refactor directory

mmdet3d/models/roi_heads/part_aggregation_roi_head.py

@@ -5,11 +5,11 @@ from mmcv import ConfigDict
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core import AssignResult
-from mmdet3d.core.bbox import bbox3d2roi
-from mmdet3d.core.utils import InstanceList, SampleList
 from mmdet3d.registry import MODELS
-from mmdet.core.bbox import SamplingResult
+from mmdet3d.structures import bbox3d2roi
+from mmdet3d.utils import InstanceList
+from mmdet.models.task_modules import AssignResult, SamplingResult
+from ...structures.det3d_data_sample import SampleList
 from .base_3droi_head import Base3DRoIHead
 
 
@@ -367,8 +367,7 @@ class PartAggregationROIHead(Base3DRoIHead):
         voxel_dict = feats_dict.pop('voxel_dict')
         semantic_results = self.semantic_head(feats_dict['seg_features'])
         feats_dict.update(semantic_results)
-        rois = bbox3d2roi(
-            [res['bboxes_3d'].tensor for res in rpn_results_list])
+        rois = bbox3d2roi([res['bbox_3d'].tensor for res in rpn_results_list])
         bbox_results = self._bbox_forward(feats_dict, voxel_dict, rois)
         cls_score = bbox_results['cls_score']
         bbox_pred = bbox_results['bbox_pred']

mmdet3d/models/roi_heads/point_rcnn_roi_head.py

@@ -2,9 +2,9 @@
 import torch
 from torch.nn import functional as F
 
-from mmdet3d.core import AssignResult, build_assigner, build_sampler
-from mmdet3d.core.bbox import bbox3d2result, bbox3d2roi
-from mmdet3d.registry import MODELS
+from mmdet3d.registry import MODELS, TASK_UTILS
+from mmdet3d.structures import bbox3d2result, bbox3d2roi
+from mmdet.models.task_modules import AssignResult
 from .base_3droi_head import Base3DRoIHead
 
 
@@ -61,12 +61,12 @@ class PointRCNNRoIHead(Base3DRoIHead):
         self.bbox_sampler = None
         if self.train_cfg:
             if isinstance(self.train_cfg.assigner, dict):
-                self.bbox_assigner = build_assigner(self.train_cfg.assigner)
+                self.bbox_assigner = TASK_UTILS.build(self.train_cfg.assigner)
             elif isinstance(self.train_cfg.assigner, list):
                 self.bbox_assigner = [
-                    build_assigner(res) for res in self.train_cfg.assigner
+                    TASK_UTILS.build(res) for res in self.train_cfg.assigner
                 ]
-            self.bbox_sampler = build_sampler(self.train_cfg.sampler)
+            self.bbox_sampler = TASK_UTILS.build(self.train_cfg.sampler)
 
     def forward_train(self, feats_dict, input_metas, proposal_list,
                       gt_bboxes_3d, gt_labels_3d):
@@ -82,7 +82,7 @@ class PointRCNNRoIHead(Base3DRoIHead):
                 - labels_3d (torch.Tensor): Labels of proposals
             gt_bboxes_3d (list[:obj:`BaseInstance3DBoxes`]):
                 GT bboxes of each sample. The bboxes are encapsulated
-                by 3D box structures.
+                by 3D box bboxes_3d.
             gt_labels_3d (list[LongTensor]): GT labels of each sample.
 
         Returns:

mmdet3d/models/roi_heads/roi_extractors/single_roipoint_extractor.py

@@ -3,8 +3,8 @@ import torch
 from mmcv import ops
 from torch import nn as nn
 
-from mmdet3d.core.bbox.structures import rotation_3d_in_axis
 from mmdet3d.registry import MODELS
+from mmdet3d.structures.bbox_3d import rotation_3d_in_axis
 
 
 @MODELS.register_module()

mmdet3d/models/segmentors/base.py

@@ -6,9 +6,10 @@ from mmengine.data import PixelData
 from mmengine.model import BaseModel
 from torch import Tensor
 
-from mmdet3d.core import Det3DDataSample
-from mmdet3d.core.utils import (ForwardResults, OptConfigType, OptMultiConfig,
-                                OptSampleList, SampleList)
+from mmdet3d.structures import Det3DDataSample
+from mmdet3d.structures.det3d_data_sample import (ForwardResults,
+                                                  OptSampleList, SampleList)
+from mmdet3d.utils import OptConfigType, OptMultiConfig
 
 
 class Base3DSegmentor(BaseModel, metaclass=ABCMeta):

mmdet3d/models/segmentors/encoder_decoder.py

@@ -7,10 +7,10 @@ from torch import Tensor
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core import add_prefix
-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 ..utils import add_prefix
 from .base import Base3DSegmentor
 
 

mmdet3d/models/task_modules/__init__.py

+# Copyright (c) OpenMMLab. All rights reserved.
+from mmdet.models.task_modules import AssignResult, BaseAssigner
+from .anchor import (ANCHOR_GENERATORS, PRIOR_GENERATORS,
+                     AlignedAnchor3DRangeGenerator,
+                     AlignedAnchor3DRangeGeneratorPerCls,
+                     Anchor3DRangeGenerator, build_anchor_generator,
+                     build_prior_generator)
+from .assigners import Max3DIoUAssigner
+from .coders import (AnchorFreeBBoxCoder, CenterPointBBoxCoder,
+                     DeltaXYZWLHRBBoxCoder, FCOS3DBBoxCoder,
+                     GroupFree3DBBoxCoder, MonoFlexCoder,
+                     PartialBinBasedBBoxCoder, PGDBBoxCoder,
+                     PointXYZWHLRBBoxCoder, SMOKECoder)
+from .samplers import (BaseSampler, CombinedSampler,
+                       InstanceBalancedPosSampler, IoUBalancedNegSampler,
+                       IoUNegPiecewiseSampler, OHEMSampler, PseudoSampler,
+                       RandomSampler, SamplingResult)
+from .voxel import VoxelGenerator
+
+__all__ = [
+    'BaseAssigner', 'Max3DIoUAssigner', 'AssignResult', 'BaseSampler',
+    'PseudoSampler', 'RandomSampler', 'InstanceBalancedPosSampler',
+    'IoUBalancedNegSampler', 'CombinedSampler', 'OHEMSampler',
+    'SamplingResult', 'IoUNegPiecewiseSampler', 'DeltaXYZWLHRBBoxCoder',
+    'PartialBinBasedBBoxCoder', 'CenterPointBBoxCoder', 'AnchorFreeBBoxCoder',
+    'GroupFree3DBBoxCoder', 'PointXYZWHLRBBoxCoder', 'FCOS3DBBoxCoder',
+    'PGDBBoxCoder', 'SMOKECoder', 'MonoFlexCoder', 'VoxelGenerator',
+    'AlignedAnchor3DRangeGenerator', 'Anchor3DRangeGenerator',
+    'build_prior_generator', 'AlignedAnchor3DRangeGeneratorPerCls',
+    'build_anchor_generator', 'ANCHOR_GENERATORS', 'PRIOR_GENERATORS'
+]

mmdet3d/core/bbox/assigners/__init__.py → mmdet3d/models/task_modules/assigners/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet.core.bbox import AssignResult, BaseAssigner
 from .max_3d_iou_assigner import Max3DIoUAssigner
 
-__all__ = ['BaseAssigner', 'Max3DIoUAssigner', 'AssignResult']
+__all__ = ['Max3DIoUAssigner']

mmdet3d/core/bbox/assigners/max_3d_iou_assigner.py → mmdet3d/models/task_modules/assigners/max_3d_iou_assigner.py

@@ -4,8 +4,7 @@ from typing import Optional, Union
 from mmengine.data import InstanceData
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox.assigners import MaxIoUAssigner
-from ..assigners import AssignResult
+from mmdet.models.task_modules import AssignResult, MaxIoUAssigner
 
 
 @TASK_UTILS.register_module()

mmdet3d/core/bbox/coders/centerpoint_bbox_coders.py → mmdet3d/models/task_modules/coders/centerpoint_bbox_coders.py

@@ -2,7 +2,7 @@
 import torch
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox import BaseBBoxCoder
+from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/core/bbox/coders/delta_xyzwhlr_bbox_coder.py → mmdet3d/models/task_modules/coders/delta_xyzwhlr_bbox_coder.py

@@ -2,7 +2,7 @@
 import torch
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox import BaseBBoxCoder
+from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/core/bbox/coders/fcos3d_bbox_coder.py → mmdet3d/models/task_modules/coders/fcos3d_bbox_coder.py

@@ -3,8 +3,8 @@ import numpy as np
 import torch
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox import BaseBBoxCoder
-from ..structures import limit_period
+from mmdet3d.structures.bbox_3d import limit_period
+from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/core/bbox/coders/monoflex_bbox_coder.py → mmdet3d/models/task_modules/coders/monoflex_bbox_coder.py

@@ -4,7 +4,7 @@ import torch
 from torch.nn import functional as F
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox import BaseBBoxCoder
+from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/core/bbox/coders/partial_bin_based_bbox_coder.py → mmdet3d/models/task_modules/coders/partial_bin_based_bbox_coder.py

@@ -3,7 +3,7 @@ import numpy as np
 import torch
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox import BaseBBoxCoder
+from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()