Support kornia v0.7 and above

* kornia v0.7+ deprecated the XYZW quaternion coefficient order
* Related PR: kornia/kornia#2437 open-mmlab#1722

* Optimize docs

Author: liyufan

docs/INSTALL.md

@@ -19,14 +19,10 @@ git clone https://github.com/open-mmlab/OpenPCDet.git
 
 b. Install the dependent libraries as follows:
 
-[comment]: <> (* Install the dependent python libraries: )
-
-[comment]: <> (```)
-
-[comment]: <> (pip install -r requirements.txt )
-
-[comment]: <> (```)
-
+* Install the dependent python libraries: 
+```shell
+pip install -r requirements.txt --upgrade
+```
 * Install the SparseConv library, we use the implementation from [`[spconv]`](https://github.com/traveller59/spconv). 
     * If you use PyTorch 1.1, then make sure you install the `spconv v1.0` with ([commit 8da6f96](https://github.com/traveller59/spconv/tree/8da6f967fb9a054d8870c3515b1b44eca2103634)) instead of the latest one.
     * If you use PyTorch 1.3+, then you need to install the `spconv v1.2`. As mentioned by the author of [`spconv`](https://github.com/traveller59/spconv), you need to use their docker if you use PyTorch 1.4+. 
@@ -38,10 +34,24 @@ pip install -e .
 ```
 * To build the wheel only, run the following command:
 ```shell
+pip wheel . -w whl --no-deps --extra-index-url https://download.pytorch.org/whl/${CUDA_VERSION}
+```
+You can find the latest `CUDA_VERSION` from [PyTorch](https://pytorch.org/get-started/locally/). In case you want to build the wheel with `build` package:
+```shell
 pip install build
 python -m build --wheel
 ```
+The usage of `pip wheel` is preferred, as the `build` package does not support `--extra-index-url` option. So if you have installed PyTorch with the extra index above, `pip wheel` can use cached packages to speed up the building process, but `build` will download PyTorch from PyPI, which is much slower and may cause version mismatch, unless you build the package in the current environment:
+```shell
+# For pip wheel
+pip wheel . -w whl --no-deps --no-build-isolation
+# For build
+python -m build --wheel --no-isolation
+```
 * To install the built wheel, run the following command:
 ```shell
+# For pip wheel
+pip install whl/*.whl
+# For build
 pip install dist/*.whl
 ```

pcdet/datasets/argo2/argo2_utils/so3.py

@@ -16,9 +16,7 @@ def quat_to_mat(quat_wxyz: Tensor) -> Tensor:
     Returns:
         (...,3,3) 3D rotation matrices.
     """
-    return C.quaternion_to_rotation_matrix(
-        quat_wxyz, order=C.QuaternionCoeffOrder.WXYZ
-    )
+    return C.quaternion_to_rotation_matrix(quat_wxyz)
 
 
 # @torch.jit.script
@@ -31,9 +29,7 @@ def mat_to_quat(mat: Tensor) -> Tensor:
     Returns:
         (...,4) Scalar first quaternions.
     """
-    return C.rotation_matrix_to_quaternion(
-        mat, order=C.QuaternionCoeffOrder.WXYZ
-    )
+    return C.rotation_matrix_to_quaternion(mat)
 
 
 @torch.jit.script

requirements.txt

@@ -11,6 +11,6 @@ torchvision
 SharedArray
 opencv-python
 pyquaternion
-kornia<0.7
+kornia>=0.7
 ninja
 av2