refactor directory

mmdet3d/models/backbones/dgcnn.py

@@ -2,7 +2,7 @@
 from mmcv.runner import BaseModule, auto_fp16
 from torch import nn as nn
 
-from mmdet3d.ops import DGCNNFAModule, DGCNNGFModule
+from mmdet3d.models.layers import DGCNNFAModule, DGCNNGFModule
 from mmdet3d.registry import MODELS
 
 

mmdet3d/models/backbones/pointnet2_sa_msg.py

@@ -4,7 +4,7 @@ from mmcv.cnn import ConvModule
 from mmcv.runner import auto_fp16
 from torch import nn as nn
 
-from mmdet3d.ops import build_sa_module
+from mmdet3d.models.layers.pointnet_modules import build_sa_module
 from mmdet3d.registry import MODELS
 from .base_pointnet import BasePointNet
 

mmdet3d/models/backbones/pointnet2_sa_ssg.py

@@ -3,7 +3,7 @@ import torch
 from mmcv.runner import auto_fp16
 from torch import nn as nn
 
-from mmdet3d.ops import PointFPModule, build_sa_module
+from mmdet3d.models.layers import PointFPModule, build_sa_module
 from mmdet3d.registry import MODELS
 from .base_pointnet import BasePointNet
 

mmdet3d/models/data_preprocessors/data_preprocessor.py

@@ -117,7 +117,7 @@ class Det3DDataPreprocessor(DetDataPreprocessor):
                 imgs = [_img[[2, 1, 0], ...] for _img in imgs]
             # Normalization.
             if self._enable_normalize:
-                imgs = [(_img - self.mean) / self.std for _img in imgs]
+                imgs = [(_img.float() - self.mean) / self.std for _img in imgs]
             # Pad and stack Tensor.
             batch_imgs = stack_batch(imgs, self.pad_size_divisor,
                                      self.pad_value)

mmdet3d/models/decode_heads/decode_head.py

@@ -8,8 +8,9 @@ from mmcv.runner import BaseModule, auto_fp16
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core.utils.typing import ConfigType, SampleList
 from mmdet3d.registry import MODELS
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet3d.utils.typing import ConfigType
 
 
 class Base3DDecodeHead(BaseModule, metaclass=ABCMeta):

mmdet3d/models/decode_heads/dgcnn_head.py

@@ -4,7 +4,7 @@ from typing import Tuple
 from mmcv.cnn.bricks import ConvModule
 from torch import Tensor
 
-from mmdet3d.ops import DGCNNFPModule
+from mmdet3d.models.layers import DGCNNFPModule
 from mmdet3d.registry import MODELS
 from .decode_head import Base3DDecodeHead
 

mmdet3d/models/decode_heads/paconv_head.py

@@ -4,8 +4,8 @@ from typing import Tuple
 from mmcv.cnn.bricks import ConvModule
 from torch import Tensor
 
-from mmdet3d.core.utils import ConfigType
 from mmdet3d.registry import MODELS
+from mmdet3d.utils.typing import ConfigType
 from .pointnet2_head import PointNet2Head
 
 

mmdet3d/models/decode_heads/pointnet2_head.py

@@ -5,9 +5,9 @@ from mmcv.cnn.bricks import ConvModule
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core.utils.typing import ConfigType
-from mmdet3d.ops import PointFPModule
+from mmdet3d.models.layers import PointFPModule
 from mmdet3d.registry import MODELS
+from mmdet3d.utils.typing import ConfigType
 from .decode_head import Base3DDecodeHead
 
 

mmdet3d/models/dense_heads/anchor3d_head.py

@@ -7,11 +7,12 @@ import torch
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core import PseudoSampler, merge_aug_bboxes_3d
-from mmdet3d.core.utils import ConfigType, InstanceList, OptConfigType
-from mmdet3d.core.utils.typing import OptInstanceList
+from mmdet3d.models.task_modules import PseudoSampler
+from mmdet3d.models.test_time_augs import merge_aug_bboxes_3d
 from mmdet3d.registry import MODELS, TASK_UTILS
-from mmdet.core import multi_apply
+from mmdet3d.utils.typing import (ConfigType, InstanceList, OptConfigType,
+                                  OptInstanceList)
+from mmdet.models.utils import multi_apply
 from .base_3d_dense_head import Base3DDenseHead
 from .train_mixins import AnchorTrainMixin
 

mmdet3d/models/dense_heads/anchor_free_mono3d_head.py

@@ -7,9 +7,9 @@ from mmcv.cnn import ConvModule, bias_init_with_prob, normal_init
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core.utils import ConfigType, InstanceList, OptConfigType
 from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
+from mmdet3d.utils import ConfigType, InstanceList, OptConfigType
+from mmdet.models.utils import multi_apply
 from .base_mono3d_dense_head import BaseMono3DDenseHead
 
 

mmdet3d/models/dense_heads/base_3d_dense_head.py

@@ -10,9 +10,11 @@ from mmengine.data import InstanceData
 from mmengine.model import BaseModule
 from torch import Tensor
 
-from mmdet3d.core import box3d_multiclass_nms, limit_period, xywhr2xyxyr
-from mmdet3d.core.utils import InstanceList, OptMultiConfig, SampleList
-from mmdet.core.utils import select_single_mlvl
+from mmdet3d.models.layers import box3d_multiclass_nms
+from mmdet3d.structures import limit_period, xywhr2xyxyr
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet3d.utils.typing import InstanceList, OptMultiConfig
+from mmdet.models.utils import select_single_mlvl
 
 
 class Base3DDenseHead(BaseModule, metaclass=ABCMeta):
@@ -170,7 +172,7 @@ class Base3DDenseHead(BaseModule, metaclass=ABCMeta):
               (num_instances, )
             - labels_3d (Tensor): Labels of bboxes, has a shape
               (num_instances, ).
-            - bboxes_3d (BaseInstance3DBoxes): Prediction of bboxes,
+            - bbox_3d (BaseInstance3DBoxes): Prediction of bboxes,
               contains a tensor with shape (num_instances, C), where
               C >= 7.
         """
@@ -220,7 +222,7 @@ class Base3DDenseHead(BaseModule, metaclass=ABCMeta):
               (num_instances, )
             - labels_3d (Tensor): Labels of bboxes, has a shape
               (num_instances, ).
-            - bboxes_3d (BaseInstance3DBoxes): Prediction of bboxes,
+            - bbox_3d (BaseInstance3DBoxes): Prediction of bboxes,
               contains a tensor with shape (num_instances, C), where
               C >= 7.
         """

mmdet3d/models/dense_heads/base_mono3d_dense_head.py

@@ -6,7 +6,8 @@ from mmcv.runner import BaseModule
 from mmengine.config import ConfigDict
 from torch import Tensor
 
-from mmdet3d.core.utils import InstanceList, OptMultiConfig, SampleList
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet3d.utils import InstanceList, OptMultiConfig
 
 
 class BaseMono3DDenseHead(BaseModule, metaclass=ABCMeta):

mmdet3d/models/dense_heads/centerpoint_head.py

@@ -8,13 +8,13 @@ from mmcv.runner import BaseModule, force_fp32
 from mmengine import InstanceData
 from torch import Tensor, nn
 
-from mmdet3d.core import (Det3DDataSample, circle_nms, draw_heatmap_gaussian,
-                          gaussian_radius, xywhr2xyxyr)
-from mmdet3d.core.post_processing import nms_bev
-from mmdet3d.models import builder
-from mmdet3d.models.utils import clip_sigmoid
+from mmdet3d.models.utils import (clip_sigmoid, draw_heatmap_gaussian,
+                                  gaussian_radius)
 from mmdet3d.registry import MODELS, TASK_UTILS
-from mmdet.core import multi_apply
+from mmdet3d.structures import Det3DDataSample, xywhr2xyxyr
+from mmdet.models.utils import multi_apply
+from .. import builder
+from ..layers import circle_nms, nms_bev
 
 
 @MODELS.register_module()

mmdet3d/models/dense_heads/fcos_mono3d_head.py

@@ -8,13 +8,12 @@ from mmengine.data import InstanceData
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core import (box3d_multiclass_nms, limit_period, points_img2cam,
-                          xywhr2xyxyr)
-from mmdet3d.core.utils import (ConfigType, InstanceList, OptConfigType,
-                                OptInstanceList)
+from mmdet3d.models.layers import box3d_multiclass_nms
 from mmdet3d.registry import MODELS, TASK_UTILS
-from mmdet.core import multi_apply
-from mmdet.core.utils import select_single_mlvl
+from mmdet3d.structures import limit_period, points_img2cam, xywhr2xyxyr
+from mmdet3d.utils import (ConfigType, InstanceList, OptConfigType,
+                           OptInstanceList)
+from mmdet.models.utils import multi_apply, select_single_mlvl
 from .anchor_free_mono3d_head import AnchorFreeMono3DHead
 
 RangeType = Sequence[Tuple[int, int]]

mmdet3d/models/dense_heads/free_anchor3d_head.py

@@ -5,9 +5,9 @@ import torch
 from torch import Tensor
 from torch.nn import functional as F
 
-from mmdet3d.core.bbox import bbox_overlaps_nearest_3d
-from mmdet3d.core.utils import InstanceList, OptInstanceList
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import bbox_overlaps_nearest_3d
+from mmdet3d.utils import InstanceList, OptInstanceList
 from .anchor3d_head import Anchor3DHead
 from .train_mixins import get_direction_target
 

mmdet3d/models/dense_heads/groupfree3d_head.py

@@ -15,10 +15,11 @@ from torch import Tensor
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core.post_processing import aligned_3d_nms
-from mmdet3d.registry import MODELS
-from mmdet.core import build_bbox_coder, multi_apply
-from ...core import BaseInstance3DBoxes, Det3DDataSample, SampleList
+from mmdet3d.models.layers import aligned_3d_nms
+from mmdet3d.registry import MODELS, TASK_UTILS
+from mmdet3d.structures import BaseInstance3DBoxes, Det3DDataSample
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet.models.utils import multi_apply
 from .base_conv_bbox_head import BaseConvBboxHead
 
 EPS = 1e-6
@@ -204,7 +205,7 @@ class GroupFree3DHead(BaseModule):
         assert self.embed_dims == decoder_cross_posembeds['num_pos_feats']
 
         # bbox_coder
-        self.bbox_coder = build_bbox_coder(bbox_coder)
+        self.bbox_coder = TASK_UTILS.build(bbox_coder)
         self.num_sizes = self.bbox_coder.num_sizes
         self.num_dir_bins = self.bbox_coder.num_dir_bins
 

mmdet3d/models/dense_heads/monoflex_head.py

@@ -8,15 +8,15 @@ from mmengine.data import InstanceData
 from torch import Tensor
 from torch import nn as nn
 
-from mmdet3d.core import Det3DDataSample
-from mmdet3d.core.bbox.builder import build_bbox_coder
-from mmdet3d.core.utils import get_ellip_gaussian_2D
-from mmdet3d.models.model_utils import EdgeFusionModule
+from mmdet3d.models.layers import EdgeFusionModule
+from mmdet3d.models.task_modules.builder import build_bbox_coder
 from mmdet3d.models.utils import (filter_outside_objs, get_edge_indices,
-                                  get_keypoints, handle_proj_objs)
+                                  get_ellip_gaussian_2D, get_keypoints,
+                                  handle_proj_objs)
 from mmdet3d.registry import MODELS
-from mmdet.core import multi_apply
-from mmdet.models.utils import gaussian_radius, gen_gaussian_target
+from mmdet3d.structures import Det3DDataSample
+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/parta2_rpn_head.py

@@ -7,10 +7,11 @@ from mmcv import ConfigDict
 from mmengine.data import InstanceData
 from torch import Tensor
 
-from mmdet3d.core import limit_period, xywhr2xyxyr
-from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
-from mmdet3d.core.utils import InstanceList, SampleList
+from mmdet3d.models.layers import nms_bev, nms_normal_bev
 from mmdet3d.registry import MODELS
+from mmdet3d.structures import limit_period, xywhr2xyxyr
+from mmdet3d.utils.typing import InstanceList
+from ...structures.det3d_data_sample import SampleList
 from .anchor3d_head import Anchor3DHead
 
 

mmdet3d/models/dense_heads/pgd_head.py

@@ -9,12 +9,13 @@ from torch import Tensor
 from torch import nn as nn
 from torch.nn import functional as F
 
-from mmdet3d.core import box3d_multiclass_nms, xywhr2xyxyr
-from mmdet3d.core.bbox import points_cam2img, points_img2cam
-from mmdet3d.core.utils import (ConfigType, InstanceList, OptConfigType,
-                                OptInstanceList)
+from mmdet3d.models.layers import box3d_multiclass_nms
 from mmdet3d.registry import MODELS
-from mmdet.core import distance2bbox, multi_apply
+from mmdet3d.structures import points_cam2img, points_img2cam, xywhr2xyxyr
+from mmdet3d.utils.typing import (ConfigType, InstanceList, OptConfigType,
+                                  OptInstanceList)
+from mmdet.models.utils import multi_apply
+from mmdet.structures.bbox import distance2bbox
 from .fcos_mono3d_head import FCOSMono3DHead
 
 
@@ -1138,7 +1139,7 @@ class PGDHead(FCOSMono3DHead):
             points (list[Tensor]): Points of each fpn level, each has shape
                 (num_points, 2).
             batch_gt_instances_3d (list[:obj:`InstanceData`]): Batch of
-                gt_instance_3d.  It usually includes ``bboxes_3d``、
+                gt_instance_3d.  It usually includes ``bbox_3d``、
                 ``labels_3d``、``depths``、``centers_2d`` and attributes.
             batch_gt_instances (list[:obj:`InstanceData`]): Batch of
                 gt_instance.  It usually includes ``bboxes``、``labels``.

mmdet3d/models/dense_heads/point_rpn_head.py

@@ -3,13 +3,13 @@ import torch
 from mmcv.runner import BaseModule, force_fp32
 from torch import nn as nn
 
-from mmdet3d.core import xywhr2xyxyr
-from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
-                                          LiDARInstance3DBoxes)
-from mmdet3d.core.post_processing import nms_bev, nms_normal_bev
 from mmdet3d.models.builder import build_loss
-from mmdet3d.registry import MODELS
-from mmdet.core import build_bbox_coder, multi_apply
+from mmdet3d.models.layers import nms_bev, nms_normal_bev
+from mmdet3d.registry import MODELS, TASK_UTILS
+from mmdet3d.structures import xywhr2xyxyr
+from mmdet3d.structures.bbox_3d import (DepthInstance3DBoxes,
+                                        LiDARInstance3DBoxes)
+from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()
@@ -54,7 +54,7 @@ class PointRPNHead(BaseModule):
         self.cls_loss = build_loss(cls_loss)
 
         # build box coder
-        self.bbox_coder = build_bbox_coder(bbox_coder)
+        self.bbox_coder = TASK_UTILS.build(bbox_coder)
 
         # build pred conv
         self.cls_layers = self._make_fc_layers(