[Enhance] Refactor the import of `mmdet` (#1947)

* fix config

* refactor import of `mmdet`

* fix lint

* fix lint

mmdet3d/models/dense_heads/shape_aware_head.py

@@ -5,6 +5,7 @@ from typing import Dict, List, Optional, Tuple
 import numpy as np
 import torch
 from mmcv.cnn import ConvModule
+from mmdet.models.utils import multi_apply
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -14,7 +15,6 @@ from mmdet3d.models.layers import box3d_multiclass_nms
 from mmdet3d.registry import MODELS
 from mmdet3d.structures import limit_period, xywhr2xyxyr
 from mmdet3d.utils import InstanceList, OptInstanceList
-from mmdet.models.utils import multi_apply
 from ..builder import build_head
 from .anchor3d_head import Anchor3DHead
 

mmdet3d/models/dense_heads/smoke_mono3d_head.py

@@ -2,6 +2,11 @@
 from typing import List, Optional, Tuple
 
 import torch
+from mmdet.models.utils import (gaussian_radius, gen_gaussian_target,
+                                multi_apply)
+from mmdet.models.utils.gaussian_target import (get_local_maximum,
+                                                get_topk_from_heatmap,
+                                                transpose_and_gather_feat)
 from mmengine.structures import InstanceData
 from torch import Tensor
 from torch.nn import functional as F
@@ -9,11 +14,6 @@ from torch.nn import functional as F
 from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.utils import (ConfigType, InstanceList, OptConfigType,
                            OptInstanceList, OptMultiConfig)
-from mmdet.models.utils import (gaussian_radius, gen_gaussian_target,
-                                multi_apply)
-from mmdet.models.utils.gaussian_target import (get_local_maximum,
-                                                get_topk_from_heatmap,
-                                                transpose_and_gather_feat)
 from .anchor_free_mono3d_head import AnchorFreeMono3DHead
 
 

mmdet3d/models/dense_heads/ssd_3d_head.py

@@ -3,6 +3,7 @@ from typing import List, Optional, Tuple, Union
 
 import torch
 from mmcv.ops.nms import batched_nms
+from mmdet.models.utils import multi_apply
 from mmengine import ConfigDict
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -13,7 +14,6 @@ from mmdet3d.structures import BaseInstance3DBoxes
 from mmdet3d.structures.bbox_3d import (DepthInstance3DBoxes,
                                         LiDARInstance3DBoxes,
                                         rotation_3d_in_axis)
-from mmdet.models.utils import multi_apply
 from .vote_head import VoteHead
 
 

mmdet3d/models/dense_heads/train_mixins.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.utils import images_to_levels, multi_apply
 from mmengine.structures import InstanceData
 
 from mmdet3d.structures import limit_period
-from mmdet.models.utils import images_to_levels, multi_apply
 
 
 class AnchorTrainMixin(object):

mmdet3d/models/dense_heads/vote_head.py

@@ -4,6 +4,7 @@ from typing import Dict, List, Optional, Tuple, Union
 import numpy as np
 import torch
 from mmcv.ops import furthest_point_sample
+from mmdet.models.utils import multi_apply
 from mmengine import ConfigDict
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
@@ -14,7 +15,6 @@ from mmdet3d.models.layers import VoteModule, aligned_3d_nms, build_sa_module
 from mmdet3d.models.losses import chamfer_distance
 from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.structures import Det3DDataSample
-from mmdet.models.utils import multi_apply
 from .base_conv_bbox_head import BaseConvBboxHead
 
 

mmdet3d/models/detectors/base.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from typing import List, Union
 
+from mmdet.models import BaseDetector
 from mmengine.structures import InstanceData
 
 from mmdet3d.registry import MODELS
 from mmdet3d.structures.det3d_data_sample import (ForwardResults,
                                                   OptSampleList, SampleList)
 from mmdet3d.utils.typing import OptConfigType, OptInstanceList, OptMultiConfig
-from mmdet.models import BaseDetector
 
 
 @MODELS.register_module()

mmdet3d/models/detectors/dfm.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.detectors import BaseDetector
 
 from mmdet3d.registry import MODELS
 from mmdet3d.structures.ops import bbox3d2result
 from mmdet3d.utils import ConfigType
-from mmdet.models.detectors import BaseDetector
 from ..builder import build_backbone, build_head, build_neck
 
 

mmdet3d/models/detectors/multiview_dfm.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.detectors import BaseDetector
 
 from mmdet3d.models.layers.fusion_layers.point_fusion import (point_sample,
                                                               voxel_sample)
@@ -8,7 +9,6 @@ from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.structures.bbox_3d.utils import get_lidar2img
 from mmdet3d.structures.det3d_data_sample import SampleList
 from mmdet3d.utils import ConfigType, OptConfigType
-from mmdet.models.detectors import BaseDetector
 from .dfm import DfM
 from .imvoxelnet import ImVoxelNet
 

mmdet3d/models/detectors/single_stage_mono3d.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from typing import Tuple
 
+from mmdet.models.detectors.single_stage import SingleStageDetector
 from mmengine.structures import InstanceData
 from torch import Tensor
 
 from mmdet3d.registry import MODELS
 from mmdet3d.structures.det3d_data_sample import SampleList
 from mmdet3d.utils import OptInstanceList
-from mmdet.models.detectors.single_stage import SingleStageDetector
 
 
 @MODELS.register_module()

mmdet3d/models/layers/sparse_block.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from mmcv.cnn import build_conv_layer, build_norm_layer
+from mmdet.models.backbones.resnet import BasicBlock, Bottleneck
 from torch import nn
 
-from mmdet.models.backbones.resnet import BasicBlock, Bottleneck
 from .spconv import IS_SPCONV2_AVAILABLE
 
 if IS_SPCONV2_AVAILABLE:

mmdet3d/models/losses/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from mmdet.models.losses import FocalLoss, SmoothL1Loss, binary_cross_entropy
+
 from .axis_aligned_iou_loss import AxisAlignedIoULoss, axis_aligned_iou_loss
 from .chamfer_distance import ChamferDistance, chamfer_distance
 from .multibin_loss import MultiBinLoss

mmdet3d/models/losses/axis_aligned_iou_loss.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.losses.utils import weighted_loss
 from torch import nn as nn
 
 from mmdet3d.registry import MODELS
 from mmdet3d.structures import AxisAlignedBboxOverlaps3D
-from mmdet.models.losses.utils import weighted_loss
 
 
 @weighted_loss

mmdet3d/models/losses/multibin_loss.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.losses.utils import weighted_loss
 from torch import nn as nn
 from torch.nn import functional as F
 
 from mmdet3d.registry import MODELS
-from mmdet.models.losses.utils import weighted_loss
 
 
 @weighted_loss

mmdet3d/models/losses/paconv_regularization_loss.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.losses.utils import weight_reduce_loss
 from torch import nn as nn
 
 from mmdet3d.registry import MODELS
-from mmdet.models.losses.utils import weight_reduce_loss
 from ..layers import PAConv, PAConvCUDA
 
 

mmdet3d/models/losses/rotated_iou_loss.py

@@ -3,11 +3,11 @@ from typing import Optional
 
 import torch
 from mmcv.ops import diff_iou_rotated_3d
+from mmdet.models.losses.utils import weighted_loss
 from torch import Tensor
 from torch import nn as nn
 
 from mmdet3d.registry import MODELS
-from mmdet.models.losses.utils import weighted_loss
 
 
 @weighted_loss

mmdet3d/models/losses/uncertain_smooth_l1_loss.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.losses.utils import weighted_loss
 from torch import nn as nn
 
 from mmdet3d.registry import MODELS
-from mmdet.models.losses.utils import weighted_loss
 
 
 @weighted_loss

mmdet3d/models/middle_encoders/sparse_encoder.py

@@ -3,6 +3,7 @@ from typing import List, Tuple
 
 import torch
 from mmcv.ops import points_in_boxes_all, three_interpolate, three_nn
+from mmdet.models.losses import sigmoid_focal_loss, smooth_l1_loss
 from torch import Tensor
 from torch import nn as nn
 
@@ -10,7 +11,6 @@ from mmdet3d.models.layers import SparseBasicBlock, make_sparse_convmodule
 from mmdet3d.models.layers.spconv import IS_SPCONV2_AVAILABLE
 from mmdet3d.registry import MODELS
 from mmdet3d.structures import BaseInstance3DBoxes
-from mmdet.models.losses import sigmoid_focal_loss, smooth_l1_loss
 
 if IS_SPCONV2_AVAILABLE:
     from spconv.pytorch import SparseConvTensor, SparseSequential

mmdet3d/models/necks/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from mmdet.models.necks.fpn import FPN
+
 from .dla_neck import DLANeck
 from .imvoxel_neck import OutdoorImVoxelNeck
 from .pointnet2_fp_neck import PointNetFPNeck

mmdet3d/models/roi_heads/base_3droi_head.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet.models.roi_heads import BaseRoIHead
 
+from mmdet3d.registry import MODELS, TASK_UTILS
+
 
 class Base3DRoIHead(BaseRoIHead):
     """Base class for 3d RoIHeads."""

mmdet3d/models/roi_heads/bbox_heads/__init__.py

@@ -3,6 +3,7 @@ from mmdet.models.roi_heads.bbox_heads import (BBoxHead, ConvFCBBoxHead,
                                                DoubleConvFCBBoxHead,
                                                Shared2FCBBoxHead,
                                                Shared4Conv1FCBBoxHead)
+
 from .h3d_bbox_head import H3DBboxHead
 from .parta2_bbox_head import PartA2BboxHead
 from .point_rcnn_bbox_head import PointRCNNBboxHead