refactor directory

mmdet3d/core/bbox/coders/point_xyzwhlr_bbox_coder.py → mmdet3d/models/task_modules/coders/point_xyzwhlr_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()

mmdet3d/core/bbox/coders/smoke_bbox_coder.py → mmdet3d/models/task_modules/coders/smoke_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()

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

 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet.core.bbox.samplers import (BaseSampler, CombinedSampler,
-                                      InstanceBalancedPosSampler,
-                                      IoUBalancedNegSampler, OHEMSampler,
-                                      RandomSampler, SamplingResult)
+from mmdet.models.task_modules.samplers import (BaseSampler, CombinedSampler,
+                                                InstanceBalancedPosSampler,
+                                                IoUBalancedNegSampler,
+                                                OHEMSampler, RandomSampler,
+                                                SamplingResult)
 from .iou_neg_piecewise_sampler import IoUNegPiecewiseSampler
 from .pseudosample import PseudoSampler
 

mmdet3d/core/bbox/samplers/pseudosample.py → mmdet3d/models/task_modules/samplers/pseudosample.py

@@ -3,7 +3,7 @@ import torch
 from mmengine.data import InstanceData
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.core.bbox.assigners import AssignResult
+from mmdet.models.task_modules import AssignResult
 from ..samplers import BaseSampler, SamplingResult
 
 

mmdet3d/core/evaluation/kitti_utils/__init__.py → mmdet3d/models/test_time_augs/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from .eval import kitti_eval, kitti_eval_coco_style
+from .merge_augs import merge_aug_bboxes_3d
 
-__all__ = ['kitti_eval', 'kitti_eval_coco_style']
+__all__ = ['merge_aug_bboxes_3d']

mmdet3d/core/post_processing/merge_augs.py → mmdet3d/models/test_time_augs/merge_augs.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
 
-from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
-from ..bbox import bbox3d2result, bbox3d_mapping_back, xywhr2xyxyr
+from mmdet3d.structures import bbox3d2result, bbox3d_mapping_back, xywhr2xyxyr
+from ..layers import nms_bev, nms_normal_bev
 
 
 def merge_aug_bboxes_3d(aug_results, aug_batch_input_metas, test_cfg):
@@ -12,7 +12,7 @@ def merge_aug_bboxes_3d(aug_results, aug_batch_input_metas, test_cfg):
         aug_results (list[dict]): The dict of detection results.
             The dict contains the following keys
 
-            - bboxes_3d (:obj:`BaseInstance3DBoxes`): Detection bbox.
+            - bbox_3d (:obj:`BaseInstance3DBoxes`): Detection bbox.
             - scores_3d (torch.Tensor): Detection scores.
             - labels_3d (torch.Tensor): Predicted box labels.
         img_metas (list[dict]): Meta information of each sample.
@@ -21,7 +21,7 @@ def merge_aug_bboxes_3d(aug_results, aug_batch_input_metas, test_cfg):
     Returns:
         dict: Bounding boxes results in cpu mode, containing merged results.
 
-            - bboxes_3d (:obj:`BaseInstance3DBoxes`): Merged detection bbox.
+            - bbox_3d (:obj:`BaseInstance3DBoxes`): Merged detection bbox.
             - scores_3d (torch.Tensor): Merged detection scores.
             - labels_3d (torch.Tensor): Merged predicted box labels.
     """
@@ -41,7 +41,7 @@ def merge_aug_bboxes_3d(aug_results, aug_batch_input_metas, test_cfg):
         pcd_vertical_flip = input_info['pcd_vertical_flip']
         recovered_scores.append(bboxes['scores_3d'])
         recovered_labels.append(bboxes['labels_3d'])
-        bboxes = bbox3d_mapping_back(bboxes['bboxes_3d'], scale_factor,
+        bboxes = bbox3d_mapping_back(bboxes['bbox_3d'], scale_factor,
                                      pcd_horizontal_flip, pcd_vertical_flip)
         recovered_bboxes.append(bboxes)
 

mmdet3d/models/utils/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
+from .add_prefix import add_prefix
 from .clip_sigmoid import clip_sigmoid
 from .edge_indices import get_edge_indices
+from .gaussian import (draw_heatmap_gaussian, ellip_gaussian2D, gaussian_2d,
+                       gaussian_radius, get_ellip_gaussian_2D)
 from .gen_keypoints import get_keypoints
 from .handle_objs import filter_outside_objs, handle_proj_objs
-from .mlp import MLP
 
 __all__ = [
-    'clip_sigmoid', 'MLP', 'get_edge_indices', 'filter_outside_objs',
-    'handle_proj_objs', 'get_keypoints'
+    'clip_sigmoid', 'get_edge_indices', 'filter_outside_objs',
+    'handle_proj_objs', 'get_keypoints', 'gaussian_2d',
+    'draw_heatmap_gaussian', 'gaussian_radius', 'get_ellip_gaussian_2D',
+    'ellip_gaussian2D', 'add_prefix'
 ]

mmdet3d/core/utils/misc.py → mmdet3d/models/utils/add_prefix.py

 # Copyright (c) OpenMMLab. All rights reserved.
-
-
 def add_prefix(inputs, prefix):
     """Add prefix for dict.
 

mmdet3d/models/utils/gen_keypoints.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
 
-from mmdet3d.core.bbox import points_cam2img
+from mmdet3d.structures import points_cam2img
 
 
 def get_keypoints(gt_bboxes_3d_list,

mmdet3d/ops/__init__.py

-# Copyright (c) OpenMMLab. All rights reserved.
-from mmcv.ops import (RoIAlign, SigmoidFocalLoss, get_compiler_version,
-                      get_compiling_cuda_version, nms, roi_align,
-                      sigmoid_focal_loss)
-from mmcv.ops.assign_score_withk import assign_score_withk
-from mmcv.ops.ball_query import ball_query
-from mmcv.ops.furthest_point_sample import (furthest_point_sample,
-                                            furthest_point_sample_with_dist)
-from mmcv.ops.gather_points import gather_points
-from mmcv.ops.group_points import GroupAll, QueryAndGroup, grouping_operation
-from mmcv.ops.knn import knn
-from mmcv.ops.points_in_boxes import (points_in_boxes_all, points_in_boxes_cpu,
-                                      points_in_boxes_part)
-from mmcv.ops.points_sampler import PointsSampler as Points_Sampler
-from mmcv.ops.roiaware_pool3d import RoIAwarePool3d
-from mmcv.ops.roipoint_pool3d import RoIPointPool3d
-from mmcv.ops.scatter_points import DynamicScatter, dynamic_scatter
-from mmcv.ops.three_interpolate import three_interpolate
-from mmcv.ops.three_nn import three_nn
-from mmcv.ops.voxelize import Voxelization, voxelization
-
-from .dgcnn_modules import DGCNNFAModule, DGCNNFPModule, DGCNNGFModule
-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)
-
-__all__ = [
-    'nms', 'soft_nms', 'RoIAlign', 'roi_align', 'get_compiler_version',
-    'get_compiling_cuda_version', 'NaiveSyncBatchNorm1d',
-    'NaiveSyncBatchNorm2d', 'batched_nms', 'Voxelization', 'voxelization',
-    'dynamic_scatter', 'DynamicScatter', 'sigmoid_focal_loss',
-    'SigmoidFocalLoss', 'SparseBasicBlock', 'SparseBottleneck',
-    'RoIAwarePool3d', 'points_in_boxes_part', 'points_in_boxes_cpu',
-    'make_sparse_convmodule', 'ball_query', 'knn', 'furthest_point_sample',
-    'furthest_point_sample_with_dist', 'three_interpolate', 'three_nn',
-    'gather_points', 'grouping_operation', 'GroupAll', 'QueryAndGroup',
-    'PointSAModule', 'PointSAModuleMSG', 'PointFPModule', 'DGCNNFPModule',
-    'DGCNNGFModule', 'DGCNNFAModule', 'points_in_boxes_all',
-    'get_compiler_version', 'assign_score_withk', 'get_compiling_cuda_version',
-    'Points_Sampler', 'build_sa_module', 'PAConv', 'PAConvCUDA',
-    'PAConvSAModuleMSG', 'PAConvSAModule', 'PAConvCUDASAModule',
-    'PAConvCUDASAModuleMSG', 'RoIPointPool3d'
-]

mmdet3d/registry/__init__.py

-# Copyright (c) OpenMMLab. All rights reserved.
-from .registry import (DATA_SAMPLERS, DATASETS, HOOKS, LOOPS, METRICS,
-                       MODEL_WRAPPERS, MODELS, OPTIM_WRAPPER_CONSTRUCTORS,
-                       OPTIMIZERS, PARAM_SCHEDULERS, RUNNER_CONSTRUCTORS,
-                       RUNNERS, TASK_UTILS, TRANSFORMS, VISBACKENDS,
-                       VISUALIZERS, WEIGHT_INITIALIZERS)
-
-__all__ = [
-    'RUNNERS', 'RUNNER_CONSTRUCTORS', 'HOOKS', 'DATASETS', 'DATA_SAMPLERS',
-    'TRANSFORMS', 'MODELS', 'WEIGHT_INITIALIZERS', 'OPTIMIZERS',
-    'OPTIM_WRAPPER_CONSTRUCTORS', 'TASK_UTILS', 'PARAM_SCHEDULERS', 'METRICS',
-    'MODEL_WRAPPERS', 'LOOPS', 'VISBACKENDS', 'VISUALIZERS'
-]

mmdet3d/structures/__init__.py

+# Copyright (c) OpenMMLab. All rights reserved.
+from .bbox_3d import (BaseInstance3DBoxes, Box3DMode, CameraInstance3DBoxes,
+                      Coord3DMode, DepthInstance3DBoxes, LiDARInstance3DBoxes,
+                      get_box_type, get_proj_mat_by_coord_type, limit_period,
+                      mono_cam_box2vis, points_cam2img, points_img2cam,
+                      rotation_3d_in_axis, xywhr2xyxyr)
+from .det3d_data_sample import Det3DDataSample
+# yapf: disable
+from .ops import (AxisAlignedBboxOverlaps3D, BboxOverlaps3D,
+                  BboxOverlapsNearest3D, axis_aligned_bbox_overlaps_3d,
+                  bbox3d2result, bbox3d2roi, bbox3d_mapping_back,
+                  bbox_overlaps_3d, bbox_overlaps_nearest_3d,
+                  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 .point_data import PointData
+from .points import BasePoints, CameraPoints, DepthPoints, LiDARPoints
+
+__all__ = [
+    'BasePoints', 'CameraPoints', 'DepthPoints', 'LiDARPoints',
+    'Det3DDataSample', 'PointData', 'Box3DMode', 'BaseInstance3DBoxes',
+    'LiDARInstance3DBoxes', 'CameraInstance3DBoxes', 'DepthInstance3DBoxes',
+    'xywhr2xyxyr', 'get_box_type', 'rotation_3d_in_axis', 'limit_period',
+    'points_cam2img', 'points_img2cam', 'Coord3DMode', 'mono_cam_box2vis',
+    'get_proj_mat_by_coord_type', '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'
+]