Mmdet

Highlights
- Support the point cloud segmentation method [PointNet++](https://arxiv.org/abs/1706.02413)

New Features

- Support PointNet++ (479, 528, 532, 541)
- Support RandomJitterPoints transform for point cloud segmentation (584)
- Support RandomDropPointsColor transform for point cloud segmentation (585)

Improvements

- Move the point alignment of ScanNet from data pre-processing to pipeline (439, 470)
- Add compatibility document to provide detailed descriptions of BC-breaking changes (504)
- Add MMSegmentation installation requirement (535)
- Support points rotation even without bounding box in GlobalRotScaleTrans for point cloud segmentaiton (540)
- Support visualization of detection results and dataset browse for nuScenes Mono-3D dataset (542, 582)
- Support faster implementation of KNN (586)
- Support RegNetX models on Lyft dataset (589)
- Remove a useless parameter `label_weight` from segmentation datasets including `Custom3DSegDataset`, `ScanNetSegDataset` and `S3DISSegDataset` (607)

Bug Fixes
- Fix a corrupted lidar data file in Lyft dataset in [data_preparation](https://github.com/open-mmlab/mmdetection3d/tree/master/docs/data_preparation.md) (#546)
- Fix evaluation bugs in nuScenes and Lyft dataset (549)
- Fix converting points between coordinates with specific transformation matrix in the [coord_3d_mode.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/core/bbox/structures/coord_3d_mode.py) (#556)
- Support PointPillars models on Lyft dataset (578)
- Fix the bug of demo with pre-trained VoteNet model on ScanNet (600)

New Contributors
* haotian-liu made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/515
* JSchuurmans made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/565

**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.13.0...v0.14.0

Highlights
- Support a monocular 3D detection method [FCOS3D](https://arxiv.org/abs/2104.10956)
- Support ScanNet and S3DIS semantic segmentation dataset
- Enhancement of visualization tools for dataset browsing and demos, including support of visualization for multi-modality data and point cloud segmentation.

New Features

- Support ScanNet semantic segmentation dataset (390)
- Support monocular 3D detection on nuScenes (392)
- Support multi-modality visualization (405)
- Support nuImages visualization (408)
- Support monocular 3D detection on KITTI (415)
- Support online visualization of semantic segmentation results (416)
- Support ScanNet test results submission to online benchmark (418)
- Support S3DIS data pre-processing and dataset class (433)
- Support FCOS3D (436, 442, 482, 484)
- Support dataset browse for multiple types of datasets (467)
- Adding paper-with-code (PWC) metafile for each model in the model zoo (485)

Improvements

- Support dataset browsing for SUNRGBD, ScanNet or KITTI points and detection results (367)
- Add the pipeline to load data using file client (430)
- Support to customize the type of runner (437)
- Make pipeline functions process points and masks simultaneously when sampling points (444)
- Add waymo unit tests (455)
- Split the visualization of projecting points onto image from that for only points (480)
- Efficient implementation of PointSegClassMapping (489)
- Use the new model registry from mmcv (495)

Bug Fixes

- Fix Pytorch 1.8 Compilation issue in the [scatter_points_cuda.cu](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) (#404)
- Fix [dynamic_scatter](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) errors triggered by empty point input (#417)
- Fix the bug of missing points caused by using break incorrectly in the voxelization (423)
- Fix the missing `coord_type` in the waymo dataset [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/_base_/datasets/waymoD5-3d-3class.py) (#441)
- Fix errors in four unittest functions of [configs](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py), [test_detectors.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tests/test_models/test_detectors.py), [test_heads.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tests/test_models/test_heads/test_heads.py) (#453)
- Fix 3DSSD training errors and simplify configs (462)
- Clamp 3D votes projections to image boundaries in ImVoteNet (463)
- Update out-of-date names of pipelines in the [config](https://github.com/open-mmlab/mmdetection3d/blob/master/configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py) of pointpillars benchmark (#474)
- Fix the lack of a placeholder when unpacking RPN targets in the [h3d_bbox_head.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/roi_heads/bbox_heads/h3d_bbox_head.py) (#508)
- Fix the incorrect value of `K` when creating pickle files for SUN RGB-D (511)

New Contributors
* gillbam made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/423
* Divadi made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/463
* virusapex made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/511

**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.12.0...v0.13.0

Highlights

- Support a new multi-modality method [ImVoteNet](https://arxiv.org/abs/2001.10692).
- Support pytorch 1.7 and 1.8
- Refactor the structure of tools and [train.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/train.py)/[test.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/test.py)

Bug Fixes

- Fix missing keys `coord_type` in database sampler config (345)
- Rename H3DNet configs (349)
- Fix CI by using ubuntu 18.04 in github workflow (350)
- Add assertions to avoid 4-dim points being input to [points_in_boxes](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/roiaware_pool3d/points_in_boxes.py) (#357)
- Fix the SECOND results on Waymo in the corresponding [README](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/second) (#363)
- Fix the incorrectly adopted pipeline when adding val to workflow (370)
- Fix a potential bug when indices used in the backwarding in ThreeNN (377)
- Fix a compilation error triggered by [scatter_points_cuda.cu](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) in pytorch 1.7 (#393)

New Features

- Support LiDAR-based semantic segmentation metrics (332)
- Support [ImVoteNet](https://arxiv.org/abs/2001.10692) (#352, 384)
- Support the KNN GPU operation (360, 371)

Improvements

- Add FAQ for common problems in the documentation (333)
- Refactor the structure of tools (339)
- Refactor [train.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/train.py) and [test.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/test.py) (#343)
- Support demo on nuScenes (353)
- Add 3DSSD checkpoints (359)
- Update the Bibtex of CenterPoint (368)
- Add citation format and reference to other OpenMMLab projects in the README (374)
- Upgrade the mmcv version requirements (376)
- Add numba and numpy version requirements in FAQ (379)
- Avoid unnecessary for-loop execution of VFE layer creation (389)
- Update SUNRGBD dataset documentation to stress the requirements for training ImVoteNet (391)
- Modify vote head to support 3DSSD (396)

New Contributors
* tianweiy made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/368
* happynear made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/363
* zehuichen123 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/389

**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.11.0...v0.12.0

Highlights

- Support more friendly visualization interfaces based on open3d
- Support a faster and more memory-efficient implementation of DynamicScatter
- Refactor unit tests and details of configs

Bug Fixes

- Fix an unsupported bias setting in the unit test for CenterPoint head (304)
- Fix errors due to typos in the CenterPoint head (308)
- Fix a minor bug in [points_in_boxes.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/roiaware_pool3d/points_in_boxes.py) when tensors are not in the same device. (#317)

New Features

- Support new visualization methods based on Open3D (284, 323)

Improvements

- Refactor unit tests (303)
- Move the key `train_cfg` and `test_cfg` into the model configs (307)
- Update [README](https://github.com/open-mmlab/mmdetection3d/blob/master/README.md) with [Chinese version](https://github.com/open-mmlab/mmdetection3d/blob/master/README_zh-CN.md) and [instructions for getting started](https://github.com/open-mmlab/mmdetection3d/blob/master/docs/getting_started.md). (#310, 316)
- Support a faster and more memory-efficient implementation of DynamicScatter (318, 326)
- Fix warning of deprecated usages of nonzero during training with PyTorch 1.6 (330)


**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.10.0...v0.11.0

Highlights

- Preliminary release of API for SemanticKITTI dataset.
- Documentation and demo enhancement for better user experience.
- Fix a number of underlying minor bugs and add some corresponding important unit tests.

Bug Fixes

- Fixed the issue of unpacking size in [furthest_point_sample.py](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/furthest_point_sample/furthest_point_sample.py) (#248)
- Fix bugs for 3DSSD triggered by empty ground truths (258)
- Remove models without checkpoints in model zoo statistics of documentation (259)
- Fix some unclear installation instructions in [getting_started.md](https://github.com/open-mmlab/mmdetection3d/blob/master/docs/getting_started.md) (#269)
- Fix relative paths/links in the documentation (271)
- Fix a minor bug in [scatter_points_cuda.cu](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/ops/voxel/src/scatter_points_cuda.cu) when num_features != 4 (#275)
- Fix the bug about missing text files when testing on KITTI (278)
- Fix issues caused by inplace modification of tensors in `BaseInstance3DBoxes` (283)
- Fix log analysis for evaluation and adjust the documentation accordingly (285)

New Features

- Support SemanticKITTI dataset preliminarily (287)

Improvements

- Add tags to README in configurations for specifying different uses (262)
- Update instructions for evaluation metrics in the documentation (265)
- Add nuImages entry in [README.md](https://github.com/open-mmlab/mmdetection3d/blob/master/README.md) and gif demo (#266, 268)
- Add unit test for voxelization (275)

New Contributors
* congee524 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/259
* wikiwen made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/269
* EricWiener made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/248

**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.9.0...v0.10.0

Highlights

- Documentation refactoring with better structure, especially about how to implement new models and customized datasets.
- More compatible with refactored point structure by bug fixes in ground truth sampling.

Bug Fixes

- Fix point structure related bugs in ground truth sampling (211)
- Fix loading points in ground truth sampling augmentation on nuScenes (221)
- Fix channel setting in the SeparateHead of CenterPoint (228)
- Fix evaluation for indoors 3D detection in case of less classes in prediction (231)
- Remove unreachable lines in nuScenes data converter (235)
- Minor adjustments of numpy implementation for perspective projection and prediction filtering criterion in KITTI evaluation (241)

Improvements

- Documentation refactoring (242)

New Contributors
* meng-zha made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/211
* zhezhao1989 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/228

**Full Changelog**: https://github.com/open-mmlab/mmdetection3d/compare/v0.8.0...v0.9.0