Compatibility

• 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. 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 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)

Improvements

• Support point sampling based on distance metric (#667, #840)
• Update PointFusion to support unified camera keys (#791)
• Add Chinese documentation for customized dataset (#792), data pipeline (#827), customized runtime (#829), 3D Detection on ScanNet (#836), nuScenes (#854) and Waymo (#859)
• Unify camera keys used in the transformation between different systems (#805)
• Add a script to support benchmark regression (#808)
• Benchmark PAConvCUDA on S3DIS (#847)
• Add a tutorial for 3D detection on the Lyft dataset (#849)
• Support to download pdf and epub documentation (#850)
• Change the repeat setting in Group-Free-3D configs to reduce training epochs (#855)

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)

Contributors

A total of 11 developers contributed to this release.

@THU17cyz, @wHao-Wu, @wangruohui, @Wuziyi616, @filaPro, @ZwwWayne, @Tai-Wang, @DCNSW, @xieenze, @robin-karlsson0, @ZCMax

New Contributors

• @wangruohui made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/766
• @xieenze made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/872
• @robin-karlsson0 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/879

Full Changelog: https://github.com/open-mmlab/mmdetection3d/compare/v0.16.0...v0.17.0