new

.gitignore

@@ -0,0 +1,137 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+*.ipynb
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/en/_build/
+docs/zh_cn/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# cython generated cpp
+data
+.vscode
+.idea
+
+# custom
+*.pkl
+*.pkl.json
+*.log.json
+work_dirs/
+exps/
+*~
+mmdet3d/.mim
+
+# Pytorch
+*.pth
+
+# demo
+*.jpg
+*.png
+data/s3dis/Stanford3dDataset_v1.2_Aligned_Version/
+data/scannet/scans/
+data/sunrgbd/OFFICIAL_SUNRGBD/
+*.obj
+*.ply
+
+# Waymo evaluation
+mmdet3d/evaluation/functional/waymo_utils/compute_detection_metrics_main
+mmdet3d/evaluation/functional/waymo_utils/compute_detection_let_metrics_main
+mmdet3d/evaluation/functional/waymo_utils/compute_segmentation_metrics_main

.pre-commit-config-zh-cn.yaml

@@ -0,0 +1,50 @@
+repos:
+  - repo: https://gitee.com/openmmlab/mirrors-flake8
+    rev: 5.0.4
+    hooks:
+      - id: flake8
+  - repo: https://gitee.com/openmmlab/mirrors-isort
+    rev: 5.11.5
+    hooks:
+      - id: isort
+  - repo: https://gitee.com/openmmlab/mirrors-yapf
+    rev: v0.32.0
+    hooks:
+      - id: yapf
+  - repo: https://gitee.com/openmmlab/mirrors-pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-yaml
+      - id: end-of-file-fixer
+      - id: requirements-txt-fixer
+      - id: double-quote-string-fixer
+      - id: check-merge-conflict
+      - id: fix-encoding-pragma
+        args: ["--remove"]
+      - id: mixed-line-ending
+        args: ["--fix=lf"]
+  - repo: https://gitee.com/openmmlab/mirrors-codespell
+    rev: v2.2.1
+    hooks:
+      - id: codespell
+  - repo: https://gitee.com/openmmlab/mirrors-mdformat
+    rev: 0.7.9
+    hooks:
+      - id: mdformat
+        args: ["--number"]
+        additional_dependencies:
+          - mdformat-openmmlab
+          - mdformat_frontmatter
+          - linkify-it-py
+  - repo: https://gitee.com/openmmlab/mirrors-docformatter
+    rev: v1.3.1
+    hooks:
+      - id: docformatter
+        args: ["--in-place", "--wrap-descriptions", "79"]
+  - repo: https://gitee.com/openmmlab/pre-commit-hooks
+    rev: v0.2.0
+    hooks:
+      - id: check-algo-readme
+      - id: check-copyright
+        args: ["mmdet3d"]

.pre-commit-config.yaml

@@ -0,0 +1,50 @@
+repos:
+  - repo: https://github.com/PyCQA/flake8
+    rev: 5.0.4
+    hooks:
+      - id: flake8
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.11.5
+    hooks:
+      - id: isort
+  - repo: https://github.com/pre-commit/mirrors-yapf
+    rev: v0.32.0
+    hooks:
+      - id: yapf
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-yaml
+      - id: end-of-file-fixer
+      - id: requirements-txt-fixer
+      - id: double-quote-string-fixer
+      - id: check-merge-conflict
+      - id: fix-encoding-pragma
+        args: ["--remove"]
+      - id: mixed-line-ending
+        args: ["--fix=lf"]
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.1
+    hooks:
+      - id: codespell
+  - repo: https://github.com/executablebooks/mdformat
+    rev: 0.7.9
+    hooks:
+      - id: mdformat
+        args: [ "--number" ]
+        additional_dependencies:
+          - mdformat-openmmlab
+          - mdformat_frontmatter
+          - linkify-it-py
+  - repo: https://github.com/myint/docformatter
+    rev: v1.3.1
+    hooks:
+      - id: docformatter
+        args: ["--in-place", "--wrap-descriptions", "79"]
+  - repo: https://github.com/open-mmlab/pre-commit-hooks
+    rev: v0.2.0  # Use the ref you want to point at
+    hooks:
+      - id: check-algo-readme
+      - id: check-copyright
+        args: ["mmdet3d"]  # replace the dir_to_check with your expected directory to check

.readthedocs.yml

@@ -0,0 +1,14 @@
+version: 2
+
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.8"
+
+formats:
+  - epub
+
+python:
+  install:
+    - requirements: requirements/docs.txt
+    - requirements: requirements/readthedocs.txt

CITATION.cff

@@ -0,0 +1,8 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+  - name: "MMDetection3D Contributors"
+title: "OpenMMLab's Next-generation Platform for General 3D Object Detection"
+date-released: 2020-07-23
+url: "https://github.com/open-mmlab/mmdetection3d"
+license: Apache-2.0

LICENSE

@@ -0,0 +1,203 @@
+Copyright 2018-2019 Open-MMLab. All rights reserved.
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   1. Definitions.
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+      "You" (or "Your") shall mean an individual or Legal Entity
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
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+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
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+   6. Trademarks. This License does not grant permission to use the trade
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+   7. Disclaimer of Warranty. Unless required by applicable law or
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+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
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+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+
+   Copyright 2018-2019 Open-MMLab.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

MANIFEST.in

@@ -0,0 +1,6 @@
+include mmdet3d/.mim/model-index.yml
+include mmdet3d/.mim/dataset-index.yml
+include requirements/*.txt
+recursive-include mmdet3d/.mim/ops *.cpp *.cu *.h *.cc
+recursive-include mmdet3d/.mim/configs *.py *.yml
+recursive-include mmdet3d/.mim/tools *.sh *.py

README_zh-CN.md

@@ -0,0 +1,427 @@
+<div align="center">
+  <img src="resources/mmdet3d-logo.png" width="600"/>
+  <div>&nbsp;</div>
+  <div align="center">
+    <b><font size="5">OpenMMLab 官网</font></b>
+    <sup>
+      <a href="https://openmmlab.com">
+        <i><font size="4">HOT</font></i>
+      </a>
+    </sup>
+    &nbsp;&nbsp;&nbsp;&nbsp;
+    <b><font size="5">OpenMMLab 开放平台</font></b>
+    <sup>
+      <a href="https://platform.openmmlab.com">
+        <i><font size="4">TRY IT OUT</font></i>
+      </a>
+    </sup>
+  </div>
+  <div>&nbsp;</div>
+
+[![PyPI](https://img.shields.io/pypi/v/mmdet3d)](https://pypi.org/project/mmdet3d)
+[![docs](https://img.shields.io/badge/docs-latest-blue)](https://mmdetection3d.readthedocs.io/zh_CN/latest/)
+[![badge](https://github.com/open-mmlab/mmdetection3d/workflows/build/badge.svg)](https://github.com/open-mmlab/mmdetection3d/actions)
+[![codecov](https://codecov.io/gh/open-mmlab/mmdetection3d/branch/main/graph/badge.svg)](https://codecov.io/gh/open-mmlab/mmdetection3d)
+[![license](https://img.shields.io/github/license/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/blob/main/LICENSE)
+[![open issues](https://isitmaintained.com/badge/open/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/issues)
+[![issue resolution](https://isitmaintained.com/badge/resolution/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/issues)
+
+[📘使用文档](https://mmdetection3d.readthedocs.io/zh_CN/latest/) |
+[🛠️安装教程](https://mmdetection3d.readthedocs.io/zh_CN/latest/get_started.html) |
+[👀模型库](https://mmdetection3d.readthedocs.io/zh_CN/latest/model_zoo.html) |
+[🆕更新日志](https://mmdetection3d.readthedocs.io/en/latest/notes/changelog.html) |
+[🚀进行中的项目](https://github.com/open-mmlab/mmdetection3d/projects) |
+[🤔报告问题](https://github.com/open-mmlab/mmdetection3d/issues/new/choose)
+
+</div>
+
+<div align="center">
+
+[English](README.md) | 简体中文
+
+</div>
+
+<div align="center">
+  <a href="https://openmmlab.medium.com/" style="text-decoration:none;">
+    <img src="https://user-images.githubusercontent.com/25839884/219255827-67c1a27f-f8c5-46a9-811d-5e57448c61d1.png" width="3%" alt="" /></a>
+  <img src="https://user-images.githubusercontent.com/25839884/218346358-56cc8e2f-a2b8-487f-9088-32480cceabcf.png" width="3%" alt="" />
+  <a href="https://discord.com/channels/1037617289144569886/1046608014234370059" style="text-decoration:none;">
+    <img src="https://user-images.githubusercontent.com/25839884/218347213-c080267f-cbb6-443e-8532-8e1ed9a58ea9.png" width="3%" alt="" /></a>
+  <img src="https://user-images.githubusercontent.com/25839884/218346358-56cc8e2f-a2b8-487f-9088-32480cceabcf.png" width="3%" alt="" />
+  <a href="https://twitter.com/OpenMMLab" style="text-decoration:none;">
+    <img src="https://user-images.githubusercontent.com/25839884/218346637-d30c8a0f-3eba-4699-8131-512fb06d46db.png" width="3%" alt="" /></a>
+  <img src="https://user-images.githubusercontent.com/25839884/218346358-56cc8e2f-a2b8-487f-9088-32480cceabcf.png" width="3%" alt="" />
+  <a href="https://www.youtube.com/openmmlab" style="text-decoration:none;">
+    <img src="https://user-images.githubusercontent.com/25839884/218346691-ceb2116a-465a-40af-8424-9f30d2348ca9.png" width="3%" alt="" /></a>
+  <img src="https://user-images.githubusercontent.com/25839884/218346358-56cc8e2f-a2b8-487f-9088-32480cceabcf.png" width="3%" alt="" />
+  <a href="https://space.bilibili.com/1293512903" style="text-decoration:none;">
+    <img src="https://user-images.githubusercontent.com/25839884/219026751-d7d14cce-a7c9-4e82-9942-8375fca65b99.png" width="3%" alt="" /></a>
+  <img src="https://user-images.githubusercontent.com/25839884/218346358-56cc8e2f-a2b8-487f-9088-32480cceabcf.png" width="3%" alt="" />
+  <a href="https://www.zhihu.com/people/openmmlab" style="text-decoration:none;">
+    <img src="https://user-images.githubusercontent.com/25839884/219026120-ba71e48b-6e94-4bd4-b4e9-b7d175b5e362.png" width="3%" alt="" /></a>
+</div>
+
+## 简介
+
+MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱，下一代面向 3D 检测的平台。它是 [OpenMMlab](https://openmmlab.com/) 项目的一部分。
+
+主分支代码目前支持 PyTorch 1.8 以上的版本。
+
+![demo image](resources/mmdet3d_outdoor_demo.gif)
+
+<details open>
+<summary>主要特性</summary>
+
+- **支持多模态/单模态的检测器**
+
+  支持多模态/单模态检测器，包括 MVXNet，VoteNet，PointPillars 等。
+
+- **支持户内/户外的数据集**
+
+  支持室内/室外的 3D 检测数据集，包括 ScanNet，SUNRGB-D，Waymo，nuScenes，Lyft，KITTI。对于 nuScenes 数据集，我们也支持 [nuImages 数据集](https://github.com/open-mmlab/mmdetection3d/tree/main/configs/nuimages)。
+
+- **与 2D 检测器的自然整合**
+
+  [MMDetection](https://github.com/open-mmlab/mmdetection/blob/3.x/docs/zh_cn/model_zoo.md) 支持的 **300+ 个模型，40+ 的论文算法**，和相关模块���可以在此代码库中训练或使用。
+
+- **性能高**
+
+  训练速度比其他代码库更快。下表可见主要的对比结果。更多的细节可见[基准测评文档](./docs/zh_cn/notes/benchmarks.md)。我们对比了每秒训练的样本数（值越高越好）。其他代码库不支持的模型被标记为 `✗`。
+
+  |       Methods       | MMDetection3D | [OpenPCDet](https://github.com/open-mmlab/OpenPCDet) | [votenet](https://github.com/facebookresearch/votenet) | [Det3D](https://github.com/poodarchu/Det3D) |
+  | :-----------------: | :-----------: | :--------------------------------------------------: | :----------------------------------------------------: | :-----------------------------------------: |
+  |       VoteNet       |      358      |                          ✗                           |                           77                           |                      ✗                      |
+  |  PointPillars-car   |      141      |                          ✗                           |                           ✗                            |                     140                     |
+  | PointPillars-3class |      107      |                          44                          |                           ✗                            |                      ✗                      |
+  |       SECOND        |      40       |                          30                          |                           ✗                            |                      ✗                      |
+  |       Part-A2       |      17       |                          14                          |                           ✗                            |                      ✗                      |
+
+</details>
+
+和 [MMDetection](https://github.com/open-mmlab/mmdetection)，[MMCV](https://github.com/open-mmlab/mmcv) 一样，MMDetection3D 也可以作为一个库去支持各式各样的项目。
+
+## 最新进展
+
+### 亮点
+
+在1.4版本中，MMDetecion3D 重构了 Waymo 数据集, 加速了 Waymo 数据集的预处理、训练/测试启动、验证的速度。并且在 Waymo 上拓展了对 单目/BEV 等基于相机的三维目标检测模型的支持。在[这里](https://mmdetection3d.readthedocs.io/en/latest/advanced_guides/datasets/waymo.html)提供了对 Waymo 数据信息的详细解读。
+
+此外，在1.4版本中，MMDetection3D 提供了 [Waymo-mini](https://download.openmmlab.com/mmdetection3d/data/waymo_mmdet3d_after_1x4/waymo_mini.tar.gz) 来帮助社区用户上手 Waymo 并用于快速迭代开发。
+
+**v1.4.0** 版本已经在 2024.1.8 发布：
+
+- 在 `projects` 中支持了 [DSVT](<(https://arxiv.org/abs/2301.06051)>) 的训练
+- 在 `projects` 中支持了 [Nerf-Det](https://arxiv.org/abs/2307.14620)
+- 重构了 Waymo 数据集
+
+**v1.3.0** 版本已经在 2023.10.18 发布：
+
+- 在 `projects` 中支持 [CENet](https://arxiv.org/abs/2207.12691)
+- 使用新的 3D inferencers 增强演示代码效果
+
+**v1.2.0** 版本已经在 2023.7.4 发布：
+
+- 在 `mmdet3d/configs`中支持 [新Config样式](https://mmengine.readthedocs.io/en/latest/advanced_tutorials/config.html#a-pure-python-style-configuration-file-beta)
+- 在 `projects` 中支持 [DSVT](<(https://arxiv.org/abs/2301.06051)>) 的推理
+- 支持通过 `mim` 从 [OpenDataLab](https://opendatalab.com/) 下载数据集
+
+**v1.1.1** 版本已经在 2023.5.30 发布：
+
+- 在 `projects` 中支持 [TPVFormer](https://arxiv.org/pdf/2302.07817.pdf)
+- 在 `projects` 中支持 BEVFusion 的训练
+- 支持基于激光雷达的 3D 语义分割基准
+
+## 安装
+
+请参考[快速入门文档](https://mmdetection3d.readthedocs.io/zh_CN/latest/get_started.html)进行安装。
+
+## 教程
+
+<details>
+<summary>用户指南</summary>
+
+- [训练 & 测试](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/index.html#train-test)
+  - [学习配置文件](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/config.html)
+  - [坐标系](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/coord_sys_tutorial.html)
+  - [数据预处理](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/dataset_prepare.html)
+  - [自定义数据预处理流程](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/data_pipeline.html)
+  - [在标注数据集上测试和训练](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/train_test.html)
+  - [推理](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/inference.html)
+  - [在自定义数据集上进行训练](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/new_data_model.html)
+- [实用工具](https://mmdetection3d.readthedocs.io/zh_CN/latest/user_guides/index.html#useful-tools)
+
+</details>
+
+<details>
+<summary>进阶教程</summary>
+
+- [数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/index.html#datasets)
+  - [KITTI 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/kitti.html)
+  - [NuScenes 数���集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/nuscenes.html)
+  - [Lyft 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/lyft.html)
+  - [Waymo 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/waymo.html)
+  - [SUN RGB-D 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/sunrgbd.html)
+  - [ScanNet 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/scannet.html)
+  - [S3DIS 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/s3dis.html)
+  - [SemanticKITTI 数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/datasets/semantickitti.html)
+- [支持的任务](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/index.html#supported-tasks)
+  - [基于激光雷达的 3D 检测](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/supported_tasks/lidar_det3d.html)
+  - [基于视觉的 3D 检测](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/supported_tasks/vision_det3d.html)
+  - [基于激光雷达的 3D 语义分割](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/supported_tasks/lidar_sem_seg3d.html)
+- [自定义项目](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/index.html#customization)
+  - [自定义数据集](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/customize_dataset.html)
+  - [自定义模型](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/customize_models.html)
+  - [自定义运行时配置](https://mmdetection3d.readthedocs.io/zh_CN/latest/advanced_guides/customize_runtime.html)
+
+</details>
+
+## 基准测试和模型库
+
+测试结果和模型可以在[模型库](docs/zh_cn/model_zoo.md)中找到。
+
+<div align="center">
+  <b>模块组件</b>
+</div>
+<table align="center">
+  <tbody>
+    <tr align="center" valign="bottom">
+      <td>
+        <b>主干网络</b>
+      </td>
+      <td>
+        <b>检测头</b>
+      </td>
+      <td>
+        <b>特性</b>
+      </td>
+    </tr>
+    <tr valign="top">
+      <td>
+      <ul>
+        <li><a href="configs/pointnet2">PointNet (CVPR'2017)</a></li>
+        <li><a href="configs/pointnet2">PointNet++ (NeurIPS'2017)</a></li>
+        <li><a href="configs/regnet">RegNet (CVPR'2020)</a></li>
+        <li><a href="configs/dgcnn">DGCNN (TOG'2019)</a></li>
+        <li>DLA (CVPR'2018)</li>
+        <li>MinkResNet (CVPR'2019)</li>
+        <li><a href="configs/minkunet">MinkUNet (CVPR'2019)</a></li>
+        <li><a href="configs/cylinder3d">Cylinder3D (CVPR'2021)</a></li>
+      </ul>
+      </td>
+      <td>
+      <ul>
+        <li><a href="configs/free_anchor">FreeAnchor (NeurIPS'2019)</a></li>
+      </ul>
+      </td>
+      <td>
+      <ul>
+        <li><a href="configs/dynamic_voxelization">Dynamic Voxelization (CoRL'2019)</a></li>
+      </ul>
+      </td>
+    </tr>
+</td>
+    </tr>
+  </tbody>
+</table>
+
+<div align="center">
+  <b>算法模型</b>
+</div>
+<table align="center">
+  <tbody>
+    <tr align="center" valign="middle">
+      <td>
+        <b>激光雷达 3D 目标检测</b>
+      </td>
+      <td>
+        <b>相机 3D 目标检测</b>
+      </td>
+      <td>
+        <b>多模态 3D 目标检测</b>
+      </td>
+      <td>
+        <b>3D 语义分割</b>
+      </td>
+    </tr>
+    <tr valign="top">
+      <td>
+        <li><b>室外</b></li>
+        <ul>
+            <li><a href="configs/second">SECOND (Sensor'2018)</a></li>
+            <li><a href="configs/pointpillars">PointPillars (CVPR'2019)</a></li>
+            <li><a href="configs/ssn">SSN (ECCV'2020)</a></li>
+            <li><a href="configs/3dssd">3DSSD (CVPR'2020)</a></li>
+            <li><a href="configs/sassd">SA-SSD (CVPR'2020)</a></li>
+            <li><a href="configs/point_rcnn">PointRCNN (CVPR'2019)</a></li>
+            <li><a href="configs/parta2">Part-A2 (TPAMI'2020)</a></li>
+            <li><a href="configs/centerpoint">CenterPoint (CVPR'2021)</a></li>
+            <li><a href="configs/pv_rcnn">PV-RCNN (CVPR'2020)</a></li>
+            <li><a href="projects/CenterFormer">CenterFormer (ECCV'2022)</a></li>
+        </ul>
+        <li><b>室内</b></li>
+        <ul>
+            <li><a href="configs/votenet">VoteNet (ICCV'2019)</a></li>
+            <li><a href="configs/h3dnet">H3DNet (ECCV'2020)</a></li>
+            <li><a href="configs/groupfree3d">Group-Free-3D (ICCV'2021)</a></li>
+            <li><a href="configs/fcaf3d">FCAF3D (ECCV'2022)</a></li>
+            <li><a href="projects/TR3D">TR3D (ArXiv'2023)</a></li>
+      </ul>
+      </td>
+      <td>
+        <li><b>室外</b></li>
+        <ul>
+          <li><a href="configs/imvoxelnet">ImVoxelNet (WACV'2022)</a></li>
+          <li><a href="configs/smoke">SMOKE (CVPRW'2020)</a></li>
+          <li><a href="configs/fcos3d">FCOS3D (ICCVW'2021)</a></li>
+          <li><a href="configs/pgd">PGD (CoRL'2021)</a></li>
+          <li><a href="configs/monoflex">MonoFlex (CVPR'2021)</a></li>
+          <li><a href="projects/DETR3D">DETR3D (CoRL'2021)</a></li>
+          <li><a href="projects/PETR">PETR (ECCV'2022)</a></li>
+        </ul>
+        <li><b>Indoor</b></li>
+        <ul>
+          <li><a href="configs/imvoxelnet">ImVoxelNet (WACV'2022)</a></li>
+        </ul>
+      </td>
+      <td>
+        <li><b>室外</b></li>
+        <ul>
+          <li><a href="configs/mvxnet">MVXNet (ICRA'2019)</a></li>
+          <li><a href="projects/BEVFusion">BEVFusion (ICRA'2023)</a></li>
+        </ul>
+        <li><b>室内</b></li>
+        <ul>
+          <li><a href="configs/imvotenet">ImVoteNet (CVPR'2020)</a></li>
+        </ul>
+      </td>
+      <td>
+        <li><b>室外</b></li>
+        <ul>
+          <li><a href="configs/minkunet">MinkUNet (CVPR'2019)</a></li>
+          <li><a href="configs/spvcnn">SPVCNN (ECCV'2020)</a></li>
+          <li><a href="configs/cylinder3d">Cylinder3D (CVPR'2021)</a></li>
+          <li><a href="projects/TPVFormer">TPVFormer (CVPR'2023)</a></li>
+        </ul>
+        <li><b>室内</b></li>
+        <ul>
+          <li><a href="configs/pointnet2">PointNet++ (NeurIPS'2017)</a></li>
+          <li><a href="configs/paconv">PAConv (CVPR'2021)</a></li>
+          <li><a href="configs/dgcnn">DGCNN (TOG'2019)</a></li>
+        </ul>
+      </ul>
+      </td>
+    </tr>
+</td>
+    </tr>
+  </tbody>
+</table>
+
+|               | ResNet | VoVNet | Swin-T | PointNet++ | SECOND | DGCNN | RegNetX | DLA | MinkResNet | Cylinder3D | MinkUNet |
+| :-----------: | :----: | :----: | :----: | :--------: | :----: | :---: | :-----: | :-: | :--------: | :--------: | :------: |
+|    SECOND     |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| PointPillars  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  FreeAnchor   |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    VoteNet    |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    H3DNet     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     3DSSD     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    Part-A2    |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    MVXNet     |   ✓    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  CenterPoint  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|      SSN      |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✓    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   ImVoteNet   |   ✓    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    FCOS3D     |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  PointNet++   |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| Group-Free-3D |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  ImVoxelNet   |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    PAConv     |   ✗    |   ✗    |   ✗    |     ✓      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     DGCNN     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✓   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     SMOKE     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
+|      PGD      |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   MonoFlex    |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✓  |     ✗      |     ✗      |    ✗     |
+|    SA-SSD     |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|    FCAF3D     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
+|    PV-RCNN    |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|  Cylinder3D   |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✓      |    ✗     |
+|   MinkUNet    |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|    SPVCNN     |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✓     |
+|   BEVFusion   |   ✗    |   ✗    |   ✓    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+| CenterFormer  |   ✗    |   ✗    |   ✗    |     ✗      |   ✓    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     TR3D      |   ✗    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✓      |     ✗      |    ✗     |
+|    DETR3D     |   ✓    |   ✓    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|     PETR      |   ✗    |   ✓    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+|   TPVFormer   |   ✓    |   ✗    |   ✗    |     ✗      |   ✗    |   ✗   |    ✗    |  ✗  |     ✗      |     ✗      |    ✗     |
+
+**注意：**[MMDetection](https://github.com/open-mmlab/mmdetection/blob/3.x/docs/zh_cn/model_zoo.md) 支持的基于 2D 检测的 **300+ 个模型，40+ 的论文算法**在 MMDetection3D 中都可以被训练或使用。
+
+## 常见问题
+
+请参考 [FAQ](docs/zh_cn/notes/faq.md) 了解其他用户的常见问题。
+
+## 贡献指南
+
+我们感谢所有的贡献者为改进和提升 MMDetection3D 所作出的努力。请参考[贡献指南](docs/en/notes/contribution_guides.md)来了解参与项目贡献的相关指引。
+
+## 致谢
+
+MMDetection3D 是一款由来自不同高校和企业的研发人员共同参与贡献的开源项目。我们感谢所有为项目提供算法复现和新功能支持的贡献者，以及提供宝贵反馈的用户。我们希望这个工具箱和基准测试可以为社区提供灵活的代码工具，供用户复现已有算法并开发自己的新的 3D 检测模型。
+
+## 引用
+
+如果你觉得本项目对你的研究工作有所帮助，请参考如下 bibtex 引用 MMdetection3D：
+
+```latex
+@misc{mmdet3d2020,
+    title={{MMDetection3D: OpenMMLab} next-generation platform for general {3D} object detection},
+    author={MMDetection3D Contributors},
+    howpublished = {\url{https://github.com/open-mmlab/mmdetection3d}},
+    year={2020}
+}
+```
+
+## 开源许可证
+
+该项目采用 [Apache 2.0 开源许可证](LICENSE)。
+
+## OpenMMLab 的其他项目
+
+- [MMEngine](https://github.com/open-mmlab/mmengine): OpenMMLab 深度学习模型训练基础库
+- [MMCV](https://github.com/open-mmlab/mmcv): OpenMMLab 计算机视觉基础库
+- [MMEval](https://github.com/open-mmlab/mmeval): 统一开放的跨框架算法评测库
+- [MIM](https://github.com/open-mmlab/mim): MIM 是 OpenMMlab 项目、算法、模型的统一入口
+- [MMPreTrain](https://github.com/open-mmlab/mmpretrain): OpenMMLab 深度学习预训练工具箱
+- [MMDetection](https://github.com/open-mmlab/mmdetection): OpenMMLab 目标检测工具箱
+- [MMDetection3D](https://github.com/open-mmlab/mmdetection3d): OpenMMLab 新一代通用 3D 目标检测平台
+- [MMRotate](https://github.com/open-mmlab/mmrotate): OpenMMLab 旋转框检测工具箱与测试基准
+- [MMYOLO](https://github.com/open-mmlab/mmyolo): OpenMMLab YOLO 系列工具箱与测试基准
+- [MMSegmentation](https://github.com/open-mmlab/mmsegmentation): OpenMMLab 语义分割工具箱
+- [MMOCR](https://github.com/open-mmlab/mmocr): OpenMMLab 全流程文字检测识别理解工具包
+- [MMPose](https://github.com/open-mmlab/mmpose): OpenMMLab 姿态估计工具箱
+- [MMHuman3D](https://github.com/open-mmlab/mmhuman3d): OpenMMLab 人体参数化模型工具箱与测试基准
+- [MMSelfSup](https://github.com/open-mmlab/mmselfsup): OpenMMLab 自监督学习工具箱与测试基准
+- [MMRazor](https://github.com/open-mmlab/mmrazor): OpenMMLab 模型压缩工具箱与测试基准
+- [MMFewShot](https://github.com/open-mmlab/mmfewshot): OpenMMLab 少样本学习工具箱与测试基准
+- [MMAction2](https://github.com/open-mmlab/mmaction2): OpenMMLab 新一代视频理解工具箱
+- [MMTracking](https://github.com/open-mmlab/mmtracking): OpenMMLab 一体化视频目标感知平台
+- [MMFlow](https://github.com/open-mmlab/mmflow): OpenMMLab 光流估计工具箱与测试基准
+- [MMagic](https://github.com/open-mmlab/mmagic): OpenMMLab 新一代人工智能内容生成（AIGC）工具箱
+- [MMGeneration](https://github.com/open-mmlab/mmgeneration): OpenMMLab 图片视频生成模型工具箱
+- [MMDeploy](https://github.com/open-mmlab/mmdeploy): OpenMMLab 模型部署框架
+
+## 欢迎加入 OpenMMLab 社区
+
+扫描下方的二维码可关注 OpenMMLab ���队的 [知乎官方账号](https://www.zhihu.com/people/openmmlab)，扫描下方微信二维码添加喵喵好友，进入 MMDetection3D 微信交流社群。【加好友申请格式：研究方向+地区+学校/公司+姓名】
+
+<div align="center">
+<img src="https://user-images.githubusercontent.com/58739961/187154320-f3312cdf-31f2-4316-9dbb-8d7b0e1b7e08.jpg" height="400" />  <img src="https://github.com/open-mmlab/mmdetection3d/assets/62195058/dfb3f6a9-25c6-47a5-936b-3f1d7347a42b" height="400" />
+</div>
+
+我们会在 OpenMMLab 社区为大家
+
+- 📢 分享 AI 框架的前沿核心技术
+- 💻 解读 PyTorch 常用模块源码
+- 📰 发布 OpenMMLab 的相关新闻
+- 🚀 介绍 OpenMMLab 开发的前沿算法
+- 🏃 获取更高效的问题答疑和意见反馈
+- 🔥 提供与各行各业开发者充分交流的平台
+
+干货满满 📘，等你来撩 💗，OpenMMLab 社区期待您的加入 👬

dataset-index.yml

@@ -0,0 +1,29 @@
+kitti:
+  # The name of dataset in OpenDataLab referring to
+  # https://opendatalab.com/KITTI_Object/cli. You can also download it
+  # by running `odl get ${dataset}` independently
+  dataset: KITTI_Object
+  download_root: data
+  data_root: data/kitti
+  # Scripts for unzipping datasets
+  script: tools/dataset_converters/kitti_unzip.sh
+
+nuscenes:
+  # The name of dataset in OpenDataLab referring to
+  # https://opendatalab.com/nuScenes/cli. You can also download it
+  # by running `odl get ${dataset}` independently
+  dataset: nuScenes
+  download_root: data
+  data_root: data/nuscenes
+  # Scripts for unzipping datasets
+  script: tools/dataset_converters/nuscenes_unzip.sh
+
+semantickitti:
+  # The name of dataset in OpenDataLab referring to
+  # https://opendatalab.com/SemanticKITTI/cli. You can also download it
+  # by running `odl get ${dataset}` independently
+  dataset: SemanticKITTI
+  download_root: data
+  data_root: data/semantickitti
+  # Scripts for unzipping datasets
+  script: tools/dataset_converters/semantickitti_unzip.sh

model-index.yml

@@ -0,0 +1,30 @@
+Import:
+  - configs/3dssd/metafile.yml
+  - configs/centerpoint/metafile.yml
+  - configs/dgcnn/metafile.yml
+  - configs/dynamic_voxelization/metafile.yml
+  - configs/fcos3d/metafile.yml
+  - configs/free_anchor/metafile.yml
+  - configs/groupfree3d/metafile.yml
+  - configs/h3dnet/metafile.yml
+  - configs/imvotenet/metafile.yml
+  - configs/imvoxelnet/metafile.yml
+  - configs/monoflex/metafile.yml
+  - configs/mvxnet/metafile.yml
+  - configs/nuimages/metafile.yml
+  - configs/paconv/metafile.yml
+  - configs/parta2/metafile.yml
+  - configs/pgd/metafile.yml
+  - configs/point_rcnn/metafile.yml
+  - configs/pointnet2/metafile.yml
+  - configs/pointpillars/metafile.yml
+  - configs/regnet/metafile.yml
+  - configs/second/metafile.yml
+  - configs/smoke/metafile.yml
+  - configs/ssn/metafile.yml
+  - configs/votenet/metafile.yml
+  - configs/minkunet/metafile.yml
+  - configs/cylinder3d/metafile.yml
+  - configs/pv_rcnn/metafile.yml
+  - configs/fcaf3d/metafile.yml
+  - configs/spvcnn/metafile.yml

requirements.txt

@@ -0,0 +1,4 @@
+-r requirements/build.txt
+-r requirements/optional.txt
+-r requirements/runtime.txt
+-r requirements/tests.txt

setup.cfg

@@ -0,0 +1,19 @@
+[yapf]
+BASED_ON_STYLE = pep8
+BLANK_LINE_BEFORE_NESTED_CLASS_OR_DEF = true
+SPLIT_BEFORE_EXPRESSION_AFTER_OPENING_PAREN = true
+
+[isort]
+line_length = 79
+multi_line_output = 0
+extra_standard_library = setuptools
+known_first_party = mmdet3d
+known_third_party = cv2,imageio,indoor3d_util,load_scannet_data,lyft_dataset_sdk,m2r,matplotlib,mmcv,mmdet,mmengine,nuimages,numba,numpy,nuscenes,pandas,plyfile,pycocotools,pyquaternion,pytest,pytorch_sphinx_theme,recommonmark,requests,scannet_utils,scipy,seaborn,shapely,skimage,sphinx,tensorflow,terminaltables,torch,trimesh,ts,waymo_open_dataset
+no_lines_before = STDLIB,LOCALFOLDER
+default_section = THIRDPARTY
+
+[codespell]
+ignore-words-list = ans,refridgerator,crate,hist,formating,dout,wan,nd,fo,avod,AVOD,warmup
+
+[flake8]
+per-file-ignores = mmdet3d/configs/*:F401,F403,F405

setup.py

@@ -0,0 +1,227 @@
+# Copyright (c) OpenMMLab. All rights reserved.
+import os
+import platform
+import shutil
+import sys
+import warnings
+from os import path as osp
+from setuptools import find_packages, setup
+
+import torch
+from torch.utils.cpp_extension import (BuildExtension, CppExtension,
+                                       CUDAExtension)
+
+
+def readme():
+    with open('README.md', encoding='utf-8') as f:
+        content = f.read()
+    return content
+
+
+version_file = 'mmdet3d/version.py'
+
+
+def get_version():
+    with open(version_file, 'r') as f:
+        exec(compile(f.read(), version_file, 'exec'))
+    return locals()['__version__']
+
+
+def make_cuda_ext(name,
+                  module,
+                  sources,
+                  sources_cuda=[],
+                  extra_args=[],
+                  extra_include_path=[]):
+
+    define_macros = []
+    extra_compile_args = {'cxx': [] + extra_args}
+
+    if torch.cuda.is_available() or os.getenv('FORCE_CUDA', '0') == '1':
+        define_macros += [('WITH_CUDA', None)]
+        extension = CUDAExtension
+        extra_compile_args['nvcc'] = extra_args + [
+            '-D__CUDA_NO_HALF_OPERATORS__',
+            '-D__CUDA_NO_HALF_CONVERSIONS__',
+            '-D__CUDA_NO_HALF2_OPERATORS__',
+        ]
+        sources += sources_cuda
+    else:
+        print('Compiling {} without CUDA'.format(name))
+        extension = CppExtension
+        # raise EnvironmentError('CUDA is required to compile MMDetection!')
+
+    return extension(
+        name='{}.{}'.format(module, name),
+        sources=[os.path.join(*module.split('.'), p) for p in sources],
+        include_dirs=extra_include_path,
+        define_macros=define_macros,
+        extra_compile_args=extra_compile_args)
+
+
+def parse_requirements(fname='requirements.txt', with_version=True):
+    """Parse the package dependencies listed in a requirements file but strips
+    specific versioning information.
+
+    Args:
+        fname (str): path to requirements file
+        with_version (bool, default=False): if True include version specs
+
+    Returns:
+        list[str]: list of requirements items
+
+    CommandLine:
+        python -c "import setup; print(setup.parse_requirements())"
+    """
+    import re
+    import sys
+    from os.path import exists
+    require_fpath = fname
+
+    def parse_line(line):
+        """Parse information from a line in a requirements text file."""
+        if line.startswith('-r '):
+            # Allow specifying requirements in other files
+            target = line.split(' ')[1]
+            for info in parse_require_file(target):
+                yield info
+        else:
+            info = {'line': line}
+            if line.startswith('-e '):
+                info['package'] = line.split('#egg=')[1]
+            else:
+                # Remove versioning from the package
+                pat = '(' + '|'.join(['>=', '==', '>']) + ')'
+                parts = re.split(pat, line, maxsplit=1)
+                parts = [p.strip() for p in parts]
+
+                info['package'] = parts[0]
+                if len(parts) > 1:
+                    op, rest = parts[1:]
+                    if ';' in rest:
+                        # Handle platform specific dependencies
+                        # http://setuptools.readthedocs.io/en/latest/setuptools.html#declaring-platform-specific-dependencies
+                        version, platform_deps = map(str.strip,
+                                                     rest.split(';'))
+                        info['platform_deps'] = platform_deps
+                    else:
+                        version = rest  # NOQA
+                    info['version'] = (op, version)
+            yield info
+
+    def parse_require_file(fpath):
+        with open(fpath, 'r') as f:
+            for line in f.readlines():
+                line = line.strip()
+                if line and not line.startswith('#'):
+                    for info in parse_line(line):
+                        yield info
+
+    def gen_packages_items():
+        if exists(require_fpath):
+            for info in parse_require_file(require_fpath):
+                parts = [info['package']]
+                if with_version and 'version' in info:
+                    parts.extend(info['version'])
+                if not sys.version.startswith('3.4'):
+                    # apparently package_deps are broken in 3.4
+                    platform_deps = info.get('platform_deps')
+                    if platform_deps is not None:
+                        parts.append(';' + platform_deps)
+                item = ''.join(parts)
+                yield item
+
+    packages = list(gen_packages_items())
+    return packages
+
+
+def add_mim_extention():
+    """Add extra files that are required to support MIM into the package.
+
+    These files will be added by creating a symlink to the originals if the
+    package is installed in `editable` mode (e.g. pip install -e .), or by
+    copying from the originals otherwise.
+    """
+
+    # parse installment mode
+    if 'develop' in sys.argv:
+        # installed by `pip install -e .`
+        if platform.system() == 'Windows':
+            # set `copy` mode here since symlink fails on Windows.
+            mode = 'copy'
+        else:
+            mode = 'symlink'
+    elif 'sdist' in sys.argv or 'bdist_wheel' in sys.argv:
+        # installed by `pip install .`
+        # or create source distribution by `python setup.py sdist`
+        mode = 'copy'
+    else:
+        return
+
+    filenames = [
+        'tools', 'configs', 'demo', 'model-index.yml', 'dataset-index.yml'
+    ]
+    repo_path = osp.dirname(__file__)
+    mim_path = osp.join(repo_path, 'mmdet3d', '.mim')
+    os.makedirs(mim_path, exist_ok=True)
+
+    for filename in filenames:
+        if osp.exists(filename):
+            src_path = osp.join(repo_path, filename)
+            tar_path = osp.join(mim_path, filename)
+
+            if osp.isfile(tar_path) or osp.islink(tar_path):
+                os.remove(tar_path)
+            elif osp.isdir(tar_path):
+                shutil.rmtree(tar_path)
+
+            if mode == 'symlink':
+                src_relpath = osp.relpath(src_path, osp.dirname(tar_path))
+                os.symlink(src_relpath, tar_path)
+            elif mode == 'copy':
+                if osp.isfile(src_path):
+                    shutil.copyfile(src_path, tar_path)
+                elif osp.isdir(src_path):
+                    shutil.copytree(src_path, tar_path)
+                else:
+                    warnings.warn(f'Cannot copy file {src_path}.')
+            else:
+                raise ValueError(f'Invalid mode {mode}')
+
+
+if __name__ == '__main__':
+    add_mim_extention()
+    setup(
+        name='mmdet3d',
+        version=get_version(),
+        description=("OpenMMLab's next-generation platform"
+                     'for general 3D object detection.'),
+        long_description=readme(),
+        long_description_content_type='text/markdown',
+        author='MMDetection3D Contributors',
+        author_email='zwwdev@gmail.com',
+        keywords='computer vision, 3D object detection',
+        url='https://github.com/open-mmlab/mmdetection3d',
+        packages=find_packages(exclude=('configs', 'tools', 'demo')),
+        include_package_data=True,
+        classifiers=[
+            'Development Status :: 5 - Production/Stable',
+            'License :: OSI Approved :: Apache Software License',
+            'Operating System :: OS Independent',
+            'Programming Language :: Python :: 3',
+            'Programming Language :: Python :: 3.7',
+            'Programming Language :: Python :: 3.8',
+            'Programming Language :: Python :: 3.9',
+        ],
+        license='Apache License 2.0',
+        install_requires=parse_requirements('requirements/runtime.txt'),
+        extras_require={
+            'all': parse_requirements('requirements.txt'),
+            'tests': parse_requirements('requirements/tests.txt'),
+            'build': parse_requirements('requirements/build.txt'),
+            'optional': parse_requirements('requirements/optional.txt'),
+            'mim': parse_requirements('requirements/mminstall.txt'),
+        },
+        ext_modules=[],
+        cmdclass={'build_ext': BuildExtension},
+        zip_safe=False)