Compatibility
- We refactor our three coordinate systems to make their rotation directions and origins more consistent, and further remove unnecessary hacks in different datasets and models. Therefore, please re-generate data information or convert the old version to the new one with our provided scripts. We will also provide updated checkpoints in the next version. Please refer to the [compatibility documentation](https://github.com/open-mmlab/mmdetection3d/blob/v1.0.0.dev0/docs/en/compatibility.md) for more details.
- Unify the camera keys for consistent transformation between coordinate systems on different datasets. The modification changes the key names to `lidar2img`, `depth2img`, `cam2img`, etc., for easier understanding. Customized codes using legacy keys may be influenced.
- The next release will begin to move files of CUDA ops to [MMCV](https://github.com/open-mmlab/mmcv). It will influence the way to import related functions. We will not break the compatibility but will raise a warning first and please prepare to migrate it.
Highlights
- Support new monocular 3D detectors: [PGD](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/pgd), [SMOKE](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/smoke), [MonoFlex](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/monoflex)
- Support a new LiDAR-based detector: [PointRCNN](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/point_rcnn)
- Support a new backbone: [DGCNN](https://github.com/open-mmlab/mmdetection3d/tree/v1.0.0.dev0/configs/dgcnn)
- Support 3D object detection on the S3DIS dataset
- Support compilation on Windows
- Full benchmark for PAConv on S3DIS
- Further enhancement for documentation, especially on the Chinese documentation
New Features
- Support 3D object detection on the S3DIS dataset (835)
- Support PointRCNN (842, 843, 856, 974, 1022, 1109, 1125)
- Support DGCNN (896)
- Support PGD (938, 940, 948, 950, 964, 1014, 1065, 1070, 1157)
- Support SMOKE (939, 955, 959, 975, 988, 999, 1029)
- Support MonoFlex (1026, 1044, 1114, 1115, 1183)
- Support CPU Training (1196)
Improvements
- Support point sampling based on distance metric (667, 840)
- Refactor coordinate systems (677, 774, 803, 899, 906, 912, 968, 1001)
- Unify camera keys in PointFusion and transformations between different systems (791, 805)
- Refine documentation (792, 827, 829, 836, 849, 854, 859, 1111, 1113, 1116, 1121, 1132, 1135, 1185, 1193, 1226)
- Add a script to support benchmark regression (808)
- Benchmark PAConvCUDA on S3DIS (847)
- Support to download pdf and epub documentation (850)
- Change the `repeat` setting in Group-Free-3D configs to reduce training epochs (855)
- Support KITTI AP40 evaluation metric (927)
- Add the mmdet3d2torchserve tool for SECOND (977)
- Add code-spell pre-commit hook and fix typos (995)
- Support the latest numba version (1043)
- Set a default seed to use when the random seed is not specified (1072)
- Distribute mix-precision models to each algorithm folder (1074)
- Add abstract and a representative figure for each algorithm (1086)
- Upgrade pre-commit hook (1088, 1217)
- Support augmented data and ground truth visualization (1092)
- Add local yaw property for `CameraInstance3DBoxes` (1130)
- Lock the required numba version to 0.53.0 (1159)
- Support the usage of plane information for KITTI dataset (1162)
- Deprecate the support for "python setup.py test" (1164)
- Reduce the number of multi-process threads to accelerate training (1168)
- Support 3D flip augmentation for semantic segmentation (1181)
- Update README format for each model (1195)
Bug Fixes
- Fix compiling errors on Windows (766)
- Fix the deprecated nms setting in the ImVoteNet config (828)
- Use the latest `wrap_fp16_model` import from mmcv (861)
- Remove 2D annotations generation on Lyft (867)
- Update index files for the Chinese documentation to be consistent with the English version (873)
- Fix the nested list transpose in the CenterPoint head (879)
- Fix deprecated pretrained model loading for RegNet (889)
- Fix the incorrect dimension indices of rotations and testing config in the CenterPoint test time augmentation (892)
- Fix and improve visualization tools (956, 1066, 1073)
- Fix PointPillars FLOPs calculation error (1075)
- Fix missing dimension information in the SUN RGB-D data generation (1120)
- Fix incorrect anchor range settings in the PointPillars [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/_base_/models/hv_pointpillars_secfpn_kitti.py) for KITTI (#1163)
- Fix incorrect model information in the RegNet metafile (1184)
- Fix bugs in non-distributed multi-gpu training and testing (1197)
- Fix a potential assertion error when generating corners from an empty box (1212)
- Upgrade bazel version according to the requirement of Waymo Devkit (1223)
Contributors
A total of 12 developers contributed to this release.
THU17cyz, wHao-Wu, wangruohui, Wuziyi616, filaPro, ZwwWayne, Tai-Wang, DCNSW, xieenze, robin-karlsson0, ZCMax, Otteri
New Contributors
* Otteri made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/1070
* zeyu-hello made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/1225
* maskjp made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/1207
**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.18.1...v1.0.0rc0