refactor directory

mmdet3d/models/detectors/voxelnet.py

@@ -7,8 +7,8 @@ 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 .single_stage import SingleStage3DDetector
 
 

mmdet3d/models/layers/__init__.py

+# Copyright (c) OpenMMLab. All rights reserved.
+from .box3d_nms import (aligned_3d_nms, box3d_multiclass_nms, circle_nms,
+                        nms_bev, nms_normal_bev)
+from .dgcnn_modules import DGCNNFAModule, DGCNNFPModule, DGCNNGFModule
+from .edge_fusion_module import EdgeFusionModule
+from .fusion_layers import (PointFusion, VoteFusion, apply_3d_transformation,
+                            bbox_2d_transform, coord_2d_transform)
+from .mlp import MLP
+from .norm import NaiveSyncBatchNorm1d, NaiveSyncBatchNorm2d
+from .paconv import PAConv, PAConvCUDA
+from .pointnet_modules import (PAConvCUDASAModule, PAConvCUDASAModuleMSG,
+                               PAConvSAModule, PAConvSAModuleMSG,
+                               PointFPModule, PointSAModule, PointSAModuleMSG,
+                               build_sa_module)
+from .sparse_block import (SparseBasicBlock, SparseBottleneck,
+                           make_sparse_convmodule)
+from .transformer import GroupFree3DMHA
+from .vote_module import VoteModule
+
+__all__ = [
+    'VoteModule', 'GroupFree3DMHA', 'EdgeFusionModule', 'DGCNNFAModule',
+    'DGCNNFPModule', 'DGCNNGFModule', 'NaiveSyncBatchNorm1d',
+    'NaiveSyncBatchNorm2d', 'PAConv', 'PAConvCUDA', 'SparseBasicBlock',
+    'SparseBottleneck', 'make_sparse_convmodule', 'PointFusion', 'VoteFusion',
+    'apply_3d_transformation', 'bbox_2d_transform', 'coord_2d_transform',
+    'MLP', 'box3d_multiclass_nms', 'aligned_3d_nms', 'circle_nms', 'nms_bev',
+    'nms_normal_bev', 'build_sa_module', 'PointSAModuleMSG', 'PointSAModule',
+    'PointFPModule', 'PAConvSAModule', 'PAConvSAModuleMSG',
+    'PAConvCUDASAModule', 'PAConvCUDASAModuleMSG'
+]

mmdet3d/models/fusion_layers/coord_transform.py → mmdet3d/models/layers/fusion_layers/coord_transform.py

@@ -3,7 +3,7 @@ from functools import partial
 
 import torch
 
-from mmdet3d.core.points import get_points_type
+from mmdet3d.structures.points import get_points_type
 
 
 def apply_3d_transformation(pcd, coord_type, img_meta, reverse=False):

mmdet3d/models/fusion_layers/point_fusion.py → mmdet3d/models/layers/fusion_layers/point_fusion.py

@@ -5,9 +5,9 @@ from mmcv.runner import BaseModule
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core.bbox.structures import (get_proj_mat_by_coord_type,
-                                          points_cam2img)
 from mmdet3d.registry import MODELS
+from mmdet3d.structures.bbox_3d import (get_proj_mat_by_coord_type,
+                                        points_cam2img)
 from . import apply_3d_transformation
 
 

mmdet3d/models/fusion_layers/vote_fusion.py → mmdet3d/models/layers/fusion_layers/vote_fusion.py

@@ -2,8 +2,8 @@
 import torch
 from torch import nn as nn
 
-from mmdet3d.core.bbox import points_cam2img
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import points_cam2img
 from . import apply_3d_transformation, bbox_2d_transform, coord_2d_transform
 
 EPS = 1e-6

mmdet3d/ops/pointnet_modules/paconv_sa_module.py → mmdet3d/models/layers/pointnet_modules/paconv_sa_module.py

@@ -2,7 +2,7 @@
 import torch
 from torch import nn as nn
 
-from mmdet3d.ops import PAConv, PAConvCUDA
+from mmdet3d.models.layers.paconv import PAConv, PAConvCUDA
 from .builder import SA_MODULES
 from .point_sa_module import BasePointSAModule