refactor directory

mmdet3d/models/dense_heads/shape_aware_head.py

@@ -10,10 +10,11 @@ from mmengine.model import BaseModule
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core import box3d_multiclass_nms, limit_period, xywhr2xyxyr
-from mmdet3d.core.utils import InstanceList, OptInstanceList
+from mmdet3d.models.layers import box3d_multiclass_nms
 from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
+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

@@ -6,11 +6,11 @@ from mmengine.data import InstanceData
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core.utils import (ConfigType, InstanceList, OptConfigType,
-                                OptInstanceList, OptMultiConfig)
 from mmdet3d.registry import MODELS, TASK_UTILS
-from mmdet.core import multi_apply
-from mmdet.models.utils import gaussian_radius, gen_gaussian_target
+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)

mmdet3d/models/dense_heads/ssd_3d_head.py

@@ -8,12 +8,12 @@ from mmengine import InstanceData
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
-                                          LiDARInstance3DBoxes,
-                                          rotation_3d_in_axis)
 from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
-from ...core import BaseInstance3DBoxes
+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 ..builder import build_loss
 from .vote_head import VoteHead
 

mmdet3d/models/dense_heads/train_mixins.py

@@ -3,8 +3,8 @@ import numpy as np
 import torch
 from mmengine.data import InstanceData
 
-from mmdet3d.core import limit_period
-from mmdet.core import images_to_levels, multi_apply
+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

@@ -9,13 +9,11 @@ from mmengine import ConfigDict, InstanceData
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core.post_processing import aligned_3d_nms
+from mmdet3d.models.layers import VoteModule, aligned_3d_nms, build_sa_module
 from mmdet3d.models.losses import chamfer_distance
-from mmdet3d.models.model_utils import VoteModule
-from mmdet3d.ops import build_sa_module
 from mmdet3d.registry import MODELS, TASK_UTILS
-from mmdet.core.utils import multi_apply
-from ...core import Det3DDataSample
+from mmdet3d.structures import Det3DDataSample
+from mmdet.models.utils import multi_apply
 from .base_conv_bbox_head import BaseConvBboxHead
 
 

mmdet3d/models/detectors/base.py

@@ -3,10 +3,11 @@ from typing import List, Optional, Union
 
 from mmengine import InstanceData
 
-from mmdet3d.core import Det3DDataSample
-from mmdet3d.core.utils import (ForwardResults, InstanceList, OptConfigType,
-                                OptMultiConfig, OptSampleList, SampleList)
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import Det3DDataSample
+from mmdet3d.structures.det3d_data_sample import (ForwardResults,
+                                                  OptSampleList, SampleList)
+from mmdet3d.utils.typing import InstanceList, OptConfigType, OptMultiConfig
 from mmdet.models import BaseDetector
 
 
@@ -113,7 +114,7 @@ class Base3DDetector(BaseDetector):
               (num_instance, )
             - labels_3d (Tensor): Labels of 3D bboxes, has a shape
               (num_instances, ).
-            - bboxes_3d (Tensor): Contains a tensor with shape
+            - bbox_3d (Tensor): Contains a tensor with shape
               (num_instances, C) where C >=7.
             When there are image prediction in some models, it should
             contains  `pred_instances`, And the ``pred_instances`` normally

mmdet3d/models/detectors/centerpoint.py

@@ -3,7 +3,7 @@ from typing import Optional
 
 import torch
 
-from mmdet3d.core import merge_aug_bboxes_3d
+from mmdet3d.models.test_time_augs import merge_aug_bboxes_3d
 from mmdet3d.registry import MODELS
 from .mvx_two_stage import MVXTwoStageDetector
 

mmdet3d/models/detectors/dynamic_voxelnet.py

@@ -6,8 +6,8 @@ from mmcv.runner import force_fp32
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core.utils import ConfigType, OptConfigType, OptMultiConfig
 from mmdet3d.registry import MODELS
+from mmdet3d.utils import ConfigType, OptConfigType, OptMultiConfig
 from .voxelnet import VoxelNet
 
 

mmdet3d/models/detectors/fcos_mono3d.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet3d.core import ConfigType, OptConfigType, OptMultiConfig
 from mmdet3d.registry import MODELS
+from mmdet3d.utils import ConfigType, OptConfigType, OptMultiConfig
 from .single_stage_mono3d import SingleStageMono3DDetector
 
 

mmdet3d/models/detectors/groupfree3dnet.py

 # Copyright (c) OpenMMLab. All rights reserved.
 
 from mmdet3d.registry import MODELS
-from ...core import SampleList
+from ...structures.det3d_data_sample import SampleList
 from .single_stage import SingleStage3DDetector
 
 
@@ -75,7 +75,7 @@ class GroupFree3DNet(SingleStage3DDetector):
                 (num_instance, )
             - labels_3d (Tensor): Labels of bboxes, has a shape
                 (num_instances, ).
-            - bboxes_3d (Tensor): Contains a tensor with shape
+            - bbox_3d (Tensor): Contains a tensor with shape
                 (num_instances, C) where C >=7.
         """
         x = self.extract_feat(batch_inputs_dict)

mmdet3d/models/detectors/h3dnet.py

@@ -5,7 +5,7 @@ import torch
 from torch import Tensor
 
 from mmdet3d.registry import MODELS
-from ...core import Det3DDataSample
+from mmdet3d.structures import Det3DDataSample
 from .two_stage import TwoStage3DDetector
 
 

mmdet3d/models/detectors/imvotenet.py

@@ -6,9 +6,9 @@ import torch
 from mmengine import InstanceData
 from torch import Tensor
 
-from mmdet3d.core import Det3DDataSample
-from mmdet3d.models.utils import MLP
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import Det3DDataSample
+from ..layers import MLP
 from .base import Base3DDetector
 
 

mmdet3d/models/detectors/imvoxelnet.py

@@ -3,10 +3,11 @@ from typing import List, Tuple, Union
 
 import torch
 
-from mmdet3d.core import Det3DDataSample, InstanceList, build_prior_generator
-from mmdet3d.core.utils import ConfigType, OptConfigType, SampleList
-from mmdet3d.models.fusion_layers.point_fusion import point_sample
-from mmdet3d.registry import MODELS
+from mmdet3d.models.layers.fusion_layers.point_fusion import point_sample
+from mmdet3d.registry import MODELS, TASK_UTILS
+from mmdet3d.structures import Det3DDataSample
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet3d.utils import ConfigType, InstanceList, OptConfigType
 from mmdet.models.detectors import BaseDetector
 
 
@@ -53,7 +54,7 @@ class ImVoxelNet(BaseDetector):
         bbox_head.update(test_cfg=test_cfg)
         self.bbox_head = MODELS.build(bbox_head)
         self.n_voxels = n_voxels
-        self.anchor_generator = build_prior_generator(anchor_generator)
+        self.anchor_generator = TASK_UTILS.build(anchor_generator)
         self.train_cfg = train_cfg
         self.test_cfg = test_cfg
 

mmdet3d/models/detectors/mvx_two_stage.py

@@ -8,8 +8,8 @@ from mmengine import InstanceData
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core import Det3DDataSample
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import Det3DDataSample
 from .base import Base3DDetector
 
 
@@ -407,7 +407,7 @@ class MVXTwoStageDetector(Base3DDetector):
                 (num_instances, )
             - labels_3d (Tensor): Labels of bboxes, has a shape
                 (num_instances, ).
-            - bboxes_3d (:obj:`BaseInstance3DBoxes`): Prediction of bboxes,
+            - bbox_3d (:obj:`BaseInstance3DBoxes`): Prediction of bboxes,
                 contains a tensor with shape (num_instances, 7).
         """
         batch_input_metas = [item.metainfo for item in batch_data_samples]

mmdet3d/models/detectors/sassd.py

@@ -4,9 +4,10 @@ from mmcv.ops import Voxelization
 from mmcv.runner import force_fp32
 from torch.nn import functional as F
 
-from mmdet3d.core import bbox3d2result, merge_aug_bboxes_3d
+from mmdet3d.models.test_time_augs import merge_aug_bboxes_3d
+from mmdet3d.structures.ops import bbox3d2result
 from mmdet.models.builder import DETECTORS
-from .. import builder
+from mmdet.registry import MODELS
 from .single_stage import SingleStage3DDetector
 
 
@@ -35,8 +36,8 @@ class SASSD(SingleStage3DDetector):
             pretrained=pretrained)
 
         self.voxel_layer = Voxelization(**voxel_layer)
-        self.voxel_encoder = builder.build_voxel_encoder(voxel_encoder)
-        self.middle_encoder = builder.build_middle_encoder(middle_encoder)
+        self.voxel_encoder = MODELS.build(voxel_encoder)
+        self.middle_encoder = MODELS.build(middle_encoder)
 
     def extract_feat(self, points, img_metas=None, test_mode=False):
         """Extract features from points."""

mmdet3d/models/detectors/single_stage.py

@@ -4,9 +4,9 @@ from typing import Dict, List, Tuple, Union
 import torch
 from torch import Tensor
 
-from mmdet3d.core.utils import (ConfigType, OptConfigType, OptMultiConfig,
-                                OptSampleList, SampleList)
 from mmdet3d.registry import MODELS
+from mmdet3d.utils import ConfigType, OptConfigType, OptMultiConfig
+from ...structures.det3d_data_sample import OptSampleList, SampleList
 from .base import Base3DDetector
 
 
@@ -103,7 +103,7 @@ class SingleStage3DDetector(Base3DDetector):
                     (num_instance, )
                 - labels_3d (Tensor): Labels of bboxes, has a shape
                     (num_instances, ).
-                - bboxes_3d (Tensor): Contains a tensor with shape
+                - bbox_3d (Tensor): Contains a tensor with shape
                     (num_instances, C) where C >=7.
         """
         x = self.extract_feat(batch_inputs_dict)

mmdet3d/models/detectors/single_stage_mono3d.py

@@ -3,9 +3,10 @@ from typing import Tuple
 
 from torch import Tensor
 
-from mmdet3d.core import Det3DDataSample, InstanceList
-from mmdet3d.core.utils import SampleList
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import Det3DDataSample
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet3d.utils import InstanceList
 from mmdet.models.detectors.single_stage import SingleStageDetector
 
 

mmdet3d/models/detectors/smoke_mono3d.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet3d.core import ConfigType, OptConfigType, OptMultiConfig
 from mmdet3d.registry import MODELS
+from mmdet3d.utils import ConfigType, OptConfigType, OptMultiConfig
 from .single_stage_mono3d import SingleStageMono3DDetector
 
 

mmdet3d/models/detectors/two_stage.py

@@ -2,9 +2,9 @@
 import copy
 from typing import Union
 
-from mmdet3d.core.utils import (ConfigType, OptConfigType, OptMultiConfig,
-                                SampleList)
 from mmdet3d.registry import MODELS
+from mmdet3d.utils import ConfigType, OptConfigType, OptMultiConfig
+from ...structures.det3d_data_sample import SampleList
 from .base import Base3DDetector
 
 
@@ -143,7 +143,7 @@ class TwoStage3DDetector(Base3DDetector):
                 (num_instance, )
             - labels_3d (Tensor): Labels of bboxes, has a shape
                 (num_instances, ).
-            - bboxes_3d (Tensor): Contains a tensor with shape
+            - bbox_3d (Tensor): Contains a tensor with shape
                 (num_instances, C) where C >=7.
         """
         feats_dict = self.extract_feat(batch_inputs_dict)

mmdet3d/models/detectors/votenet.py

@@ -4,8 +4,9 @@ from typing import Dict, List, Optional, Union
 from mmengine import InstanceData
 from torch import Tensor
 
-from mmdet3d.core import Det3DDataSample, merge_aug_bboxes_3d
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import Det3DDataSample
+from ..test_time_augs import merge_aug_bboxes_3d
 from .single_stage import SingleStage3DDetector