GitLab

* 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

* Support monocular 3D detection on KITTI dataset

* Add visualization TODO

* Merge nus_mono3d and update dataset init

* Remove duplicated loading images in mono3d

* Remove aos evaluation of bbox2d predictions on KITTI

* Add unit test for kitti mono3d dataset

* Add accidentally deleted classes in the dataset init

* Replace .format with f-string in kitti dataset

* Clean comma

* Toy data for unit test of kitti mono dataset

* Sample image data for unit test

* add format_results function for ScanNet test set results submission

* support ScanNet test set data pre-processing

* replace is_train with test_mode for better consistency

* fix link error in docstring

* uncomplete

* support lidar2img loading

* add box_type_3d args in MVX-Net config file

* support multi-modality demo for LiDAR point clouds

* support multi-modality demo for indoor (depth) point clouds

* move demo data into folder and modify docs

* add input check & more general filename matching

* update docs for demo and add README file for demo

* add score_threshold option to demos

* add data for ScanNet & KITTI dataset multi-modality test

* add multi-modality visualization in ScanNet and KITTI dataset

* add unittest for modified visualization function

* delete saved temp file and dirs in unittests using TemporaryDirectory

* fix typos in docs & move README of demos to docs/

* add demo docs to documentation

* fix link error
Co-authored-by: wHao-Wu <wenhaowu.chn@gmail.com>

* browse_dataset

* move visualization config from 'configs/' to 'configs/_base_'

* refine

* refine

* adding argument option & browsing testing split only

* support get_loading_pipeline & browsing training split

* support get_loading_pipeline & browsing training split

* support get_loading_pipeline & browsing training split

* add condition of RepeatDataset & support the usage of cfg-options & refine useful_tools.md

* add condition of RepeatDataset & support the usage of cfg-options & refine useful_tools.md

* enable dataset browsing with empty gt & update docs/useful_tools

* support all 3d dataset

* fix small typos

* fix small bugs
Co-authored-by: Wuziyi616 <dazitu616@gmail.com>

* 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

* sunrgbd doc update and change in image path

* rephrase

* 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 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 open3d visual

* modify docstring

* use bbox and coord convert

* modify docstring

* fix bugs for unittest

* fix bugs for unittest

* modify doc

* add visualize script and modify docs

* modify docs

* fix bugs

* 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

* fixed the bug about miss text files on kitti testing

* add bbox2result_kitti unit test

* add bbox2result_kitti unit test

* add exist_submission_file unit test

* deleted debug code and convert{} to dict()

* add _get_kitti_dataset_config()

* delete print

* 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 bugs for empty scene

* modify doc

* modify filter empty scene

* 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

* 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 overall evaluation

* Add config waymo-3d-car.py

* Update README.md

* Create hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-3class.py

* Create hv_pointpillars_secfpn_sbn_2x16_2x_waymo-3d-car.py

* Delete waymo-3d-car.py

Instead of using new dataset config, we change the load_interval in the config for specific usage.

* update url links
Co-authored-by: Tai-Wang <tab_wang@outlook.com>
Co-authored-by: twang <30491025+Tai-Wang@users.noreply.github.com>

* 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

* Reduce requirements if waymo dataset is not used

* Update waymo.md

* Update optional.txt

* Update waymo.md

Add instructions of requirements/optional.txt related to waymo

* 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.

* add data_aug BackgroundPointsFilter

* modify BackgroundPointsFilter

* modify BackgroundPointsFilter

* Add bottom2gravity and balance_class option.

* Add valid_flag.

* Add use_valid_flag.

* Change balance_class option.

* Add wrapper, remove gravity and balance_class option.

* Change flag, change load_infos to repeat_indices.

* Remove pdb, change docstring.

* Change name, remove unnecessary args.

* Remove _concat_dataset.

* Change name of ClassSampledDataset.

* Change docstring.

* Add get_cat_ids in nus_dataset, add unittest for wrapper.

* Change to len(self.dataset)

* Update nus data.

* Fix a minor bug in json2csv of lyft dataset

* Fix variable names and minor hard code

* Add unittest.

* Change to 'defaults to'.

* Add replace=False, remove T op, add num_sweeps=10 unittest.

* Change lyft_infos.pkl.

* Add nus unittest.

* Add nus unittest.

* Change nus_info.pkl.

* Add test_mode.

* add test_getitem for kitti

* Change dataset to self

* Fix dbinfo path bug

* Change to 230

* Change bboxes and scores

* Debug, check points shape after dbsample

* Debug, add assert gt_bbox and db bbox

* Debug, add assert sampled and gt_bboxes

* Debug, add assertion for dbinfo and gt_box

* Fix transfom_3d unittest

* Fix kitti dataset unittest

* Add kitti data

* Clean debug

* Change data_augment_utils

* Reduce point file

* Change self to dataset

* Change data_augment_utils to normal

* Change order of CLASSES

* Finish test_random_flip_3d

* Add show unittest for scannet and sunrgbd datasets

* Add show unittest for kitti dataset

* Add test_evaluate for kitti dataset

* Add pytest.skip

* Add format_results unittest

* Add test_show for lyft

* Fix eval

* Add test_time_aug unittest

* Add bbox2result_kitti2d unittest

* Change abs to np.isclose

* Support github action:

* fix docs package

* reduce action items

* Update cuda arch

* Set cuda arch

* Add information

* add cocotools in installation

* skip gpu

* remove duplicated module

* Change points shape from 1177 to 800

* Change 1177 to 800

* Change 1177 to 800

* Add print

* Add other print

* Change gt_labels

* Add seed

* Change to len assert

* Change gt_bboxes_3d

* Change repr
Co-authored-by: ZwwWayne <wayne.zw@outlook.com>
Co-authored-by: liyinhao <liyinhao@sensetime.com>

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