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 with pip installation
• Support PAConv models and benchmarks 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 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 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 (#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 (#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