[Enhance] Refactor the import of mmdet

configs/pgd/pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d.py

@@ -19,7 +19,8 @@
             (),  # velo
             (256, )  # bbox2d
         ),
-        loss_depth=dict(type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=1.0),
+        loss_depth=dict(
+            type='mmdet.SmoothL1Loss', beta=1.0 / 9.0, loss_weight=1.0),
         bbox_coder=dict(
             type='PGDBBoxCoder',
             base_depths=((31.99, 21.12), (37.15, 24.63), (39.69, 23.97),

configs/pointpillars/pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py

@@ -24,7 +24,7 @@
         _delete_=True,
         assigner=dict(
             type='Max3DIoUAssigner',
-            iou_calculator=dict(type='mmdet3d.BboxOverlapsNearest3D'),
+            iou_calculator=dict(type='BboxOverlapsNearest3D'),
             pos_iou_thr=0.6,
             neg_iou_thr=0.45,
             min_pos_iou=0.45,

configs/second/second_hv_secfpn_8xb6-80e_kitti-3d-car.py

@@ -19,7 +19,7 @@
     train_cfg=dict(
         _delete_=True,
         assigner=dict(
-            type='MaxIoUAssigner',
+            type='Max3DIoUAssigner',
             iou_calculator=dict(type='BboxOverlapsNearest3D'),
             pos_iou_thr=0.6,
             neg_iou_thr=0.45,

configs/ssn/ssn_hv_secfpn_sbn-all_16xb2-2x_lyft-3d.py

@@ -174,7 +174,7 @@
                     min_pos_iou=0.4,
                     ignore_iof_thr=-1),
                 dict(  # animal
-                    type='MaxIoUAssigner',
+                    type='Max3DIoUAssigner',
                     iou_calculator=dict(type='BboxOverlapsNearest3D'),
                     pos_iou_thr=0.55,
                     neg_iou_thr=0.4,

mmdet3d/__init__.py

@@ -1,9 +1,9 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 import mmcv
+import mmdet
 import mmengine
 from mmengine.utils import digit_version
 
-import mmdet
 from .version import __version__, version_info
 
 mmcv_minimum_version = '2.0.0rc0'

mmdet3d/datasets/builder.py

@@ -1,9 +1,10 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 import platform
 
-from mmdet3d.registry import DATASETS, TRANSFORMS
 from mmdet.datasets.builder import _concat_dataset
 
+from mmdet3d.registry import DATASETS, TRANSFORMS
+
 if platform.system() != 'Windows':
     # https://github.com/pytorch/pytorch/issues/973
     import resource

mmdet3d/datasets/transforms/loading.py

@@ -7,10 +7,10 @@
 import numpy as np
 from mmcv.transforms import LoadImageFromFile
 from mmcv.transforms.base import BaseTransform
+from mmdet.datasets.transforms import LoadAnnotations
 
 from mmdet3d.registry import TRANSFORMS
 from mmdet3d.structures.points import BasePoints, get_points_type
-from mmdet.datasets.transforms import LoadAnnotations
 
 
 @TRANSFORMS.register_module()

mmdet3d/datasets/transforms/transforms_3d.py

@@ -7,6 +7,8 @@
 import mmcv
 import numpy as np
 from mmcv.transforms import BaseTransform, RandomResize, Resize
+from mmdet.datasets.transforms import (PhotoMetricDistortion, RandomCrop,
+                                       RandomFlip)
 from mmengine import is_tuple_of
 
 from mmdet3d.models.task_modules import VoxelGenerator
@@ -15,8 +17,6 @@
                                 LiDARInstance3DBoxes)
 from mmdet3d.structures.ops import box_np_ops
 from mmdet3d.structures.points import BasePoints
-from mmdet.datasets.transforms import (PhotoMetricDistortion, RandomCrop,
-                                       RandomFlip)
 from .compose import Compose
 from .data_augment_utils import noise_per_object_v3_
 

mmdet3d/evaluation/metrics/indoor_metric.py

@@ -3,13 +3,13 @@
 from typing import Dict, List, Optional, Sequence
 
 import numpy as np
+from mmdet.evaluation import eval_map
 from mmengine.evaluator import BaseMetric
 from mmengine.logging import MMLogger
 
 from mmdet3d.evaluation import indoor_eval
 from mmdet3d.registry import METRICS
 from mmdet3d.structures import get_box_type
-from mmdet.evaluation import eval_map
 
 
 @METRICS.register_module()

mmdet3d/models/backbones/__init__.py

@@ -1,5 +1,6 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 from mmdet.models.backbones import SSDVGG, HRNet, ResNet, ResNetV1d, ResNeXt
+
 from .dgcnn import DGCNNBackbone
 from .dla import DLANet
 from .mink_resnet import MinkResNet

mmdet3d/models/backbones/nostem_regnet.py

@@ -1,7 +1,8 @@
 # Copyright (c) OpenMMLab. All rights reserved.
-from mmdet3d.registry import MODELS
 from mmdet.models.backbones import RegNet
 
+from mmdet3d.registry import MODELS
+
 
 @MODELS.register_module()
 class NoStemRegNet(RegNet):

mmdet3d/models/data_preprocessors/data_preprocessor.py

@@ -6,13 +6,13 @@
 import numpy as np
 import torch
 from mmcv.ops import Voxelization
+from mmdet.models import DetDataPreprocessor
 from mmengine.model import stack_batch
 from mmengine.utils import is_list_of
 from torch.nn import functional as F
 
 from mmdet3d.registry import MODELS
 from mmdet3d.utils import OptConfigType
-from mmdet.models import DetDataPreprocessor
 from .utils import multiview_img_stack_batch
 
 

mmdet3d/models/dense_heads/anchor3d_head.py

@@ -4,6 +4,7 @@
 
 import numpy as np
 import torch
+from mmdet.models.utils import multi_apply
 from torch import Tensor
 from torch import nn as nn
 
@@ -12,7 +13,6 @@
 from mmdet3d.registry import MODELS, TASK_UTILS
 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

@@ -4,13 +4,13 @@
 
 import torch
 from mmcv.cnn import ConvModule
+from mmdet.models.utils import multi_apply
 from mmengine.model import bias_init_with_prob, normal_init
 from torch import Tensor
 from torch import nn as nn
 
 from mmdet3d.registry import MODELS
 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

@@ -4,6 +4,7 @@
 
 import numpy as np
 import torch
+from mmdet.models.utils import select_single_mlvl
 from mmengine.config import ConfigDict
 from mmengine.model import BaseModule, constant_init
 from mmengine.structures import InstanceData
@@ -13,7 +14,6 @@
 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):

mmdet3d/models/dense_heads/centerpoint_head.py

@@ -4,6 +4,7 @@
 
 import torch
 from mmcv.cnn import ConvModule, build_conv_layer
+from mmdet.models.utils import multi_apply
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
 from torch import Tensor, nn
@@ -12,7 +13,6 @@
                                   gaussian_radius)
 from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.structures import Det3DDataSample, xywhr2xyxyr
-from mmdet.models.utils import multi_apply
 from .. import builder
 from ..layers import circle_nms, nms_bev
 

mmdet3d/models/dense_heads/fcos_mono3d_head.py

@@ -4,6 +4,7 @@
 import numpy as np
 import torch
 from mmcv.cnn import Scale
+from mmdet.models.utils import multi_apply, select_single_mlvl
 from mmengine.model import normal_init
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -14,7 +15,6 @@
 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/groupfree3d_head.py

@@ -9,6 +9,7 @@
                                          build_transformer_layer)
 from mmcv.ops import PointsSampler as Points_Sampler
 from mmcv.ops import gather_points
+from mmdet.models.utils import multi_apply
 from mmengine.model import BaseModule, xavier_init
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -19,7 +20,6 @@
 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

mmdet3d/models/dense_heads/monoflex_head.py

@@ -2,6 +2,11 @@
 from typing import List, Optional, Tuple, Union
 
 import torch
+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)
 from mmengine.config import ConfigDict
 from mmengine.model import xavier_init
 from mmengine.structures import InstanceData
@@ -15,11 +20,6 @@
                                   handle_proj_objs)
 from mmdet3d.registry import MODELS
 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)
 from .anchor_free_mono3d_head import AnchorFreeMono3DHead
 
 

mmdet3d/models/dense_heads/pgd_head.py

@@ -4,6 +4,8 @@
 import numpy as np
 import torch
 from mmcv.cnn import Scale
+from mmdet.models.utils import multi_apply
+from mmdet.structures.bbox import distance2bbox
 from mmengine.model import bias_init_with_prob, normal_init
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -15,8 +17,6 @@
 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
 
 

mmdet3d/models/dense_heads/point_rpn_head.py

@@ -2,6 +2,7 @@
 from typing import Dict, List, Optional, Tuple
 
 import torch
+from mmdet.models.utils import multi_apply
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -15,7 +16,6 @@
                                         LiDARInstance3DBoxes)
 from mmdet3d.structures.det3d_data_sample import SampleList
 from mmdet3d.utils.typing import InstanceList
-from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()

mmdet3d/models/dense_heads/shape_aware_head.py

@@ -5,6 +5,7 @@
 import numpy as np
 import torch
 from mmcv.cnn import ConvModule
+from mmdet.models.utils import multi_apply
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -14,7 +15,6 @@
 from mmdet3d.registry import MODELS
 from mmdet3d.structures import limit_period, xywhr2xyxyr
 from mmdet3d.utils import InstanceList, OptInstanceList
-from mmdet.models.utils import multi_apply
 from ..builder import build_head
 from .anchor3d_head import Anchor3DHead
 

mmdet3d/models/dense_heads/smoke_mono3d_head.py

@@ -2,18 +2,18 @@
 from typing import List, Optional, Tuple
 
 import torch
+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)
 from mmengine.structures import InstanceData
 from torch import Tensor
 from torch.nn import functional as F
 
 from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.utils import (ConfigType, InstanceList, OptConfigType,
                            OptInstanceList, OptMultiConfig)
-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)
 from .anchor_free_mono3d_head import AnchorFreeMono3DHead
 
 

mmdet3d/models/dense_heads/ssd_3d_head.py

@@ -3,6 +3,7 @@
 
 import torch
 from mmcv.ops.nms import batched_nms
+from mmdet.models.utils import multi_apply
 from mmengine import ConfigDict
 from mmengine.structures import InstanceData
 from torch import Tensor
@@ -13,7 +14,6 @@
 from mmdet3d.structures.bbox_3d import (DepthInstance3DBoxes,
                                         LiDARInstance3DBoxes,
                                         rotation_3d_in_axis)
-from mmdet.models.utils import multi_apply
 from .vote_head import VoteHead
 
 

mmdet3d/models/dense_heads/train_mixins.py

@@ -1,10 +1,10 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.utils import images_to_levels, multi_apply
 from mmengine.structures import InstanceData
 
 from mmdet3d.structures import limit_period
-from mmdet.models.utils import images_to_levels, multi_apply
 
 
 class AnchorTrainMixin(object):

mmdet3d/models/dense_heads/vote_head.py

@@ -4,6 +4,7 @@
 import numpy as np
 import torch
 from mmcv.ops import furthest_point_sample
+from mmdet.models.utils import multi_apply
 from mmengine import ConfigDict
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
@@ -14,7 +15,6 @@
 from mmdet3d.models.losses import chamfer_distance
 from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.structures import Det3DDataSample
-from mmdet.models.utils import multi_apply
 from .base_conv_bbox_head import BaseConvBboxHead
 
 

mmdet3d/models/detectors/base.py

@@ -1,13 +1,13 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 from typing import List, Union
 
+from mmdet.models import BaseDetector
 from mmengine.structures import InstanceData
 
 from mmdet3d.registry import MODELS
 from mmdet3d.structures.det3d_data_sample import (ForwardResults,
                                                   OptSampleList, SampleList)
 from mmdet3d.utils.typing import OptConfigType, OptInstanceList, OptMultiConfig
-from mmdet.models import BaseDetector
 
 
 @MODELS.register_module()