We are excited to announce the release of MMDetection3D 1.1.0 as a part of the OpenMMLab 2.0 project! Compared with version 1.0.0, MMDetection3D 1.1.0 introduces an updated framework structure for the core package and a new section called Projects. Specifically, we have significantly refactored the core package's code to make it clearer, more comprehensible, and disentangled. The new Projects section serves as an essential addition to MMDetection3D and supports flexible code contribution without strict code requirements, enabling faster integration of state-of-the-art models and features. To help users migrate from version 1.0.0 to 1.1.0 as smoothly as possible, we have prepared a migration guide. Any questions about migration are welcome to be posted on issue。

Highlights

• Support several popular LiDAR segmentation methods:
  • Cylinder3D (#2291, #2344, #2350)
  • MinkUnet (#2294, #2358)
  • SPVCNN (#2320，#2372)
  • PolarMix augmentation (#2265)
  • LaserMix augmentation (#2302)
• Support TR3D detector in projects (#2274)
• Support DETR3D in projects (#2173)
• Support the inference of BEVFusion in projects (#2175)

New Features

• Support Cylinder3D (#2291, #2344, #2350)
• Support MinkUnet (#2294, #2358)
• Support SPVCNN (#2320，#2372)
• Support TR3D detector in projects (#2274)
• Support the inference of BEVFusion in projects (#2175)
• Support DETR3D in projects (#2173)
• Support PolarMix and LaserMix augmentations (#2265,#2302)
• Support loading annotation of panoptic segmentation (#2223)
• Support panoptic segmentation metric (#2230)
• Add inferencer for LiDAR-based, monocular and multi-modality 3D detection (#2208, #2190, #2342)
• Add inferencer for LiDAR-based segmentation (#2304)

Improvements

• Support lazy_init for CBGSDataset (#2271)
• Support generating annotation files for test set on Waymo (#2180)
• Enhance the support for SemanticKitti (#2253, #2323)
• File I/O migration and reconstruction (#2319)
• Support format_only option for Lyft, NuScenes and Waymo datasets (#2333, #2151)
• Replace np.transpose with torch.permute to speed up (#2277)
• Allow setting local-rank for pytorch 2.0 (#2387)

Bug Fixes

• Fix the problem of reversal of length and width when drawing heatmap in CenterFormer (#2362)
• Deprecate old type alias due to the new version of numpy (#2339)
• Lose trimesh version requirements to fix numpy random state (#2340)
• Fix the device mismatch error in CenterPoint (#2308)
• Fix the bug of visualization when there are no boxes (#2231)
• Fix bug of counting ignore index in IOU in segmentation evaluation (#2229)

Contributors

A total of 19 developers contributed to this release. @xizaoqu, @ZLTJohn, @SekiroRong, @yechenzhi, @shufanwu, @chriscarving, @vansin, @triple-Mu, @404Vector, @filaPro, @sunjiahao1999, @Ginray, @Xiangxu-0103, @JingweiZhang12, @DezeZhao, @ZCMax, @roger-lcc, @Tai-Wang, @ZwwWayne

New contributors

• @xizaoqu made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2385
• @yechenzhi made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2385
• @DezeZhao made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2362
• @chriscarving made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2396

Full Changelog: https://github.com/open-mmlab/mmdetection3d/compare/v1.1.0rc3...v1.1.0