D3D

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

[![PyPI Version][pypi-image]][pypi-url]
[![Docs Status][docs-image]][docs-url]


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

GitHub

https://github.com/cmpute/d3d