[Feature] Add iou3d op from mmdet3d (#1356)

* add ops (iou3d) in mmdet3d * add unit test * refactor code * refactor code * refactor code * refactor code * refactor code Co-authored-by: zhouzaida <zhouzaida@163.com>
open-mmlab · Oct 22, 2021 · 2157b70 · 2157b70
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commit 2157b70
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diff --git a/mmcv/ops/__init__.py b/mmcv/ops/__init__.py
@@ -24,6 +24,7 @@
 from .gather_points import gather_points
 from .info import (get_compiler_version, get_compiling_cuda_version,
                    get_onnxruntime_op_path)
+from .iou3d import boxes_iou_bev, nms_bev, nms_normal_bev
 from .knn import knn
 from .masked_conv import MaskedConv2d, masked_conv2d
 from .modulated_deform_conv import (ModulatedDeformConv2d,
@@ -53,82 +54,27 @@
 from .voxelize import Voxelization, voxelization
 
 __all__ = [
-    'bbox_overlaps',
-    'CARAFE',
-    'CARAFENaive',
-    'CARAFEPack',
-    'carafe',
-    'carafe_naive',
-    'CornerPool',
-    'DeformConv2d',
-    'DeformConv2dPack',
-    'deform_conv2d',
-    'DeformRoIPool',
-    'DeformRoIPoolPack',
-    'ModulatedDeformRoIPoolPack',
-    'deform_roi_pool',
-    'SigmoidFocalLoss',
-    'SoftmaxFocalLoss',
-    'sigmoid_focal_loss',
-    'softmax_focal_loss',
-    'get_compiler_version',
-    'get_compiling_cuda_version',
-    'get_onnxruntime_op_path',
-    'MaskedConv2d',
-    'masked_conv2d',
-    'ModulatedDeformConv2d',
-    'ModulatedDeformConv2dPack',
-    'modulated_deform_conv2d',
-    'batched_nms',
-    'nms',
-    'soft_nms',
-    'nms_match',
-    'RoIAlign',
-    'roi_align',
-    'RoIPool',
-    'roi_pool',
-    'SyncBatchNorm',
-    'Conv2d',
-    'ConvTranspose2d',
-    'Linear',
-    'MaxPool2d',
-    'CrissCrossAttention',
-    'PSAMask',
-    'point_sample',
-    'rel_roi_point_to_rel_img_point',
-    'SimpleRoIAlign',
-    'SAConv2d',
-    'TINShift',
-    'tin_shift',
-    'assign_score_withk',
-    'box_iou_rotated',
-    'RoIPointPool3d',
-    'nms_rotated',
-    'knn',
-    'ball_query',
-    'upfirdn2d',
-    'FusedBiasLeakyReLU',
-    'fused_bias_leakyrelu',
-    'RoIAlignRotated',
-    'roi_align_rotated',
-    'pixel_group',
-    'contour_expand',
-    'three_nn',
-    'three_interpolate',
-    'MultiScaleDeformableAttention',
-    'Voxelization',
-    'voxelization',
-    'dynamic_scatter',
-    'DynamicScatter',
-    'BorderAlign',
-    'border_align',
-    'gather_points',
-    'furthest_point_sample',
-    'furthest_point_sample_with_dist',
-    'PointsSampler',
-    'Correlation',
-    'RoIAwarePool3d',
-    'points_in_boxes_part',
-    'points_in_boxes_cpu',
-    'points_in_boxes_all',
+    'bbox_overlaps', 'CARAFE', 'CARAFENaive', 'CARAFEPack', 'carafe',
+    'carafe_naive', 'CornerPool', 'DeformConv2d', 'DeformConv2dPack',
+    'deform_conv2d', 'DeformRoIPool', 'DeformRoIPoolPack',
+    'ModulatedDeformRoIPoolPack', 'deform_roi_pool', 'SigmoidFocalLoss',
+    'SoftmaxFocalLoss', 'sigmoid_focal_loss', 'softmax_focal_loss',
+    'get_compiler_version', 'get_compiling_cuda_version',
+    'get_onnxruntime_op_path', 'MaskedConv2d', 'masked_conv2d',
+    'ModulatedDeformConv2d', 'ModulatedDeformConv2dPack',
+    'modulated_deform_conv2d', 'batched_nms', 'nms', 'soft_nms', 'nms_match',
+    'RoIAlign', 'roi_align', 'RoIPool', 'roi_pool', 'SyncBatchNorm', 'Conv2d',
+    'ConvTranspose2d', 'Linear', 'MaxPool2d', 'CrissCrossAttention', 'PSAMask',
+    'point_sample', 'rel_roi_point_to_rel_img_point', 'SimpleRoIAlign',
+    'SAConv2d', 'TINShift', 'tin_shift', 'assign_score_withk',
+    'box_iou_rotated', 'RoIPointPool3d', 'nms_rotated', 'knn', 'ball_query',
+    'upfirdn2d', 'FusedBiasLeakyReLU', 'boxes_iou_bev', 'nms_bev',
+    'nms_normal_bev', 'fused_bias_leakyrelu', 'RoIAlignRotated',
+    'roi_align_rotated', 'pixel_group', 'contour_expand', 'three_nn',
+    'three_interpolate', 'MultiScaleDeformableAttention', 'BorderAlign',
+    'border_align', 'gather_points', 'furthest_point_sample',
+    'furthest_point_sample_with_dist', 'PointsSampler', 'Correlation',
+    'Voxelization', 'voxelization', 'dynamic_scatter', 'DynamicScatter',
+    'RoIAwarePool3d', 'points_in_boxes_part', 'points_in_boxes_cpu',
+    'points_in_boxes_all'
 ]