GitLab

* FCOS3D BBox Coder

* Add unit tests

* Change the value from long to float/double

* Rename bbox_out as bbox

* Add comments to forward returns

* Refactor points_img2cam

* Refine docstring

* Support array converter and add unit tests

* Add header for files

* Add header for files

* Add header for files

* Add header for files

* 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

* 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

* 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

* fix gf3d cfg name

* fix unit test

* minor fix

* replace all cam_intrinsic

* revert cam_intrinsic in test

* remove rect and fix lint

* 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 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

* 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>

* fix bg_points_filter

* fix 3dssd bg_point_filter bug

* fix bg_filter bug in 3dssd

* update performance

* add model download link

* fix error direction

* fix aos bug in get_bboxes

* 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

* modify vote_head to support 3dssd

* delete .keys()

* add 3dssd unittest

* 3dssd->ssd3d

* 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 nonzero warning with as_tuple

* fix nonzero warning with as_tuple #320

* fix bug caused by mmcv upgrade; delete pdb breakpoint

* fix typos

* 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

* 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

* 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 shape-aware grouping head

* Reformat docstrings

* Remove rewritten get_anchors in shape_aware_head

* Refactor and simplify shape-aware grouping head

* Fix docstring

* Remove fixed preset shape heads

* Add unittest for AlignedAnchor3DRangeGeneratorPerCls

* Add unittest for get bboxes in shape_aware_head

* Add unittest for loss of shape_aware_head

* Fix unstandard docstrings

* Minor fix for a comment

* Add assertion to make sure not all boxes are filtered

* Support to train using FP16

* fix type inconsistency error on naive syncBN

* resolve comments

* clean nan check

* Add pointpillar configs.

* Add 0075 voxel configs.

* Add configs, change to pipeline.

* Add centerpoint.

* Add 01 configs.

* Change sparse shape

* Change model config, change centerpoint detector to inherite from mvx two stage.

* Change names of configs.

* Reduce configs.

* Fix pillar config can't use bug.

* Add readme for centerpoint.

* Streamline the code in configs.

* Change readme, add nus-3d in base config

* Use seperate_head config to build seperate head, remove '[0]' in simple_test_pts

* Remove input_modality

* Change coder weights for configs.

* Change 0075 config, change order of modules in config.

* Change loss_bbox config, remove unnecessary things.

* Add cyclic_20e.py

* Rename centerhead, move centerhead,

* Change cyclic_20e

* 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

* add op fps with distance

* add op fps with distance

* modify F-DFS unittest

* modify sa module

* modify sa module

* SA Module support D-FPS and F-FPS

* modify sa module

* update points sa module

* modify point_sa_module

* modify point sa module

* reconstruct FPS

* reconstruct FPS

* modify docstring

* add pointnet2-sa-msg backbone

* modify pointnet2_sa_msg

* fix merge conflicts

* format tests/test_backbones.py

* [Refactor]: Add registry for PointNet2Modules

* modify h3dnet for base pointnet

* fix docstring tweaks

* fix bugs for config unittest
Co-authored-by: ZwwWayne <wayne.zw@outlook.com>

* 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