single.

* Add docstring.

* Fix dcn_center_head unittest.

* Delete unnecessary unittest.

* Add docstring.

* Change format.

* Add circle_nms.

* Change structure of mg_head.

* Add bbox coder for centerpoint.

* Add docstrings.

* Add docstrings.

* Add get_bboxes and unittest.

* Change docstring.

* Add img_metas.

* Change bbox coder unittest.

* Add task_detections.

* Change docstring.

* Change circle_nms to cpu.

* Change test_nms.

* Change score_th, chang keep to long type.

* Change docstring and unittest.

* Remove unnecessary things.

* Move gaussian.

* move clip_sigmoid, change dict.

* Change config.

* Change test_heads.

* Move weight initialization to init_weights func.

* Remove loc_loss_element adn==nd num_postive.

* Change bboxes to the right format.

* Change loss and bbox order.

* Update test_heads.

* Change loss.

* Change names in mg_head, change head unittest.

* Remove centerpoint_focal_loss, change docstring.

* Change topK default to 80.

* Change boxes in test_nms. Change task_boxes defaults to None.

* Fix rotate nms bug.

* Change docstring.

* Add docstring for get_task_detection and loss.

* Remove gaussian funcs, change mg_head.

* Change gaussianfocalloss to mean.

* change centerpoint_bbox_coder '/' to torch.div, fix centerhead unittest.

* Change div to '/'

* Change order in centerpoint_coder, change names, change dcn layer.

* Fix import in __init__

* Add gaussian unittest.

* Remove np ops in mg_head.

* Update docstring.

* Fix docstring use config to build head.

* Remove **kwargs

* Remove unnecessary codes, change order of bboxes.

* Remove '\' in args and pdb, change loss_bbox.

* Fix test_heads unittest.

* Remove unnecessary comments

* Change bbox order in rotate nms.

* Remove unnecessary attributes

* Change name, remove float

* 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

* fix depth box3d

* fix bugs of test box3d

* add ssd3dhead

* fix bugs for anchorfreebboxcoder

* modify ssd 3d head

* modify ssd 3d head

* reconstruct ssd3dhead and votehead

* add unittest

* modify 3dssd config

* modify 3dssd head

* modify 3dssd head

* rename base conv bbox head

* modify vote module

* modify 3dssd config

* fix bugs for unittest

* modify test_heads.py

* fix bugs for h3d bbox head

* add 3dssd detector

* fix bugs for 3dssd config

* modify base conv bbox head

* modify base conv bbox head

* modify base conv bbox head

* Fix (torch.nonzero): Fix  warning of torch.nonzero and bug of nms_iou

* Fix contiguous warning of tensor

* Update CI with pt1.6

* update build action

* recover ci

* Add force cuda

* Use mmcv-full==1.0.5

* Fix nonzero warning

* Update CI config

* update links

* fix unit tests

* fix unit tests

* Lock pytorch version in CI

* Lock pytorch version in CI

* Lock pytorch version in CI

* Try specify torchlink

* Try specify torchlink

* Only add 3.7 for CI

* fix synctax error

* Use 1.3.0

* Use 1.3.0 and specify mmcv

* give up 1.3

* fix cublas issue

* fix cublas issue

* add h3d head

* add h3d roi head

* update docstring of h3d roi head

* reconstruct h3d head

* remove unused code

* modify h3d bbox head

* add h3dnet init files

* modify h3d bbox head

* add depth_box3d unittest

* update h3d head

* add h3dnet benchmark

* update docstring in vote_head

* resovle primitive conflict

* Refine docs and license

* Change order of install

* Clean unnecessary requirements

* Install mmdet manually in readthedocs

* delete mmdet install

* reformat docstring in code

* Refine docs

* Reformat

* fix format issue

Update mmdet3d/datasets/kitti_dataset.py, mmdet3d/datasets/custom_3d.py, mmdet3d/datasets/pipelines/transforms_3d.py files

Update mmdet3d/core/bbox/structures/base_box3d.py, mmdet3d/core/bbox/structures/lidar_box3d.py, mmdet3d/core/post_processing/box3d_nms.py files