[Enhance] Update Registry in MMDet3D (#1412)

* Update Registry in MMDet3D

* fix compose pipeline bug

* update registry

* fix some bugs

* fix comments

* fix comments

mmdet3d/models/dense_heads/groupfree3d_head.py

@@ -14,9 +14,8 @@ from torch import nn as nn
 from torch.nn import functional as F
 
 from mmdet3d.core.post_processing import aligned_3d_nms
-from mmdet3d.models.builder import build_loss
 from mmdet.core import build_bbox_coder, multi_apply
-from mmdet.models import HEADS
+from ..builder import HEADS, build_loss
 from .base_conv_bbox_head import BaseConvBboxHead
 
 EPS = 1e-6

mmdet3d/models/dense_heads/monoflex_head.py

@@ -9,11 +9,11 @@ from mmdet3d.models.utils import (filter_outside_objs, get_edge_indices,
                                   get_keypoints, handle_proj_objs)
 from mmdet.core import multi_apply
 from mmdet.core.bbox.builder import build_bbox_coder
-from mmdet.models.builder import HEADS, build_loss
 from mmdet.models.utils import gaussian_radius, gen_gaussian_target
 from mmdet.models.utils.gaussian_target import (get_local_maximum,
                                                 get_topk_from_heatmap,
                                                 transpose_and_gather_feat)
+from ..builder import HEADS, build_loss
 from .anchor_free_mono3d_head import AnchorFreeMono3DHead
 
 

mmdet3d/models/dense_heads/parta2_rpn_head.py

@@ -5,7 +5,7 @@ from mmcv.runner import force_fp32
 
 from mmdet3d.core import limit_period, xywhr2xyxyr
 from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
-from mmdet.models import HEADS
+from ..builder import HEADS
 from .anchor3d_head import Anchor3DHead
 
 

mmdet3d/models/dense_heads/pgd_head.py

@@ -9,7 +9,7 @@ from torch.nn import functional as F
 from mmdet3d.core import box3d_multiclass_nms, xywhr2xyxyr
 from mmdet3d.core.bbox import points_cam2img, points_img2cam
 from mmdet.core import distance2bbox, multi_apply
-from mmdet.models.builder import HEADS, build_loss
+from ..builder import HEADS, build_loss
 from .fcos_mono3d_head import FCOSMono3DHead
 
 

mmdet3d/models/dense_heads/point_rpn_head.py

@@ -8,7 +8,7 @@ from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
                                           LiDARInstance3DBoxes)
 from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
 from mmdet.core import build_bbox_coder, multi_apply
-from mmdet.models import HEADS, build_loss
+from ..builder import HEADS, build_loss
 
 
 @HEADS.register_module()

mmdet3d/models/dense_heads/shape_aware_head.py

@@ -9,8 +9,7 @@ from torch import nn as nn
 
 from mmdet3d.core import box3d_multiclass_nms, limit_period, xywhr2xyxyr
 from mmdet.core import multi_apply
-from mmdet.models import HEADS
-from ..builder import build_head
+from ..builder import HEADS, build_head
 from .anchor3d_head import Anchor3DHead
 
 

mmdet3d/models/dense_heads/smoke_mono3d_head.py

@@ -4,11 +4,11 @@ from torch.nn import functional as F
 
 from mmdet.core import multi_apply
 from mmdet.core.bbox.builder import build_bbox_coder
-from mmdet.models.builder import HEADS
 from mmdet.models.utils import gaussian_radius, gen_gaussian_target
 from mmdet.models.utils.gaussian_target import (get_local_maximum,
                                                 get_topk_from_heatmap,
                                                 transpose_and_gather_feat)
+from ..builder import HEADS
 from .anchor_free_mono3d_head import AnchorFreeMono3DHead
 
 

mmdet3d/models/dense_heads/ssd_3d_head.py

@@ -7,9 +7,8 @@ from torch.nn import functional as F
 from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
                                           LiDARInstance3DBoxes,
                                           rotation_3d_in_axis)
-from mmdet3d.models.builder import build_loss
 from mmdet.core import multi_apply
-from mmdet.models import HEADS
+from ..builder import HEADS, build_loss
 from .vote_head import VoteHead
 
 

mmdet3d/models/dense_heads/vote_head.py

@@ -6,12 +6,11 @@ from mmcv.runner import BaseModule, force_fp32
 from torch.nn import functional as F
 
 from mmdet3d.core.post_processing import aligned_3d_nms
-from mmdet3d.models.builder import build_loss
 from mmdet3d.models.losses import chamfer_distance
 from mmdet3d.models.model_utils import VoteModule
 from mmdet3d.ops import build_sa_module
 from mmdet.core import build_bbox_coder, multi_apply
-from mmdet.models import HEADS
+from ..builder import HEADS, build_loss
 from .base_conv_bbox_head import BaseConvBboxHead
 
 

mmdet3d/models/detectors/centerpoint.py

@@ -2,7 +2,7 @@
 import torch
 
 from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
-from mmdet.models import DETECTORS
+from ..builder import DETECTORS
 from .mvx_two_stage import MVXTwoStageDetector
 
 

mmdet3d/models/detectors/dynamic_voxelnet.py

@@ -3,7 +3,7 @@ import torch
 from mmcv.runner import force_fp32
 from torch.nn import functional as F
 
-from mmdet.models import DETECTORS
+from ..builder import DETECTORS
 from .voxelnet import VoxelNet
 
 

mmdet3d/models/detectors/fcos_mono3d.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet.models.builder import DETECTORS
+from ..builder import DETECTORS
 from .single_stage_mono3d import SingleStageMono3DDetector
 
 

mmdet3d/models/detectors/groupfree3dnet.py

@@ -2,7 +2,7 @@
 import torch
 
 from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
-from mmdet.models import DETECTORS
+from ..builder import DETECTORS
 from .single_stage import SingleStage3DDetector
 
 

mmdet3d/models/detectors/h3dnet.py

@@ -2,7 +2,7 @@
 import torch
 
 from mmdet3d.core import merge_aug_bboxes_3d
-from mmdet.models import DETECTORS
+from ..builder import DETECTORS
 from .two_stage import TwoStage3DDetector
 
 

mmdet3d/models/detectors/imvotenet.py

@@ -6,8 +6,8 @@ import torch
 
 from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
 from mmdet3d.models.utils import MLP
-from mmdet.models import DETECTORS
 from .. import builder
+from ..builder import DETECTORS
 from .base import Base3DDetector
 
 

mmdet3d/models/detectors/imvoxelnet.py

@@ -3,8 +3,8 @@ import torch
 
 from mmdet3d.core import bbox3d2result, build_prior_generator
 from mmdet3d.models.fusion_layers.point_fusion import point_sample
-from mmdet.models import DETECTORS, build_backbone, build_head, build_neck
 from mmdet.models.detectors import BaseDetector
+from ..builder import DETECTORS, build_backbone, build_head, build_neck
 
 
 @DETECTORS.register_module()

mmdet3d/models/detectors/mvx_faster_rcnn.py

@@ -3,7 +3,7 @@ import torch
 from mmcv.runner import force_fp32
 from torch.nn import functional as F
 
-from mmdet.models import DETECTORS
+from ..builder import DETECTORS
 from .mvx_two_stage import MVXTwoStageDetector
 
 

mmdet3d/models/detectors/mvx_two_stage.py

@@ -12,8 +12,8 @@ from torch.nn import functional as F
 from mmdet3d.core import (Box3DMode, Coord3DMode, bbox3d2result,
                           merge_aug_bboxes_3d, show_result)
 from mmdet.core import multi_apply
-from mmdet.models import DETECTORS
 from .. import builder
+from ..builder import DETECTORS
 from .base import Base3DDetector
 
 

mmdet3d/models/detectors/parta2.py

@@ -3,8 +3,8 @@ import torch
 from mmcv.ops import Voxelization
 from torch.nn import functional as F
 
-from mmdet.models import DETECTORS
 from .. import builder
+from ..builder import DETECTORS
 from .two_stage import TwoStage3DDetector
 
 

mmdet3d/models/detectors/point_rcnn.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
 
-from mmdet.models import DETECTORS
+from ..builder import DETECTORS
 from .two_stage import TwoStage3DDetector