sort python imports with isort

pcdet/models/roi_heads/__init__.py

-from .roi_head_template import RoIHeadTemplate
 from .partA2_head import PartA2FCHead
-from .pvrcnn_head import PVRCNNHead
 from .pointrcnn_head import PointRCNNHead
+from .pvrcnn_head import PVRCNNHead
+from .roi_head_template import RoIHeadTemplate
 
 __all__ = {
     'RoIHeadTemplate': RoIHeadTemplate,

pcdet/models/roi_heads/partA2_head.py

+import numpy as np
+import spconv
 import torch
 import torch.nn as nn
-import spconv
-import numpy as np
-from .roi_head_template import RoIHeadTemplate
+
 from ...ops.roiaware_pool3d import roiaware_pool3d_utils
+from .roi_head_template import RoIHeadTemplate
 
 
 class PartA2FCHead(RoIHeadTemplate):

pcdet/models/roi_heads/pointrcnn_head.py

 import torch
 import torch.nn as nn
-from .roi_head_template import RoIHeadTemplate
+
 from ...ops.pointnet2.pointnet2_batch import pointnet2_modules
 from ...ops.roipoint_pool3d import roipoint_pool3d_utils
 from ...utils import common_utils
+from .roi_head_template import RoIHeadTemplate
 
 
 class PointRCNNHead(RoIHeadTemplate):

pcdet/models/roi_heads/pvrcnn_head.py

 import torch.nn as nn
-from .roi_head_template import RoIHeadTemplate
-from ...utils import common_utils
+
 from ...ops.pointnet2.pointnet2_stack import pointnet2_modules as pointnet2_stack_modules
+from ...utils import common_utils
+from .roi_head_template import RoIHeadTemplate
 
 
 class PVRCNNHead(RoIHeadTemplate):

pcdet/models/roi_heads/roi_head_template.py

@@ -2,9 +2,10 @@ import numpy as np
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
-from .target_assigner.proposal_target_layer import ProposalTargetLayer
+
+from ...utils import box_coder_utils, common_utils, loss_utils
 from ..model_utils.model_nms_utils import class_agnostic_nms
-from ...utils import common_utils, loss_utils, box_coder_utils
+from .target_assigner.proposal_target_layer import ProposalTargetLayer
 
 
 class RoIHeadTemplate(nn.Module):
@@ -255,4 +256,3 @@ class RoIHeadTemplate(nn.Module):
         batch_box_preds[:, 0:3] += roi_xyz
         batch_box_preds = batch_box_preds.view(batch_size, -1, code_size)
         return batch_cls_preds, batch_box_preds
-

pcdet/models/roi_heads/target_assigner/proposal_target_layer.py

 import numpy as np
 import torch
 import torch.nn as nn
+
 from ....ops.iou3d_nms import iou3d_nms_utils
 
 

pcdet/ops/iou3d_nms/iou3d_nms_utils.py

@@ -4,8 +4,9 @@ Written by Shaoshuai Shi
 All Rights Reserved 2019-2020.
 """
 import torch
-from . import iou3d_nms_cuda
+
 from ...utils import common_utils
+from . import iou3d_nms_cuda
 
 
 def boxes_bev_iou_cpu(boxes_a, boxes_b):

pcdet/ops/pointnet2/pointnet2_batch/pointnet2_modules.py

+from typing import List
+
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
 
 from . import pointnet2_utils
-from typing import List
 
 
 class _PointnetSAModuleBase(nn.Module):

pcdet/ops/pointnet2/pointnet2_batch/pointnet2_utils.py

+from typing import Tuple
+
 import torch
-from torch.autograd import Variable
-from torch.autograd import Function
 import torch.nn as nn
-from typing import Tuple
+from torch.autograd import Function, Variable
 
 from . import pointnet2_batch_cuda as pointnet2
 

pcdet/ops/pointnet2/pointnet2_stack/pointnet2_modules.py

+from typing import List
+
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
+
 from . import pointnet2_utils
-from typing import List
 
 
 class StackSAModuleMSG(nn.Module):
@@ -133,4 +135,3 @@ class StackPointnetFPModule(nn.Module):
 
         new_features = new_features.squeeze(dim=0).squeeze(dim=-1).permute(1, 0)  # (N1 + N2 ..., C)
         return new_features
-

pcdet/ops/pointnet2/pointnet2_stack/pointnet2_utils.py

 import torch
-from torch.autograd import Variable
-from torch.autograd import Function
 import torch.nn as nn
+from torch.autograd import Function, Variable
 
 from . import pointnet2_stack_cuda as pointnet2
 

pcdet/ops/roiaware_pool3d/roiaware_pool3d_utils.py

 import torch
 import torch.nn as nn
 from torch.autograd import Function
+
 from ...utils import common_utils
 from . import roiaware_pool3d_cuda
 

pcdet/ops/roipoint_pool3d/roipoint_pool3d_utils.py

 import torch
 import torch.nn as nn
 from torch.autograd import Function
-from . import roipoint_pool3d_cuda
+
 from ...utils import box_utils
+from . import roipoint_pool3d_cuda
 
 
 class RoIPointPool3d(nn.Module):

pcdet/utils/box_coder_utils.py

-import torch
 import numpy as np
+import torch
 
 
 class ResidualCoder(object):

pcdet/utils/box_utils.py

 import numpy as np
+import scipy
 import torch
-from . import common_utils
-from ..ops.roiaware_pool3d import roiaware_pool3d_utils
 from scipy.spatial import Delaunay
-import scipy
+
+from ..ops.roiaware_pool3d import roiaware_pool3d_utils
+from . import common_utils
+
 
 def in_hull(p, hull):
     """
@@ -283,4 +285,3 @@ def boxes3d_nearest_bev_iou(boxes_a, boxes_b):
     boxes_bev_b = boxes3d_lidar_to_aligned_bev_boxes(boxes_b)
 
     return boxes_iou_normal(boxes_bev_a, boxes_bev_b)
-

pcdet/utils/common_utils.py

-import numpy as np
-import torch
-import random
 import logging
 import os
-import torch.multiprocessing as mp
-import torch.distributed as dist
-import subprocess
 import pickle
+import random
 import shutil
+import subprocess
+
+import numpy as np
+import torch
+import torch.distributed as dist
+import torch.multiprocessing as mp
 
 
 def check_numpy_to_torch(x):

pcdet/utils/loss_utils.py

@@ -2,6 +2,7 @@ import numpy as np
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
+
 from . import box_utils
 
 

pcdet/utils/object3d_kitti.py

@@ -81,4 +81,3 @@ class Object3d(object):
                        self.box2d[2], self.box2d[3], self.h, self.w, self.l, self.loc[0], self.loc[1], self.loc[2],
                        self.ry)
         return kitti_str
-

setup.py

 import os
-from setuptools import setup, find_packages
 import subprocess
+
+from setuptools import find_packages, setup
 from torch.utils.cpp_extension import BuildExtension, CUDAExtension
 
 
@@ -108,4 +109,3 @@ if __name__ == '__main__':
             ),
         ],
     )
-

tools/demo.py

-import torch
 import argparse
 import glob
-import numpy as np
 from pathlib import Path
+
+import mayavi.mlab as mlab
+import numpy as np
+import torch
+
+from pcdet.config import cfg, cfg_from_yaml_file
 from pcdet.datasets import DatasetTemplate
 from pcdet.models import build_network, load_data_to_gpu
-from pcdet.config import cfg, cfg_from_yaml_file
 from pcdet.utils import common_utils
 from visual_utils import visualize_utils as V
-import mayavi.mlab as mlab
 
 
 class DemoDataset(DatasetTemplate):