D3D

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

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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