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

PyPI Version Docs Status

@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}
}

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

• 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