Highlights

• Support PV-RCNN
• Speed up evaluation on Waymo dataset

New Features

• Support PV-RCNN (#1597, #2045)
• Speed up evaluation on Waymo dataset (#2008)
• Refactor FCAF3D into the framework of mmdet3d v1.1 (#1945)
• Refactor S3DIS dataset into the framework of mmdet3d v1.1 (#1984)
• Add Projects/ folder and the first example project (#2042)

Improvements

• Rename CLASSES and PALETTE to classes and palette respectively (#1932)
• Update metainfo in pkl files and add categories into metainfo (#1934)
• Show instance statistics before and after through the pipeline (#1863)
• Add configs of DGCNN for different testing areas (#1967)
• Remove testing utils from tests/utils/ to mmdet3d/testing/ (#2012)
• Add typehint for code in models/layers/ (#2014)
• Refine documentation (#1891, #1994)
• Refine voxelization for better speed (#2062)

Bug Fixes

• Fix loop visualization error about point cloud (#1914)
• Fix image conversion of Waymo to avoid information loss (#1979)
• Fix evaluation on KITTI testset (#2005)
• Fix sampling bug in IoUNegPiecewiseSampler (#2017)
• Fix point cloud range in CenterPoint (#1998)
• Fix some loading bugs and support FOV-image-based mode on Waymo dataset (#1942)
• Fix dataset conversion utils (#1923, #2040, #1971)
• Update metafiles in all the configs (#2006)

Contributors

A total of 12 developers contributed to this release.

@vavanade, @oyel, @thinkthinking, @PeterH0323， @274869388, @cxiang26, @lianqing11, @VVsssssk, @ZCMax, @Xiangxu-0103, @JingweiZhang12, @Tai-Wang

New Contributors

• @PeterH0323 made their first contribution in #2065
• @cxiang26 made their first contribution in #1965
• @vavanade made their first contribution in #2031
• @oyel made their first contribution in #2017
• @thinkthinking made their first contribution in #2026
• @274869388 made their first contribution in #1973

Full Changelog: https://github.com/open-mmlab/mmdetection3d/compare/v1.1.0rc1...v1.1.0rc2