Merge pull request #328 from JdeRobot/issue-327

Upgrade LiDAR segmentation

Author: dpascualhe

.DS_Store

@@ -7,4 +7,7 @@ __pycache__
 dist
 poetry.lock
 
-local/
+local/
+third_party/
+
+.DS_Store

.gitignore

@@ -57,8 +57,4 @@ Emails:
 
 <sergiopaniegoblanco@gmail.com>
 
-<vinay0410sharma@gmail.com>
-
-<justjeevan07@gmail.com>
-
 <josemaria.plaza@gmail.com>

CONTRIBUTING.md

@@ -41,8 +41,8 @@ Now, we're excited to introduce ***DetectionMetrics v2***! While retaining the f
   </tr>
   <tr>
     <td>LiDAR</td>
-    <td>Rellis3D, GOOSE, custom GAIA format</td>
-    <td>PyTorch (tested with RandLA-Net and KPConv from <a href="https://github.com/isl-org/Open3D-ML">Open3D-ML</a>)</td>  </tr>
+    <td>Rellis3D, GOOSE, WildScenes, custom GAIA format</td>
+    <td>PyTorch (tested with <a href="https://github.com/isl-org/Open3D-ML">Open3D-ML</a>, <a href="https://github.com/open-mmlab/mmdetection3d">mmdetection3d</a>, <a href="https://github.com/dvlab-research/SphereFormer">SphereFormer</a>, and <a href="https://github.com/FengZicai/LSK3DNet">LSK3DNet</a> models)</td>  </tr>
   <tr>
     <td>Object detection</td>
     <td>Image</td>
@@ -94,6 +94,9 @@ Install your deep learning framework of preference in your environment. We have
 
 If you are using LiDAR, Open3D currently requires `torch==2.2*`.
 
+### Additional environments
+Some LiDAR segmentation models, such as SphereFormer and LSK3DNet, require a dedicated installation workflow. Refer to [additional_envs/INSTRUCTIONS.md](additional_envs/INSTRUCTIONS.md) for detailed setup instructions.
+
 # Usage
 DetectionMetrics can be used in three ways: through the **interactive GUI** (detection only), as a **Python library**, or via the **command-line interface** (segmentation and detection).
 
@@ -166,8 +169,9 @@ Our previous release, ***DetectionMetrics v1***, introduced a versatile suite fo
   doi = {10.3390/s22124575},
 }
 ```
+
 # How to Contribute
 _To make your first contribution, follow this [Guide](https://github.com/JdeRobot/DetectionMetrics/blob/master/CONTRIBUTING.md)._
 
 # Acknowledgements
-Utils for LiDAR segmentation, such as sampling or recentering, are based on [Open3D-ML](https://github.com/isl-org/Open3D-ML).
+LiDAR segmentation support is built upon open-source work from [Open3D-ML](https://github.com/isl-org/Open3D-ML), [mmdetection3d](https://github.com/open-mmlab/mmdetection3d), [SphereFormer](https://github.com/dvlab-research/SphereFormer), and [LSK3DNet](https://github.com/FengZicai/LSK3DNet).

README.md

@@ -0,0 +1,178 @@
+This project includes third-party software components.
+The following licenses and notices apply to the indicated components.
+
+---
+
+## Third-Party Components
+
+### SphereFormer
+This project includes modified code derived from [SphereFormer](https://github.com/dvlab-research/SphereFormer), licensed under the Apache License, Version 2.0.
+
+### LSK3DNet
+This project includes modified code derived from [LSK3DNet](https://github.com/FengZicai/LSK3DNet), licensed under the MIT License.
+
+### Open3D-ML
+This project includes modified code derived from [Open3D-ML](https://github.com/isl-org/Open3D-ML), licensed under the MIT License.
+
+---
+
+## Apache License, Version 2.0 (SphereFormer)
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity alleging that the Work
+      or a Contribution incorporated within the Work constitutes patent
+      infringement, then any patent licenses granted to You under this
+      License for that Work shall terminate as of the date such litigation
+      is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works.
+
+   END OF TERMS AND CONDITIONS
+
+---
+
+## MIT License (LSK3DNet)
+
+MIT License
+
+Copyright (c) 2024 Tuo Feng
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+---
+
+## MIT License (Open3D-ML)
+
+The MIT License (MIT)
+
+Open3D: www.open3d.org
+Copyright (c) 2020 www.open3d.org
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.