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[Enhance] Refactor the import of mmdet (#1947)
* fix config * refactor import of `mmdet` * fix lint * fix lint
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configs/pgd/pgd_r101-caffe_fpn_head-gn_16xb2-1x_nus-mono3d.py

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(), # velo
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(256, ) # bbox2d
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),
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loss_depth=dict(type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=1.0),
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loss_depth=dict(
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type='mmdet.SmoothL1Loss', beta=1.0 / 9.0, loss_weight=1.0),
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bbox_coder=dict(
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type='PGDBBoxCoder',
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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

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

mmdet3d/__init__.py

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

mmdet3d/datasets/builder.py

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

mmdet3d/datasets/transforms/loading.py

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

mmdet3d/datasets/transforms/transforms_3d.py

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import mmcv
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import numpy as np
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from mmcv.transforms import BaseTransform, RandomResize, Resize
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from mmdet.datasets.transforms import (PhotoMetricDistortion, RandomCrop,
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RandomFlip)
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from mmengine import is_tuple_of
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from mmdet3d.models.task_modules import VoxelGenerator
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LiDARInstance3DBoxes)
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from mmdet3d.structures.ops import box_np_ops
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from mmdet3d.structures.points import BasePoints
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from mmdet.datasets.transforms import (PhotoMetricDistortion, RandomCrop,
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RandomFlip)
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from .compose import Compose
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from .data_augment_utils import noise_per_object_v3_
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mmdet3d/evaluation/metrics/indoor_metric.py

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

mmdet3d/models/backbones/__init__.py

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

mmdet3d/models/backbones/nostem_regnet.py

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

mmdet3d/models/data_preprocessors/data_preprocessor.py

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import numpy as np
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import torch
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from mmcv.ops import Voxelization
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from mmdet.models import DetDataPreprocessor
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from mmengine.model import stack_batch
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from mmengine.utils import is_list_of
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from torch.nn import functional as F
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from mmdet3d.registry import MODELS
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from mmdet3d.utils import OptConfigType
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from mmdet.models import DetDataPreprocessor
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from .utils import multiview_img_stack_batch
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mmdet3d/models/dense_heads/anchor3d_head.py

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import numpy as np
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import torch
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from mmdet.models.utils import multi_apply
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from torch import Tensor
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from torch import nn as nn
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from mmdet3d.registry import MODELS, TASK_UTILS
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from mmdet3d.utils.typing import (ConfigType, InstanceList, OptConfigType,
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OptInstanceList)
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from mmdet.models.utils import multi_apply
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from .base_3d_dense_head import Base3DDenseHead
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from .train_mixins import AnchorTrainMixin
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mmdet3d/models/dense_heads/anchor_free_mono3d_head.py

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import torch
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from mmcv.cnn import ConvModule
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from mmdet.models.utils import multi_apply
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from mmengine.model import bias_init_with_prob, normal_init
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from torch import Tensor
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from torch import nn as nn
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from mmdet3d.registry import MODELS
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from mmdet3d.utils import ConfigType, InstanceList, OptConfigType
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from mmdet.models.utils import multi_apply
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from .base_mono3d_dense_head import BaseMono3DDenseHead
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mmdet3d/models/dense_heads/base_3d_dense_head.py

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import numpy as np
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import torch
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from mmdet.models.utils import select_single_mlvl
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from mmengine.config import ConfigDict
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from mmengine.model import BaseModule, constant_init
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from mmengine.structures import InstanceData
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from mmdet3d.structures import limit_period, xywhr2xyxyr
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from mmdet3d.structures.det3d_data_sample import SampleList
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from mmdet3d.utils.typing import InstanceList, OptMultiConfig
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from mmdet.models.utils import select_single_mlvl
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class Base3DDenseHead(BaseModule, metaclass=ABCMeta):

mmdet3d/models/dense_heads/centerpoint_head.py

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import torch
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from mmcv.cnn import ConvModule, build_conv_layer
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from mmdet.models.utils import multi_apply
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from mmengine.model import BaseModule
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from mmengine.structures import InstanceData
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from torch import Tensor, nn
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gaussian_radius)
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from mmdet3d.registry import MODELS, TASK_UTILS
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from mmdet3d.structures import Det3DDataSample, xywhr2xyxyr
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from mmdet.models.utils import multi_apply
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from .. import builder
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from ..layers import circle_nms, nms_bev
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mmdet3d/models/dense_heads/fcaf3d_head.py

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import torch
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from mmcv.cnn import Scale
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from mmcv.ops import nms3d, nms3d_normal
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from mmdet.utils import reduce_mean
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from mmengine.model import bias_init_with_prob
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from mmengine.structures import InstanceData
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from torch import Tensor, nn
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from mmdet3d.models import HEADS, build_loss
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from mmdet3d.structures import BaseInstance3DBoxes, rotation_3d_in_axis
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from mmdet3d.utils import InstanceList, OptInstanceList
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from mmdet.utils import reduce_mean
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from .base_3d_dense_head import Base3DDenseHead
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mmdet3d/models/dense_heads/fcos_mono3d_head.py

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import numpy as np
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import torch
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from mmcv.cnn import Scale
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from mmdet.models.utils import multi_apply, select_single_mlvl
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from mmengine.model import normal_init
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from mmengine.structures import InstanceData
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from torch import Tensor
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from mmdet3d.structures import limit_period, points_img2cam, xywhr2xyxyr
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from mmdet3d.utils import (ConfigType, InstanceList, OptConfigType,
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OptInstanceList)
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from mmdet.models.utils import multi_apply, select_single_mlvl
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from .anchor_free_mono3d_head import AnchorFreeMono3DHead
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RangeType = Sequence[Tuple[int, int]]

mmdet3d/models/dense_heads/groupfree3d_head.py

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build_transformer_layer)
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from mmcv.ops import PointsSampler as Points_Sampler
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from mmcv.ops import gather_points
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from mmdet.models.utils import multi_apply
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from mmengine.model import BaseModule, xavier_init
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from mmengine.structures import InstanceData
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from torch import Tensor
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from mmdet3d.registry import MODELS, TASK_UTILS
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from mmdet3d.structures import BaseInstance3DBoxes, Det3DDataSample
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from mmdet3d.structures.det3d_data_sample import SampleList
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from mmdet.models.utils import multi_apply
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from .base_conv_bbox_head import BaseConvBboxHead
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EPS = 1e-6

mmdet3d/models/dense_heads/monoflex_head.py

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from typing import List, Optional, Tuple, Union
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import torch
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from mmdet.models.utils import (gaussian_radius, gen_gaussian_target,
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multi_apply)
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from mmdet.models.utils.gaussian_target import (get_local_maximum,
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get_topk_from_heatmap,
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transpose_and_gather_feat)
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from mmengine.config import ConfigDict
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from mmengine.model import xavier_init
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from mmengine.structures import InstanceData
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handle_proj_objs)
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from mmdet3d.registry import MODELS
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from mmdet3d.structures import Det3DDataSample
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from mmdet.models.utils import (gaussian_radius, gen_gaussian_target,
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multi_apply)
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from mmdet.models.utils.gaussian_target import (get_local_maximum,
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get_topk_from_heatmap,
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transpose_and_gather_feat)
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from .anchor_free_mono3d_head import AnchorFreeMono3DHead
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mmdet3d/models/dense_heads/pgd_head.py

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import numpy as np
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import torch
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from mmcv.cnn import Scale
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from mmdet.models.utils import multi_apply
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from mmdet.structures.bbox import distance2bbox
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from mmengine.model import bias_init_with_prob, normal_init
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from mmengine.structures import InstanceData
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from torch import Tensor
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from mmdet3d.structures import points_cam2img, points_img2cam, xywhr2xyxyr
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from mmdet3d.utils.typing import (ConfigType, InstanceList, OptConfigType,
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OptInstanceList)
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from mmdet.models.utils import multi_apply
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from mmdet.structures.bbox import distance2bbox
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from .fcos_mono3d_head import FCOSMono3DHead
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mmdet3d/models/dense_heads/point_rpn_head.py

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

mmdet3d/models/dense_heads/shape_aware_head.py

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import numpy as np
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import torch
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from mmcv.cnn import ConvModule
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from mmdet.models.utils import multi_apply
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from mmengine.model import BaseModule
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from mmengine.structures import InstanceData
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from torch import Tensor
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from mmdet3d.registry import MODELS
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from mmdet3d.structures import limit_period, xywhr2xyxyr
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from mmdet3d.utils import InstanceList, OptInstanceList
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from mmdet.models.utils import multi_apply
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from ..builder import build_head
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from .anchor3d_head import Anchor3DHead
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mmdet3d/models/dense_heads/smoke_mono3d_head.py

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from typing import List, Optional, Tuple
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import torch
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from mmdet.models.utils import (gaussian_radius, gen_gaussian_target,
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multi_apply)
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from mmdet.models.utils.gaussian_target import (get_local_maximum,
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get_topk_from_heatmap,
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transpose_and_gather_feat)
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from mmengine.structures import InstanceData
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from torch import Tensor
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from torch.nn import functional as F
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from mmdet3d.registry import MODELS, TASK_UTILS
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from mmdet3d.utils import (ConfigType, InstanceList, OptConfigType,
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OptInstanceList, OptMultiConfig)
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from mmdet.models.utils import (gaussian_radius, gen_gaussian_target,
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multi_apply)
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from mmdet.models.utils.gaussian_target import (get_local_maximum,
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get_topk_from_heatmap,
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transpose_and_gather_feat)
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from .anchor_free_mono3d_head import AnchorFreeMono3DHead
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mmdet3d/models/dense_heads/ssd_3d_head.py

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import torch
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from mmcv.ops.nms import batched_nms
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from mmdet.models.utils import multi_apply
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from mmengine import ConfigDict
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from mmengine.structures import InstanceData
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from torch import Tensor
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from mmdet3d.structures.bbox_3d import (DepthInstance3DBoxes,
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LiDARInstance3DBoxes,
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rotation_3d_in_axis)
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from mmdet.models.utils import multi_apply
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from .vote_head import VoteHead
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mmdet3d/models/dense_heads/train_mixins.py

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

mmdet3d/models/dense_heads/vote_head.py

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import numpy as np
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import torch
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from mmcv.ops import furthest_point_sample
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from mmdet.models.utils import multi_apply
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from mmengine import ConfigDict
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from mmengine.model import BaseModule
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from mmengine.structures import InstanceData
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from mmdet3d.models.losses import chamfer_distance
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from mmdet3d.registry import MODELS, TASK_UTILS
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from mmdet3d.structures import Det3DDataSample
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from mmdet.models.utils import multi_apply
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from .base_conv_bbox_head import BaseConvBboxHead
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mmdet3d/models/detectors/base.py

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

mmdet3d/models/detectors/dfm.py

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# Copyright (c) OpenMMLab. All rights reserved.
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import torch
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from mmdet.models.detectors import BaseDetector
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from mmdet3d.registry import MODELS
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from mmdet3d.structures.ops import bbox3d2result
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from mmdet3d.utils import ConfigType
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from mmdet.models.detectors import BaseDetector
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from ..builder import build_backbone, build_head, build_neck
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