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README.md

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For convenience, we provide a [Dockerfile](docker/Dockerfile).
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Alternatively, you can install all required packages manually. This implementation is based on [mmdetection3d](https://github.com/open-mmlab/mmdetection3d) framework.
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Please refer to the original installation guide [getting_started.md](docs/getting_started.md), replacing `open-mmlab/mmdetection3d` with `saic-vul/fcaf3d`.
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Also, [MinkowskiEngine](https://github.com/NVIDIA/MinkowskiEngine) and [rotated_iou](https://github.com/lilanxiao/Rotated_IoU) should be installed with [these](https://github.com/saic-vul/fcaf3d/blob/master/docker/Dockerfile#L35-L38) 4 commands.
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Please refer to the original installation guide [getting_started.md](docs/getting_started.md), replacing `open-mmlab/mmdetection3d` with `samsunglabs/fcaf3d`.
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Also, [MinkowskiEngine](https://github.com/NVIDIA/MinkowskiEngine) and [rotated_iou](https://github.com/lilanxiao/Rotated_IoU) should be installed with [these](https://github.com/samsunglabs/fcaf3d/blob/master/docker/Dockerfile#L35-L38) 4 commands.
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Most of the `FCAF3D`-related code locates in the following files:
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[detectors/single_stage_sparse.py](mmdet3d/models/detectors/single_stage_sparse.py),
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| Dataset | mAP@0.25 | mAP@0.5 | Download |
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|:-------:|:--------:|:-------:|:--------:|
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| ScanNet | 71.5 (70.7) | 57.3 (56.0) | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211007_144747.pth) | [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211007_144747_fcaf3d_scannet.log) | [config](configs/fcaf3d/fcaf3d_scannet-3d-18class.py) |
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| SUN RGB-D | 64.2 (63.8) | 48.9 (48.2) | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211007_144908.pth) | [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211007_144908_fcaf3d_sunrgbd.log) | [config](configs/fcaf3d/fcaf3d_sunrgbd-3d-10class.py) |
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| S3DIS | 66.7 (64.9) | 45.9 (43.8) | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211011_084059.pth) | [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211011_084059_fcaf3d_s3dis.log) | [config](configs/fcaf3d/fcaf3d_s3dis-3d-5class.py) |
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| ScanNet | 71.5 (70.7) | 57.3 (56.0) | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211007_144747.pth) | [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211007_144747_fcaf3d_scannet.log) | [config](configs/fcaf3d/fcaf3d_scannet-3d-18class.py) |
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| SUN RGB-D | 64.2 (63.8) | 48.9 (48.2) | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211007_144908.pth) | [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211007_144908_fcaf3d_sunrgbd.log) | [config](configs/fcaf3d/fcaf3d_sunrgbd-3d-10class.py) |
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| S3DIS | 66.7 (64.9) | 45.9 (43.8) | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211011_084059.pth) | [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211011_084059_fcaf3d_s3dis.log) | [config](configs/fcaf3d/fcaf3d_s3dis-3d-5class.py) |
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**Faster FCAF3D on ScanNet**
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| Backbone | Voxel <br> size | mAP@0.25 | mAP@0.5 | Scenes <br> per sec. | Download |
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|:--------:|:---------------:|:--------:|:-------:|:--------------------:|:--------:|
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| HDResNet34 | 0.01 | 70.7 | 56.0 | 8.0 | see table above |
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| HDResNet34:3 | 0.01 | 69.8 | 53.6 | 12.2 | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211008_191702.pth) &#124; [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211008_191702_fcaf3d_3scales_scannet.log) &#124; [config](configs/fcaf3d/fcaf3d_3scales_scannet-3d-18class.py) |
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| HDResNet34:2 | 0.02 | 63.1 | 46.8 | 31.5 | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211008_151041.pth) &#124; [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211008_151041_fcaf3d_2scales_scannet.log) &#124; [config](configs/fcaf3d/fcaf3d_2scales_scannet-3d-18class.py) |
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| HDResNet34:3 | 0.01 | 69.8 | 53.6 | 12.2 | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211008_191702.pth) &#124; [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211008_191702_fcaf3d_3scales_scannet.log) &#124; [config](configs/fcaf3d/fcaf3d_3scales_scannet-3d-18class.py) |
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| HDResNet34:2 | 0.02 | 63.1 | 46.8 | 31.5 | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211008_151041.pth) &#124; [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211008_151041_fcaf3d_2scales_scannet.log) &#124; [config](configs/fcaf3d/fcaf3d_2scales_scannet-3d-18class.py) |
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**VoteNet on SUN RGB-D**
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| Source | mAP@0.25 | mAP@0.5 | Download |
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|:------:|:--------:|:-------:|:--------:|
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| mmdetection3d | 59.1 | 35.8| [instruction](configs/votenet) |
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| ours | 61.1 (60.5) | 40.4 (39.5) | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211016_132950.pth) &#124; [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211016_132950_votenet_sunrgbd.log) &#124; [config](configs/votenet/votenet-v2_16x8_sunrgbd-3d-10class.py) |
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| ours | 61.1 (60.5) | 40.4 (39.5) | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211016_132950.pth) &#124; [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211016_132950_votenet_sunrgbd.log) &#124; [config](configs/votenet/votenet-v2_16x8_sunrgbd-3d-10class.py) |
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**ImVoteNet on SUN RGB-D**
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| Source | mAP@0.25 | mAP@0.5 | Download |
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|:------:|:--------:|:-------:|:--------:|
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| mmdetection3d | 64.0 | 37.8 | [instruction](configs/imvotenet) |
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| ours | 64.6 (64.1) | 40.8 (39.8) | [model](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211009_131500.pth) &#124; [log](https://github.com/saic-vul/fcaf3d/releases/download/v1.0/20211009_131500_imvotenet_sunrgbd.log) &#124; [config](configs/imvotenet/imvotenet-v2_stage2_16x8_sunrgbd-3d-10class.py) |
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| ours | 64.6 (64.1) | 40.8 (39.8) | [model](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211009_131500.pth) &#124; [log](https://github.com/samsunglabs/fcaf3d/releases/download/v1.0/20211009_131500_imvotenet_sunrgbd.log) &#124; [config](configs/imvotenet/imvotenet-v2_stage2_16x8_sunrgbd-3d-10class.py) |
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**Comparison with state-of-the-art on ScanNet**
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