refactor directory

mmdet3d/core/bbox/structures/cam_box3d.py → mmdet3d/structures/bbox_3d/cam_box3d.py

@@ -2,7 +2,7 @@
 import numpy as np
 import torch
 
-from ...points import BasePoints
+from mmdet3d.structures.points import BasePoints
 from .base_box3d import BaseInstance3DBoxes
 from .utils import rotation_3d_in_axis, yaw2local
 

mmdet3d/core/bbox/structures/coord_3d_mode.py → mmdet3d/structures/bbox_3d/coord_3d_mode.py

@@ -4,7 +4,8 @@ from enum import IntEnum, unique
 import numpy as np
 import torch
 
-from ...points import BasePoints, CameraPoints, DepthPoints, LiDARPoints
+from mmdet3d.structures.points import (BasePoints, CameraPoints, DepthPoints,
+                                       LiDARPoints)
 from .base_box3d import BaseInstance3DBoxes
 from .box_3d_mode import Box3DMode
 

mmdet3d/core/bbox/structures/depth_box3d.py → mmdet3d/structures/bbox_3d/depth_box3d.py

@@ -2,7 +2,7 @@
 import numpy as np
 import torch
 
-from mmdet3d.core.points import BasePoints
+from mmdet3d.structures.points import BasePoints
 from .base_box3d import BaseInstance3DBoxes
 from .utils import rotation_3d_in_axis
 

mmdet3d/core/bbox/structures/lidar_box3d.py → mmdet3d/structures/bbox_3d/lidar_box3d.py

@@ -2,7 +2,7 @@
 import numpy as np
 import torch
 
-from mmdet3d.core.points import BasePoints
+from mmdet3d.structures.points import BasePoints
 from .base_box3d import BaseInstance3DBoxes
 from .utils import rotation_3d_in_axis
 

mmdet3d/core/bbox/structures/utils.py → mmdet3d/structures/bbox_3d/utils.py

@@ -4,7 +4,7 @@ from logging import warning
 import numpy as np
 import torch
 
-from mmdet3d.core.utils import array_converter
+from mmdet3d.utils.array_converter import array_converter
 
 
 @array_converter(apply_to=('val', ))

mmdet3d/core/data_structures/det3d_data_sample.py → mmdet3d/structures/det3d_data_sample.py

 # Copyright (c) OpenMMLab. All rights reserved.
+from typing import Dict, List, Optional, Tuple, Union
+
+import torch
 from mmengine.data import InstanceData
 
-from mmdet.core.data_structures import DetDataSample
+from mmdet.structures import DetDataSample
 from .point_data import PointData
 
 
@@ -54,8 +57,8 @@ class Det3DDataSample(DetDataSample):
     Examples:
     >>> from mmengine.data import InstanceData
 
-    >>> from mmdet3d.core import Det3DDataSample
-    >>> from mmdet3d.core.bbox import BaseInstance3DBoxes
+    >>> from mmdet3d.structures import Det3DDataSample
+    >>> from mmdet3d.structures import BaseInstance3DBoxes
 
     >>> data_sample = Det3DDataSample()
     >>> meta_info = dict(img_shape=(800, 1196, 3),
@@ -109,7 +112,7 @@ class Det3DDataSample(DetDataSample):
     >>> assert 'pred_instances' in data_sample
 
     >>> pred_instances_3d = InstanceData(metainfo=meta_info)
-    >>> pred_instances_3d.bboxes_3d = BaseInstance3DBoxes(torch.rand((5, 7)))
+    >>> pred_instances_3d.bbox_3d = BaseInstance3DBoxes(torch.rand((5, 7)))
     >>> pred_instances_3d.scores_3d = torch.rand((5, ))
     >>> pred_instances_3d.labels_3d = torch.rand((5, ))
     >>> data_sample = Det3DDataSample(pred_instances_3d=pred_instances_3d)
@@ -225,3 +228,9 @@ class Det3DDataSample(DetDataSample):
     @pred_pts_seg.deleter
     def pred_pts_seg(self):
         del self._pred_pts_seg
+
+
+SampleList = List[Det3DDataSample]
+OptSampleList = Optional[SampleList]
+ForwardResults = Union[Dict[str, torch.Tensor], List[Det3DDataSample],
+                       Tuple[torch.Tensor], torch.Tensor]

mmdet3d/structures/ops/__init__.py

+# Copyright (c) OpenMMLab. All rights reserved.
+# yapf:disable
+from .box_np_ops import (box2d_to_corner_jit, box3d_to_bbox,
+                         box_camera_to_lidar, boxes3d_to_corners3d_lidar,
+                         camera_to_lidar, center_to_corner_box2d,
+                         center_to_corner_box3d, center_to_minmax_2d,
+                         corner_to_standup_nd_jit, corner_to_surfaces_3d,
+                         corner_to_surfaces_3d_jit, corners_nd,
+                         create_anchors_3d_range, depth_to_lidar_points,
+                         depth_to_points, get_frustum, iou_jit,
+                         minmax_to_corner_2d, points_in_convex_polygon_3d_jit,
+                         points_in_convex_polygon_jit, points_in_rbbox,
+                         projection_matrix_to_CRT_kitti, rbbox2d_to_near_bbox,
+                         remove_outside_points, rotation_points_single_angle,
+                         surface_equ_3d)
+# yapf:enable
+from .iou3d_calculator import (AxisAlignedBboxOverlaps3D, BboxOverlaps3D,
+                               BboxOverlapsNearest3D,
+                               axis_aligned_bbox_overlaps_3d, bbox_overlaps_3d,
+                               bbox_overlaps_nearest_3d)
+from .transforms import bbox3d2result, bbox3d2roi, bbox3d_mapping_back
+
+__all__ = [
+    'box2d_to_corner_jit', 'box3d_to_bbox', 'box_camera_to_lidar',
+    'boxes3d_to_corners3d_lidar', 'camera_to_lidar', 'center_to_corner_box2d',
+    'center_to_corner_box3d', 'center_to_minmax_2d',
+    'corner_to_standup_nd_jit', 'corner_to_surfaces_3d',
+    'corner_to_surfaces_3d_jit', 'corners_nd', 'create_anchors_3d_range',
+    'depth_to_lidar_points', 'depth_to_points', 'get_frustum', 'iou_jit',
+    'minmax_to_corner_2d', 'points_in_convex_polygon_3d_jit',
+    'points_in_convex_polygon_jit', 'points_in_rbbox',
+    'projection_matrix_to_CRT_kitti', 'rbbox2d_to_near_bbox',
+    'remove_outside_points', 'rotation_points_single_angle', 'surface_equ_3d',
+    'BboxOverlapsNearest3D', 'BboxOverlaps3D', 'bbox_overlaps_nearest_3d',
+    'bbox_overlaps_3d', 'AxisAlignedBboxOverlaps3D',
+    'axis_aligned_bbox_overlaps_3d', 'bbox3d_mapping_back', 'bbox3d2roi',
+    'bbox3d2result'
+]

mmdet3d/core/bbox/box_np_ops.py → mmdet3d/structures/ops/box_np_ops.py

 # Copyright (c) OpenMMLab. All rights reserved.
-# TODO: clean the functions in this file and move the APIs into box structures
+# TODO: clean the functions in this file and move the APIs into box bbox_3d
 # in the future
 # NOTICE: All functions in this file are valid for LiDAR or depth boxes only
 # if we use default parameters.
@@ -7,7 +7,8 @@
 import numba
 import numpy as np
 
-from .structures.utils import limit_period, points_cam2img, rotation_3d_in_axis
+from mmdet3d.structures.bbox_3d import (limit_period, points_cam2img,
+                                        rotation_3d_in_axis)
 
 
 def camera_to_lidar(points, r_rect, velo2cam):

mmdet3d/core/bbox/iou_calculators/iou3d_calculator.py → mmdet3d/structures/ops/iou3d_calculator.py

@@ -2,8 +2,8 @@
 import torch
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox import bbox_overlaps
-from ..structures import get_box_type
+from mmdet3d.structures.bbox_3d import get_box_type
+from mmdet.structures.bbox import bbox_overlaps
 
 
 @TASK_UTILS.register_module()

mmdet3d/core/bbox/transforms.py → mmdet3d/structures/ops/transforms.py

@@ -47,6 +47,7 @@ def bbox3d2roi(bbox_list):
     return rois
 
 
+# TODO delete this
 def bbox3d2result(bboxes, scores, labels, attrs=None):
     """Convert detection results to a list of numpy arrays.
 

mmdet3d/core/points/base_points.py → mmdet3d/structures/points/base_points.py

@@ -5,7 +5,7 @@ from abc import abstractmethod
 import numpy as np
 import torch
 
-from ..bbox.structures.utils import rotation_3d_in_axis
+from ..bbox_3d.utils import rotation_3d_in_axis
 
 
 class BasePoints(object):

mmdet3d/core/points/cam_points.py → mmdet3d/structures/points/cam_points.py

@@ -58,6 +58,6 @@ class CameraPoints(BasePoints):
             :obj:`BasePoints`: The converted point of the same type
                 in the `dst` mode.
         """
-        from mmdet3d.core.bbox import Coord3DMode
+        from mmdet3d.structures import Coord3DMode
         return Coord3DMode.convert_point(
             point=self, src=Coord3DMode.CAM, dst=dst, rt_mat=rt_mat)

mmdet3d/core/points/depth_points.py → mmdet3d/structures/points/depth_points.py

@@ -53,6 +53,6 @@ class DepthPoints(BasePoints):
             :obj:`BasePoints`: The converted point of the same type
                 in the `dst` mode.
         """
-        from mmdet3d.core.bbox import Coord3DMode
+        from mmdet3d.structures import Coord3DMode
         return Coord3DMode.convert_point(
             point=self, src=Coord3DMode.DEPTH, dst=dst, rt_mat=rt_mat)

mmdet3d/core/points/lidar_points.py → mmdet3d/structures/points/lidar_points.py

@@ -53,6 +53,6 @@ class LiDARPoints(BasePoints):
             :obj:`BasePoints`: The converted point of the same type
                 in the `dst` mode.
         """
-        from mmdet3d.core.bbox import Coord3DMode
+        from mmdet3d.structures import Coord3DMode
         return Coord3DMode.convert_point(
             point=self, src=Coord3DMode.LIDAR, dst=dst, rt_mat=rt_mat)

mmdet3d/utils/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmcv.utils import Registry, build_from_cfg, print_log
-
+from .array_converter import ArrayConverter, array_converter
 from .collect_env import collect_env
 from .compat_cfg import compat_cfg
 from .logger import get_root_logger
 from .setup_env import register_all_modules, setup_multi_processes
+from .typing import (ConfigType, InstanceList, MultiConfig, OptConfigType,
+                     OptInstanceList, OptMultiConfig, OptSamplingResultList)
 
 __all__ = [
-    'Registry', 'build_from_cfg', 'get_root_logger', 'collect_env',
-    'print_log', 'setup_multi_processes', 'compat_cfg', 'register_all_modules'
+    'get_root_logger', 'collect_env', 'setup_multi_processes', 'compat_cfg',
+    'register_all_modules', 'find_latest_checkpoint', 'array_converter',
+    'ArrayConverter', 'ConfigType', 'OptConfigType', 'MultiConfig',
+    'OptMultiConfig', 'InstanceList', 'OptInstanceList',
+    'OptSamplingResultList'
 ]