Awesome

D3D

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

<hr/> 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