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* support semantic seg in flip

* change box_dtype_3d to bbox3d_fields

* 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

* 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

* [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

* 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

* fix bev_range problem with points in different coordinate systems

* changed checking instance on points to gt_bboxes_3d to make it compatible with test

* sort imports

* unravel multi-view img to list

* add unit test

* 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

* enhance IndoorPatchPointSample

* modify configs and unit test

* add docs & comment

* fix legacy bug

* minor fix

* keep sample_rate and add warning

* fix bg_points_filter

* fix 3dssd bg_point_filter bug

* fix bg_filter bug in 3dssd

* update performance

* add model download link

* unit test for LoadImageFromFileMono3D

* fix GlobalRotScaleTrans assertion

* add unit test for ObjectNameFilter

* add unit test for ObjectRangeFilter

* remove useless label_weight args in dataset class

* modify unit tests

* update compatibility docs

* move _get_data to utils

* add comment

* add RandomJitterPoints transform

* add unit test

* add comments

* minor fix

* add RandomDropPointsColor transform

* add unit test

* add link to PAConv

* 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

* fix if condition to enable KITTI detectors eval on nus/lyft datasets

* fix comments

* add configs for pn2 on s3dis

* fix bugs

* add README for PN2 segmentor

* update configs file after experiments

* update README

* add base schedule files for seg configs

* rename pn2_seg config files

* update pn2 links in README

* add metafile for pn2

* 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

* fix small bug in get_loading_pipeline()

* adopt eval_pipeline & support seg visualization

* support multi-modality vis

* fix small bugs

* add multi-modality args & support S3DIS vis

* update docs with imgs

* fix typos

* remove registry.py in datasets/

* remove registry.py in ops/pointnet_modules/

* remove registry.py in models/

* refactor builder using mmcv.MODELS registry

* update mmcv min version requirement

* change min mmcv version requirement in mmdet3d/__init__.py

* min mmcv version to 1.3.2

* fix small errors in seg dataset cfgs

* add box field to 3d seg dataset

* fix small bug in S3DIS data generation scripts

* fix small bugs in scannet data generation

* efficient mapping by matrix indexing

* add pointsegmapping unit test

* add max_cat_id args everywhere PointSegClassMapping is called in codebase

* add default value for max_cat_id for safety

* add assertion of max_cat_id

* support S3DIS data download and pre-processing (to ScanNet format)

* add S3DIS data for unittest

* add S3DIS semseg dataset class and unittest

* add config file for S3DIS dataset

* add eval_pipeline to S3DIS dataset config file

* clean code for S3DIS pre-processing scripts

* reformat code

* fix small bugs

* resolve conflicts & modify show() to use pipeline

* fix small errors

* polish data pre-processing code

* add more comments about S3DIS dataset

* fix markdown lint error

* reuse pipeline in scannet-det dataset

* reuse pipeline in kitti dataset

* reuse pipeline in lyft dataset

* reuse pipeline in sunrgbd dataset

* reuse pipeline in nuscenes dataset

* reuse pipeline in waymo dataset

* reuse pipeline in scannet-seg dataset

* add eval_pipeline in configs which have custom data pipelines

* move data loading via pipeline to dataset._extract_data() for clarity

* use eval_pipeline in tools/misc/visualize_results.py

* get_pipeline from self when no pipeline is provided

* fix small bugs

* fix small bugs

* simplify and clear code

* remove unnecessary eval_pipeline added

* add comment about why we set self.test_mode=False

* small fix

* modify docs about config

* modify PointShuffle and add unittest

* modify PointsRangeFilter and add unittest

* fix small bugs in IndoorPointSample

* fix small typos in docstring