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All Projects → cmpute → d3d

cmpute / d3d

Licence: MIT license
Devkit for 3D -- Some utils for 3D object detection based on Numpy and Pytorch

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Labels

visualizationpytorchdatasetobject-detectionobject-tracking3d-deep-learning

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D3D

Devkit for 3D: Some utils for 3D object detection and tracking based on Numpy and Pytorch

PyPI Version Docs Status

Please consider siting my work if you find this library useful in your research :) 
@article{zhong2020uncertainty,
  title={Uncertainty-Aware Voxel based 3D Object Detection and Tracking with von-Mises Loss},
  author={Zhong, Yuanxin and Zhu, Minghan and Peng, Huei},
  journal={arXiv preprint arXiv:2011.02553},
  year={2020}
}

Features

  • Unified data representation
  • Support loading KITTI, Waymo, Nuscenes dataset
  • Rotated 2D IoU, NMS with clear CUDA implementations
  • Point Cloud Voxelization
  • Visualization
  • Benchmarking

Tips

  • Current polygon intersecting algorithm is not very stable, so try to convert the input to double precision if you met error with the iou functions
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