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* 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

* Fix regnet pretrained weight loading

* Remove unused file

* 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

* support PointBasedBoxCoder

* fix unittest bug

* support unittest in gpu

* support unittest in gpu

* modified docstring

* add args

* add args

* 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

* [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] 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>

* reduce 1e-12 to make difference between variables

If 1e-12 is used to make a difference between t1 and t2, then later (t2-t1) might become 0 as 1e-12 can't affect to the number (at least true in pytorch, verified in v1.5.0+).

* Revert "reduce 1e-12 to make difference between variables"

This reverts commit 33ec7215d22be59bf0012dea748f5cacc33a0fb8.

* reduce 1e-12 to make difference between variables

If 1e-12 is used to make a difference between t1 and t2, then later (t2-t1) might become 0 as 1e-12 can't affect to the number (at least true in pytorch, verified in v1.5.0+). Not sure whether 1e-7 or 1e-8 worked. But 1e-6 did.

* visuliaztion typos

* fix to visualization

* fixed lint errors by pre-commit

* upgrade to build_anchor_generator

* fixed  isort message

* 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

* Fix regnet pretrained weight loading

* Remove unused file

* update point fusion

* remove LIDAR hardcode

* move get_proj_mat_by_coord_type to utils

* fix lint

* remove todo

* fix lint

* FIX Transpose nested lists without Numpy

* Removed unused Numpy import

* Add header for files

* Add header for files

* Add header for files

* Add header for files

* add s3dis dataset

* fix comments; remove _S3DISDataset if favour of ConcatDataset

* fix comments

* fix comments

* fix link in __init__/py

* remove unused import

* add dataset tests

* add pytest.skip

* fix gf3d cfg name

* fix unit test

* minor fix

* 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

* use type long long and dynamic memory allocation

* use int64_t instead of long long

* [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

* Update README.md

* Update README_zh-CN.md

* Update getting_started.md

* Update getting_started.md

* Update version.py

* Update changelog.md

* Update changelog.md

* Update changelog.md

* Update changelog.md

* 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

* 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

* extract RGB images for ScanNet

* update scannet_data_utils with rgb

* fix docs an tools; add use_camera to ScanNetDataset

* fix typos is scannet doc

* fix very rare undefined poses for ScanNet

* update ScanNet dataset for more clear MultiViewPipeline

* update compatibility for ScanNet

* fix typo in compatibility doc

* use mmcv.track_parallel_progress for scannet images

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

* Test on fixing noqa

* Fix noqa

* Fix noqa

* support 3dssd

* support one-stage method

* for lint

* support two_stage

* Support all methods

* remove init_cfg=[] in configs

* test

* support h3dnet

* fix lint error

* fix isort

* fix code style error

* fix imvotenet bug

* rename init_weight->init_weights

* clean comma

* fix test_apis does not init weights

* support newest mmdet and mmcv

* fix test_heads h3dnet bug

* rm *.swp

* remove the wrong code in build.yml

* fix ssn low map

* modify docs

* modified ssn init_config

* modify params in backbone pointnet2_sa_ssg

* add ssn direction init_cfg

* support segmentor

* add conv a=sqrt(5)

* Convmodule uses kaiming_init

* fix centerpointhead init bug

* add second conv2d init cfg

* add unittest to confirm the input is not be modified

* assert gt_bboxes_3d

* rm .swag

* modify docs mmdet version

* adopt fcosmono3d

* add fcos 3d original init method

* add init cfg

* add init cfg

* modify fcos3d init_weights

* deleted error merge code

* deleted useless code

* remove useless code