refactor directory

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

@@ -7,7 +7,7 @@ from mmcv.ops import QueryAndGroup, gather_points
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.ops import PAConv
+from mmdet3d.models.layers import PAConv
 from .builder import SA_MODULES
 
 

mmdet3d/models/losses/axis_aligned_iou_loss.py

@@ -3,8 +3,8 @@ import torch
 from torch import nn as nn
 
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import AxisAlignedBboxOverlaps3D
 from mmdet.models.losses.utils import weighted_loss
-from ...core.bbox import AxisAlignedBboxOverlaps3D
 
 
 @weighted_loss

mmdet3d/models/losses/paconv_regularization_loss.py

@@ -2,9 +2,9 @@
 import torch
 from torch import nn as nn
 
-from mmdet3d.ops import PAConv, PAConvCUDA
 from mmdet3d.registry import MODELS
 from mmdet.models.losses.utils import weight_reduce_loss
+from ..layers import PAConv, PAConvCUDA
 
 
 def weight_correlation(conv):

mmdet3d/models/middle_encoders/sparse_encoder.py

@@ -4,8 +4,8 @@ from mmcv.ops import points_in_boxes_all, three_interpolate, three_nn
 from mmcv.runner import auto_fp16
 from torch import nn as nn
 
-from mmdet3d.ops import SparseBasicBlock, make_sparse_convmodule
-from mmdet3d.ops.spconv import IS_SPCONV2_AVAILABLE
+from mmdet3d.models.layers import SparseBasicBlock, make_sparse_convmodule
+from mmdet3d.models.layers.spconv import IS_SPCONV2_AVAILABLE
 from mmdet3d.registry import MODELS
 
 if IS_SPCONV2_AVAILABLE:

mmdet3d/models/middle_encoders/sparse_unet.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
 
-from mmdet3d.ops.spconv import IS_SPCONV2_AVAILABLE
+from mmdet3d.models.layers.spconv import IS_SPCONV2_AVAILABLE
 
 if IS_SPCONV2_AVAILABLE:
     from spconv.pytorch import SparseConvTensor, SparseSequential
@@ -10,8 +10,8 @@ else:
 
 from mmcv.runner import BaseModule, auto_fp16
 
-from mmdet3d.ops import SparseBasicBlock, make_sparse_convmodule
-from mmdet3d.ops.sparse_block import replace_feature
+from mmdet3d.models.layers import SparseBasicBlock, make_sparse_convmodule
+from mmdet3d.models.layers.sparse_block import replace_feature
 from mmdet3d.registry import MODELS
 
 

mmdet3d/models/model_utils/__init__.py

-# Copyright (c) OpenMMLab. All rights reserved.
-from .edge_fusion_module import EdgeFusionModule
-from .transformer import GroupFree3DMHA
-from .vote_module import VoteModule
-
-__all__ = ['VoteModule', 'GroupFree3DMHA', 'EdgeFusionModule']

mmdet3d/models/necks/pointnet2_fp_neck.py

@@ -2,7 +2,7 @@
 from mmcv.runner import BaseModule
 from torch import nn as nn
 
-from mmdet3d.ops import PointFPModule
+from mmdet3d.models.layers.pointnet_modules import PointFPModule
 from mmdet3d.registry import MODELS
 
 

mmdet3d/models/roi_heads/bbox_heads/h3d_bbox_head.py

@@ -9,13 +9,13 @@ from torch import Tensor
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core import BaseInstance3DBoxes, Det3DDataSample
-from mmdet3d.core.bbox import DepthInstance3DBoxes
-from mmdet3d.core.post_processing import aligned_3d_nms
+from mmdet3d.models import aligned_3d_nms
+from mmdet3d.models.layers.pointnet_modules import build_sa_module
 from mmdet3d.models.losses import chamfer_distance
-from mmdet3d.ops import build_sa_module
 from mmdet3d.registry import MODELS, TASK_UTILS
-from mmdet.core import multi_apply
+from mmdet3d.structures import (BaseInstance3DBoxes, DepthInstance3DBoxes,
+                                Det3DDataSample)
+from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()

mmdet3d/models/roi_heads/bbox_heads/parta2_bbox_head.py

@@ -7,7 +7,9 @@ from mmcv.cnn import ConvModule, normal_init
 from mmengine.data import InstanceData
 from torch import Tensor
 
-from mmdet3d.ops.spconv import IS_SPCONV2_AVAILABLE
+from mmdet3d.models import make_sparse_convmodule
+from mmdet3d.models.layers.spconv import IS_SPCONV2_AVAILABLE
+from mmdet.models.utils import multi_apply
 
 if IS_SPCONV2_AVAILABLE:
     from spconv.pytorch import (SparseConvTensor, SparseMaxPool3d,
@@ -18,14 +20,11 @@ else:
 from mmcv.runner import BaseModule
 from torch import nn as nn
 
-from mmdet3d.core import build_bbox_coder
-from mmdet3d.core.bbox.structures import (LiDARInstance3DBoxes,
-                                          rotation_3d_in_axis, xywhr2xyxyr)
-from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
 from mmdet3d.models.builder import build_loss
-from mmdet3d.ops import make_sparse_convmodule
-from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
+from mmdet3d.models.layers import nms_bev, nms_normal_bev
+from mmdet3d.registry import MODELS, TASK_UTILS
+from mmdet3d.structures.bbox_3d import (LiDARInstance3DBoxes,
+                                        rotation_3d_in_axis, xywhr2xyxyr)
 
 
 @MODELS.register_module()
@@ -87,7 +86,7 @@ class PartA2BboxHead(BaseModule):
         super(PartA2BboxHead, self).__init__(init_cfg=init_cfg)
         self.num_classes = num_classes
         self.with_corner_loss = with_corner_loss
-        self.bbox_coder = build_bbox_coder(bbox_coder)
+        self.bbox_coder = TASK_UTILS.build(bbox_coder)
         self.loss_bbox = build_loss(loss_bbox)
         self.loss_cls = build_loss(loss_cls)
         self.use_sigmoid_cls = loss_cls.get('use_sigmoid', False)

mmdet3d/models/roi_heads/bbox_heads/point_rcnn_bbox_head.py

@@ -6,14 +6,12 @@ from mmcv.cnn.bricks import build_conv_layer
 from mmcv.runner import BaseModule
 from torch import nn as nn
 
-from mmdet3d.core import build_bbox_coder
-from mmdet3d.core.bbox.structures import (LiDARInstance3DBoxes,
-                                          rotation_3d_in_axis, xywhr2xyxyr)
-from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
-from mmdet3d.models.builder import build_loss
-from mmdet3d.ops import build_sa_module
-from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
+from mmdet3d.models.layers import nms_bev, nms_normal_bev
+from mmdet3d.models.layers.pointnet_modules import build_sa_module
+from mmdet3d.registry import MODELS, TASK_UTILS
+from mmdet3d.structures.bbox_3d import (LiDARInstance3DBoxes,
+                                        rotation_3d_in_axis, xywhr2xyxyr)
+from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()
@@ -100,9 +98,9 @@ class PointRCNNBboxHead(BaseModule):
         self.act_cfg = act_cfg
         self.bias = bias
 
-        self.loss_bbox = build_loss(loss_bbox)
-        self.loss_cls = build_loss(loss_cls)
-        self.bbox_coder = build_bbox_coder(bbox_coder)
+        self.loss_bbox = MODELS.build(loss_bbox)
+        self.loss_cls = MODELS.build(loss_cls)
+        self.bbox_coder = TASK_UTILS.build(bbox_coder)
         self.use_sigmoid_cls = loss_cls.get('use_sigmoid', False)
 
         self.in_channels = in_channels

mmdet3d/models/roi_heads/h3d_roi_head.py

@@ -5,7 +5,7 @@ from mmengine import InstanceData
 from torch import Tensor
 
 from mmdet3d.registry import MODELS
-from ...core import Det3DDataSample
+from mmdet3d.structures import Det3DDataSample
 from .base_3droi_head import Base3DRoIHead
 
 

mmdet3d/models/roi_heads/mask_heads/pointwise_semantic_head.py

@@ -4,11 +4,11 @@ from mmcv.runner import BaseModule
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core.bbox.structures import rotation_3d_in_axis
-from mmdet3d.core.utils import InstanceList
 from mmdet3d.models.builder import build_loss
 from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
+from mmdet3d.structures.bbox_3d import rotation_3d_in_axis
+from mmdet3d.utils import InstanceList
+from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()

mmdet3d/models/roi_heads/mask_heads/primitive_head.py

@@ -9,11 +9,10 @@ from mmengine import InstanceData
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core import Det3DDataSample
-from mmdet3d.models.model_utils import VoteModule
-from mmdet3d.ops import build_sa_module
+from mmdet3d.models.layers import VoteModule, build_sa_module
 from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
+from mmdet3d.structures import Det3DDataSample
+from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()