Compatibility
- Remove the rotation and dimension hack in the monocular 3D detection on nuScenes by applying corresponding transformation in the pre-processing and post-processing. The modification only influences nuScenes coco-style json files. Please re-run the data preparation scripts if necessary. See more details in the PR 744.
- Add a new pre-processing module for the ScanNet dataset in order to support multi-view detectors. Please run the updated scripts to extract the RGB data and its annotations. See more details in the PR 696.
Highlights
- Support to use [MIM](https://github.com/open-mmlab/mim) with pip installation
- Support PAConv [models and benchmarks](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/paconv) on S3DIS
- Enhance the documentation especially on dataset tutorials
New Features
- Support RGB images on ScanNet for multi-view detectors (696)
- Support FLOPs and number of parameters calculation (736)
- Support to use [MIM](https://github.com/open-mmlab/mim) with pip installation (#782)
- Support PAConv models and benchmarks on the S3DIS dataset (783, 809)
Improvements
- Refactor Group-Free-3D to make it inherit BaseModule from MMCV (704)
- Modify the initialization methods of FCOS3D to be consistent with the refactored approach (705)
- Benchmark the Group-Free-3D [models](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/groupfree3d) on ScanNet (#710)
- Add Chinese Documentation for Getting Started (725), FAQ (730), Model Zoo (735), Demo (745), Quick Run (746), Data Preparation (787) and Configs (788)
- Add documentation for semantic segmentation on ScanNet and S3DIS (743, 747, 806, 807)
- Add a parameter `max_keep_ckpts` to limit the maximum number of saved Group-Free-3D checkpoints (765)
- Add documentation for 3D detection on SUN RGB-D and nuScenes (770, 793)
- Remove mmpycocotools in the Dockerfile (785)
Bug Fixes
- Fix versions of OpenMMLab dependencies (708)
- Convert `rt_mat` to `torch.Tensor` in coordinate transformation for compatibility (709)
- Fix the `bev_range` initialization in `ObjectRangeFilter` according to the `gt_bboxes_3d` type (717)
- Fix Chinese documentation and incorrect doc format due to the incompatible Sphinx version (718)
- Fix a potential bug when setting `interval == 1` in [analyze_logs.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/analysis_tools/analyze_logs.py) (#720)
- Update the structure of Chinese Documentation (722)
- Fix FCOS3D FPN BC-Breaking caused by the code refactoring in MMDetection (739)
- Fix wrong `in_channels` when `with_distance=True` in the [Dynamic VFE Layers](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/voxel_encoders/voxel_encoder.py#L87) (749)
- Fix the dimension and yaw hack of FCOS3D on nuScenes (744, 794, 795, 818)
- Fix the missing default `bbox_mode` in the `show_multi_modality_result` (825)
Contributors
A total of 12 developers contributed to this release.
yinchimaoliang, gopi231091, filaPro, ZwwWayne, ZCMax, hjin2902, wHao-Wu, Wuziyi616, xiliu8006, THU17cyz, DCNSW, Tai-Wang
New Contributors
* gopi231091 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/709
**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.15.0...v0.16.0