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 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. 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, SMOKE, MonoFlex
• Support a new LiDAR-based detector: PointRCNN
• Support a new backbone: 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 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