GitLab

* add fcaf3d config

* support inference of fcaf3d on scannet-3d

* minor changes

* fix config of scannet

* align test precision of facaf3d && support training

* add ut

* fix bugs of dataset conversion and indoor_metric

* support fcaf3d on sunrgbd datasets and add rorate_iou_loss ut

* small fix

* add docstring and typehint

* add typehint for SparseTensor

* remove pdb

* fix fcaf3d ut

* update evaluation metric to support waymo cam only evaluation

* add transformation for bev detection

* add multiview dfm

* support multiview detection in datasets with transformation, dfm model and metric

* remove deprecated config and update doc string

* remove file_client_args=file_client_args and update docstr

* add doc string and remove pdb

* fix the doc string of voxel fusion

* add doc string

* remove lidar2img

* add doc string

* update doc string

* support waymo dataset for replace_ceph and modify path of pkl in config

* update evaluation metrics; and the config for waymo solution

* fix the index error in waymo metric and add lidar2img utils function

* replace __call_ to transform

* fix doc string

* rename configs

* update the config name

* update the lidar2cam calib in waymo data creater
Co-authored-by: lianqing <lianqing1997@gmail.com>
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* add deploy.yaml

* fix

* fix

* fic

* fix

* fix

* fix

* fix

* fix

* fix

* fix bug

* fix comments

* fix comments

* fix

* fix

* Minor fix
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* fix cfg name

* update cfg name

* fix cfg

* fix comments

* fix comment

* fix comments

* mv voxelization

* update

* update full

* fix configs

* improve docstring of data_preprocessor

* fix dynamic voxel config

* remove default voxel_type in config

* fix typos

* add docstring

* fix ut

* update

* fix docstring

* fix vis

* add the kitti and nuscenes judgemnet

* fix seg vis

* add docstring

* fix comments and ipynb bug

* update waymo dataset

* [Fix] Fix all unittests and refactor tests directory and add circle ci in `test-1.x` (#1654)

* add circle ci

* delete github ci

* fix ci

* fix ut

* fix markdown version

* rm

* fix part of uts

* fix comments

* change foler

* refactor test directory

* fix kitti metric ut

* fix all ut
Co-authored-by: VVsssssk <shenkun@pjlab.org.cn>

* add waymo dataset and evaluation metrics

* convert second configs for v2.0

* [Refactor] Unify ceph config (#1677)

* refactor ceph in config

* support metric load ann file from ceph

* add doc string and remove useless code

* [Fix]Fix create data (#1659)

* add circle ci

* delete github ci

* fix ci

* fix ut

* fix markdown version

* rm

* fix part of uts

* fix comments

* change foler

* refactor test directory

* fix kitti metric ut

* fix all ut

* fix creat data
Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn>

* [Fix] Fix seg mapping (#1681)

* [Doc]: fix markdown version (#1653)

* [CI] Add circle ci (#1647)

* add circle ci

* delete github ci

* fix ci

* fix ut

* fix markdown version

* rm

* fix seg mapping for scannet

* fix requiremetn

* fix all seg dataet

* resolve commnets
Co-authored-by: VVsssssk <88368822+VVsssssk@users.noreply.github.com>

* [Fix] Fix SSN configs (#1686)

* modify doc string and evaluation file location

* add doc string

* remove path mapping in flieclient args
Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn>
Co-authored-by: VVsssssk <shenkun@pjlab.org.cn>
Co-authored-by: VVsssssk <88368822+VVsssssk@users.noreply.github.com>
Co-authored-by: Shilong Zhang <61961338+jshilong@users.noreply.github.com>

* Update config to use new nms config.

References:
- https://github.com/open-mmlab/mmdetection/pull/4636
- https://github.com/open-mmlab/mmdetection3d/issues/1254
- https://github.com/open-mmlab/mmdetection/issues/5954



* Revert to master-based version and revert incorrect fixes

* Fix missing conflicts

* Adjust incorrect orders of dataset init after resolving conflicts
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* upgrade PointPillars performace on dev branch

* update DynamicPillarFeatureNet

* fix comments

* change to AlignedAnchor3DRangeGenerator

* change to AlignedAnchor3DRangeGenerator

* fix

* replace with AlignedAnchorGenerator

* fix lint

* update using isort

* fix pointpillars bug on kitti in master branch

* replace with AlignedAnchorGenerator

* rebase & resubmit

* rename config & model

* fix unittest

* resolve comments & add docstring for class_agnostic_nms

* refine loss calculation & remove find_unused_parameters

* resolve typo & add docstring

* resolve comments

* [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

* Support PGD BBox Coder

* Refine docstring

* Add uncertain l1 loss and its unit tests

* [Feature] PGD BBox Coder (#948)

* Support PGD BBox Coder

* Refine docstring

* PGD Head initialized

* Refactor init methods, fix legacy variable names

* [Feature] Support Uncertain L1 Loss (#950)

* Add uncertain l1 loss and its unit tests

* Remove mmcv.jit and refine docstrings

* [Fix] Fix visualization in KITTI dataset (#956)

* fix bug to support kitti vis

* fix

* Refine variable names and docstrings

* Add unit tests and fix some minor bugs

* Refine assertion messages

* Fix typo in the docs_zh-CN

* Use Pretrain init and remove unused init_cfg in FCOS3D

* Fix the comments for the input_modality in the dataset config

* Fix minor bugs in pgd_bbox_coder and incorrect setting for uncertain loss, use original init

* Add explanations for code_weights

* Adjust the unit test for pgd bbox coder

* Remove unused codes

* Add mono3d metric into the gather_models and fix bugs

* Involve the value assignment of loss_dict into the computing procedure

* Fix incorrect loss_depth
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: 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>
Co-authored-by: ChaimZhu <zhuchenming@pjlab.org.cn>

* add smoke detector and cfgs

* fix init

* fix input_modality

* FCOS3D BBox Coder

* Add unit tests

* Change the value from long to float/double

* Rename bbox_out as bbox

* Add comments to forward returns

* 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 config

* Fix another place

* 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

* 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

* fix mmseg version

* add init cfg in fcos_mono3d.py

* merge newest master

* remove unused code

* modify focs config due to changes of resnet

* support imvoxelnet pointnet2

* modified the dependencies version

* support decode head

* fix inference bug

* modify the useless init_cfg

* fix multi_modality BC-breaking

* fix error blank

* modify docs error

* 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>

* build BaseSegmentor for point sem seg

* add encoder-decoder segmentor

* update mmseg dependency

* fix linting errors

* warp predicted seg_mask in dict

* add unit test

* use build_model to wrap detector and segmentor

* fix compatibility with mmseg

* faster sliding inference

* merge master

* configs for training on ScanNet

* fix CI errors

* add comments & fix typos

* hard-code class_weight into configs

* fix logger bugs

* update segmentor unit test

* logger use mmdet3d

* use eps to replace hard-coded 1e-3

* add comments

* replace np operation with torch code

* add comments for class_weight

* add comment for BaseSegmentor.simple_test

* rewrite EncoderDecoder3D to avoid inheriting from mmseg

* Support base mono3d dense head and anchor free mono3d head

* Support FCOS3D head

* Support FCOS3D baseline on nuScenes

* Fix an import error caused by update of mmcv/mmdet

* Change img_scale to scale_factor in the MultiScaleFlipAug in the config

* Add pred_bbox2d in the params of anchor_free_mono3d_head

* Add unit test for fcos3d head

* Fix a minor bug when setting img_metas in the unit test

* Add unit test for fcos3d detector

* Simplify the logic of weights initialization

* Add comments to specify the reason of cloning features

* Update head config

* fix #460 and simplify configs

* fix duplicate key error

* delete unused _delete_

* add cosine docstring and fixed a bug

* revert config files under benchmark folder

* add type to runner in benchmark configs

* remove irrelevant change