A clean, easy-to-use PyTorch library for lidar perception. Currently supports SECOND detector.
- Emphasis on simple codebase (no 1,000 LOC functions).
- General 3D detection library (easy to extend to new models and datasets).
- Hope to reproduce state-of-the-art results.
- At this time I do not have ability to further develop this project. Community support is welcomed.
- I hope this project can serve as useful starting point for lidar perception research.
- Implementation of PV-RCNN is work-in-progress.
See inference.py.
See install.md.
If you find this work helpful in your research, please consider starring this repo and citing:
@article{pvrcnnpytorch,
author={Jacob Hultman},
title={vision3d},
journal={https://github.com/jhultman/vision3d},
year={2020}
}
Contributions are welcome. Please post an issue if you find any bugs.
Please see license.md. Note that the code in vision3d/ops
is largely from detectron2 and hence is subject to the Apache license.