[Refactor] Refactort the interface of 3DSSD

configs/3dssd/3dssd_4x4_kitti-3d-car.py

@@ -53,8 +53,9 @@ train_pipeline = [
     # 3DSSD can get a higher performance without this transform
     # dict(type='BackgroundPointsFilter', bbox_enlarge_range=(0.5, 2.0, 0.5)),
     dict(type='PointSample', num_points=16384),
-    dict(type='DefaultFormatBundle3D', class_names=class_names),
-    dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
+    dict(
+        type='Pack3DDetInputs',
+        keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
 ]
 
 test_pipeline = [
@@ -79,22 +80,14 @@ test_pipeline = [
             dict(
                 type='PointsRangeFilter', point_cloud_range=point_cloud_range),
             dict(type='PointSample', num_points=16384),
-            dict(
-                type='DefaultFormatBundle3D',
-                class_names=class_names,
-                with_label=False),
-            dict(type='Collect3D', keys=['points'])
-        ])
+        ]),
+    dict(type='Pack3DDetInputs', keys=['points'])
 ]
 
-data = dict(
-    samples_per_gpu=4,
-    workers_per_gpu=4,
-    train=dict(dataset=dict(pipeline=train_pipeline)),
-    val=dict(pipeline=test_pipeline),
-    test=dict(pipeline=test_pipeline))
-
-evaluation = dict(interval=2)
+train_dataloader = dict(
+    batch_size=4, dataset=dict(dataset=dict(pipeline=train_pipeline, )))
+test_dataloader = dict(dataset=dict(pipeline=test_pipeline))
+val_dataloader = dict(dataset=dict(pipeline=test_pipeline))
 
 # model settings
 model = dict(
@@ -105,17 +98,24 @@ model = dict(
 
 # optimizer
 lr = 0.002  # max learning rate
-optimizer = dict(type='AdamW', lr=lr, weight_decay=0)
-optimizer_config = dict(grad_clip=dict(max_norm=35, norm_type=2))
-lr_config = dict(policy='step', warmup=None, step=[45, 60])
-# runtime settings
-runner = dict(type='EpochBasedRunner', max_epochs=80)
+optim_wrapper = dict(
+    type='OptimWrapper',
+    optimizer=dict(type='AdamW', lr=lr, weight_decay=0.),
+    clip_grad=dict(max_norm=35, norm_type=2),
+)
 
-# yapf:disable
-log_config = dict(
-    interval=30,
-    hooks=[
-        dict(type='TextLoggerHook'),
-        dict(type='TensorboardLoggerHook')
-    ])
-# yapf:enable
+# training schedule for 1x
+train_cfg = dict(type='EpochBasedTrainLoop', max_epochs=80, val_interval=2)
+val_cfg = dict(type='ValLoop')
+test_cfg = dict(type='TestLoop')
+
+# learning rate
+param_scheduler = [
+    dict(
+        type='MultiStepLR',
+        begin=0,
+        end=80,
+        by_epoch=True,
+        milestones=[45, 60],
+        gamma=0.1)
+]

configs/_base_/datasets/kitti-3d-car.py

@@ -69,9 +69,9 @@ test_pipeline = [
                 translation_std=[0, 0, 0]),
             dict(type='RandomFlip3D'),
             dict(
-                type='PointsRangeFilter', point_cloud_range=point_cloud_range),
-            dict(type='Pack3DDetInputs', keys=['points']),
-        ])
+                type='PointsRangeFilter', point_cloud_range=point_cloud_range)
+        ]),
+    dict(type='Pack3DDetInputs', keys=['points'])
 ]
 # construct a pipeline for data and gt loading in show function
 # please keep its loading function consistent with test_pipeline (e.g. client)
@@ -82,7 +82,7 @@ eval_pipeline = [
         load_dim=4,
         use_dim=4,
         file_client_args=file_client_args),
-    dict(type='Pack3DDetInputs', keys=['points']),
+    dict(type='Pack3DDetInputs', keys=['points'])
 ]
 train_dataloader = dict(
     batch_size=6,

configs/_base_/models/3dssd.py

 model = dict(
     type='SSD3DNet',
+    data_preprocessor=dict(type='Det3DDataPreprocessor'),
     backbone=dict(
         type='PointNet2SAMSG',
         in_channels=4,
@@ -20,7 +21,6 @@ model = dict(
             normalize_xyz=False)),
     bbox_head=dict(
         type='SSD3DHead',
-        in_channels=256,
         vote_module_cfg=dict(
             in_channels=256,
             num_points=256,
@@ -48,30 +48,29 @@ model = dict(
             conv_cfg=dict(type='Conv1d'),
             norm_cfg=dict(type='BN1d', eps=1e-3, momentum=0.1),
             bias=True),
-        conv_cfg=dict(type='Conv1d'),
-        norm_cfg=dict(type='BN1d', eps=1e-3, momentum=0.1),
         objectness_loss=dict(
-            type='CrossEntropyLoss',
+            type='mmdet.CrossEntropyLoss',
             use_sigmoid=True,
             reduction='sum',
             loss_weight=1.0),
         center_loss=dict(
-            type='SmoothL1Loss', reduction='sum', loss_weight=1.0),
+            type='mmdet.SmoothL1Loss', reduction='sum', loss_weight=1.0),
         dir_class_loss=dict(
-            type='CrossEntropyLoss', reduction='sum', loss_weight=1.0),
+            type='mmdet.CrossEntropyLoss', reduction='sum', loss_weight=1.0),
         dir_res_loss=dict(
-            type='SmoothL1Loss', reduction='sum', loss_weight=1.0),
+            type='mmdet.SmoothL1Loss', reduction='sum', loss_weight=1.0),
         size_res_loss=dict(
-            type='SmoothL1Loss', reduction='sum', loss_weight=1.0),
+            type='mmdet.SmoothL1Loss', reduction='sum', loss_weight=1.0),
         corner_loss=dict(
-            type='SmoothL1Loss', reduction='sum', loss_weight=1.0),
-        vote_loss=dict(type='SmoothL1Loss', reduction='sum', loss_weight=1.0)),
+            type='mmdet.SmoothL1Loss', reduction='sum', loss_weight=1.0),
+        vote_loss=dict(
+            type='mmdet.SmoothL1Loss', reduction='sum', loss_weight=1.0)),
     # model training and testing settings
     train_cfg=dict(
-        sample_mod='spec', pos_distance_thr=10.0, expand_dims_length=0.05),
+        sample_mode='spec', pos_distance_thr=10.0, expand_dims_length=0.05),
     test_cfg=dict(
         nms_cfg=dict(type='nms', iou_thr=0.1),
-        sample_mod='spec',
+        sample_mode='spec',
         score_thr=0.0,
         per_class_proposal=True,
         max_output_num=100))

configs/parta2/hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class.py

@@ -57,9 +57,9 @@ test_pipeline = [
                 translation_std=[0, 0, 0]),
             dict(type='RandomFlip3D'),
             dict(
-                type='PointsRangeFilter', point_cloud_range=point_cloud_range),
+                type='PointsRangeFilter', point_cloud_range=point_cloud_range)
+        ]),
     dict(type='Pack3DDetInputs', keys=['points'])
-        ])
 ]
 # construct a pipeline for data and gt loading in show function
 # please keep its loading function consistent with test_pipeline (e.g. client)

configs/votenet/votenet_16x8_sunrgbd-3d-10class.py

+# TODO refactor the config of sunrgbd
 _base_ = [
     '../_base_/datasets/sunrgbd-3d-10class.py', '../_base_/models/votenet.py',
     '../_base_/schedules/schedule_3x.py', '../_base_/default_runtime.py'

mmdet3d/models/dense_heads/ssd_3d_head.py

 # Copyright (c) OpenMMLab. All rights reserved.
+from typing import List, Optional, Tuple, Union
+
 import torch
+from mmcv import ConfigDict
 from mmcv.ops.nms import batched_nms
-from mmcv.runner import force_fp32
+from mmengine import InstanceData
+from torch import Tensor
 from torch.nn import functional as F
 
 from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
@@ -9,6 +13,7 @@ from mmdet3d.core.bbox.structures import (DepthInstance3DBoxes,
                                           rotation_3d_in_axis)
 from mmdet3d.registry import MODELS
 from mmdet.core import multi_apply
+from ...core import BaseInstance3DBoxes
 from ..builder import build_loss
 from .vote_head import VoteHead
 
@@ -21,7 +26,6 @@ class SSD3DHead(VoteHead):
         num_classes (int): The number of class.
         bbox_coder (:obj:`BaseBBoxCoder`): Bbox coder for encoding and
             decoding boxes.
-        in_channels (int): The number of input feature channel.
         train_cfg (dict): Config for training.
         test_cfg (dict): Config for testing.
         vote_module_cfg (dict): Config of VoteModule for point-wise votes.
@@ -41,25 +45,21 @@ class SSD3DHead(VoteHead):
     """
 
     def __init__(self,
-                 num_classes,
-                 bbox_coder,
-                 in_channels=256,
-                 train_cfg=None,
-                 test_cfg=None,
-                 vote_module_cfg=None,
-                 vote_aggregation_cfg=None,
-                 pred_layer_cfg=None,
-                 conv_cfg=dict(type='Conv1d'),
-                 norm_cfg=dict(type='BN1d'),
-                 act_cfg=dict(type='ReLU'),
-                 objectness_loss=None,
-                 center_loss=None,
-                 dir_class_loss=None,
-                 dir_res_loss=None,
-                 size_res_loss=None,
-                 corner_loss=None,
-                 vote_loss=None,
-                 init_cfg=None):
+                 num_classes: int,
+                 bbox_coder: Union[ConfigDict, dict],
+                 train_cfg: Optional[dict] = None,
+                 test_cfg: Optional[dict] = None,
+                 vote_module_cfg: Optional[dict] = None,
+                 vote_aggregation_cfg: Optional[dict] = None,
+                 pred_layer_cfg: Optional[dict] = None,
+                 objectness_loss: Optional[dict] = None,
+                 center_loss: Optional[dict] = None,
+                 dir_class_loss: Optional[dict] = None,
+                 dir_res_loss: Optional[dict] = None,
+                 size_res_loss: Optional[dict] = None,
+                 corner_loss: Optional[dict] = None,
+                 vote_loss: Optional[dict] = None,
+                 init_cfg: Optional[dict] = None) -> None:
         super(SSD3DHead, self).__init__(
             num_classes,
             bbox_coder,
@@ -68,8 +68,6 @@ class SSD3DHead(VoteHead):
             vote_module_cfg=vote_module_cfg,
             vote_aggregation_cfg=vote_aggregation_cfg,
             pred_layer_cfg=pred_layer_cfg,
-            conv_cfg=conv_cfg,
-            norm_cfg=norm_cfg,
             objectness_loss=objectness_loss,
             center_loss=center_loss,
             dir_class_loss=dir_class_loss,
@@ -78,24 +76,23 @@ class SSD3DHead(VoteHead):
             size_res_loss=size_res_loss,
             semantic_loss=None,
             init_cfg=init_cfg)
-
         self.corner_loss = build_loss(corner_loss)
         self.vote_loss = build_loss(vote_loss)
         self.num_candidates = vote_module_cfg['num_points']
 
-    def _get_cls_out_channels(self):
+    def _get_cls_out_channels(self) -> int:
         """Return the channel number of classification outputs."""
         # Class numbers (k) + objectness (1)
         return self.num_classes
 
-    def _get_reg_out_channels(self):
+    def _get_reg_out_channels(self) -> int:
         """Return the channel number of regression outputs."""
         # Bbox classification and regression
         # (center residual (3), size regression (3)
         # heading class+residual (num_dir_bins*2)),
         return 3 + 3 + self.num_dir_bins * 2
 
-    def _extract_input(self, feat_dict):
+    def _extract_input(self, feat_dict: dict) -> Tuple:
         """Extract inputs from features dictionary.
 
         Args:
@@ -112,86 +109,87 @@ class SSD3DHead(VoteHead):
 
         return seed_points, seed_features, seed_indices
 
-    @force_fp32(apply_to=('bbox_preds', ))
-    def loss(self,
-             bbox_preds,
-             points,
-             gt_bboxes_3d,
-             gt_labels_3d,
-             pts_semantic_mask=None,
-             pts_instance_mask=None,
-             img_metas=None,
-             gt_bboxes_ignore=None):
+    def loss_by_feat(
+            self,
+            points: List[torch.Tensor],
+            bbox_preds_dict: dict,
+            batch_gt_instances_3d: List[InstanceData],
+            batch_pts_semantic_mask: Optional[List[torch.Tensor]] = None,
+            batch_pts_instance_mask: Optional[List[torch.Tensor]] = None,
+            batch_input_metas: List[dict] = None,
+            ret_target: bool = False,
+            **kwargs) -> dict:
         """Compute loss.
 
         Args:
-            bbox_preds (dict): Predictions from forward of SSD3DHead.
             points (list[torch.Tensor]): Input points.
-            gt_bboxes_3d (list[:obj:`BaseInstance3DBoxes`]): Ground truth
-                bboxes of each sample.
-            gt_labels_3d (list[torch.Tensor]): Labels of each sample.
-            pts_semantic_mask (list[torch.Tensor]): Point-wise
-                semantic mask.
-            pts_instance_mask (list[torch.Tensor]): Point-wise
-                instance mask.
-            img_metas (list[dict]): Contain pcd and img's meta info.
-            gt_bboxes_ignore (list[torch.Tensor]): Specify
-                which bounding.
+            bbox_preds_dict (dict): Predictions from forward of vote head.
+            batch_gt_instances_3d (list[:obj:`InstanceData`]): Batch of
+                gt_instances. It usually includes ``bboxes_3d`` and
+                ``labels_3d`` attributes.
+            batch_pts_semantic_mask (list[tensor]): Semantic mask
+                of points cloud. Defaults to None. Defaults to None.
+            batch_pts_semantic_mask (list[tensor]): Instance mask
+                of points cloud. Defaults to None. Defaults to None.
+            batch_input_metas (list[dict]): Contain pcd and img's meta info.
+            ret_target (bool): Return targets or not.  Defaults to False.
 
         Returns:
             dict: Losses of 3DSSD.
         """
-        targets = self.get_targets(points, gt_bboxes_3d, gt_labels_3d,
-                                   pts_semantic_mask, pts_instance_mask,
-                                   bbox_preds)
+
+        targets = self.get_targets(points, bbox_preds_dict,
+                                   batch_gt_instances_3d,
+                                   batch_pts_semantic_mask,
+                                   batch_pts_instance_mask)
         (vote_targets, center_targets, size_res_targets, dir_class_targets,
          dir_res_targets, mask_targets, centerness_targets, corner3d_targets,
          vote_mask, positive_mask, negative_mask, centerness_weights,
          box_loss_weights, heading_res_loss_weight) = targets
 
         # calculate centerness loss
-        centerness_loss = self.objectness_loss(
-            bbox_preds['obj_scores'].transpose(2, 1),
+        centerness_loss = self.loss_objectness(
+            bbox_preds_dict['obj_scores'].transpose(2, 1),
             centerness_targets,
             weight=centerness_weights)
 
         # calculate center loss
-        center_loss = self.center_loss(
-            bbox_preds['center_offset'],
+        center_loss = self.loss_center(
+            bbox_preds_dict['center_offset'],
             center_targets,
             weight=box_loss_weights.unsqueeze(-1))
 
         # calculate direction class loss
-        dir_class_loss = self.dir_class_loss(
-            bbox_preds['dir_class'].transpose(1, 2),
+        dir_class_loss = self.loss_dir_class(
+            bbox_preds_dict['dir_class'].transpose(1, 2),
             dir_class_targets,
             weight=box_loss_weights)
 
         # calculate direction residual loss
-        dir_res_loss = self.dir_res_loss(
-            bbox_preds['dir_res_norm'],
+        dir_res_loss = self.loss_dir_res(
+            bbox_preds_dict['dir_res_norm'],
             dir_res_targets.unsqueeze(-1).repeat(1, 1, self.num_dir_bins),
             weight=heading_res_loss_weight)
 
         # calculate size residual loss
-        size_loss = self.size_res_loss(
-            bbox_preds['size'],
+        size_loss = self.loss_size_res(
+            bbox_preds_dict['size'],
             size_res_targets,
             weight=box_loss_weights.unsqueeze(-1))
 
         # calculate corner loss
         one_hot_dir_class_targets = dir_class_targets.new_zeros(
-            bbox_preds['dir_class'].shape)
+            bbox_preds_dict['dir_class'].shape)
         one_hot_dir_class_targets.scatter_(2, dir_class_targets.unsqueeze(-1),
                                            1)
         pred_bbox3d = self.bbox_coder.decode(
             dict(
-                center=bbox_preds['center'],
-                dir_res=bbox_preds['dir_res'],
+                center=bbox_preds_dict['center'],
+                dir_res=bbox_preds_dict['dir_res'],
                 dir_class=one_hot_dir_class_targets,
-                size=bbox_preds['size']))
+                size=bbox_preds_dict['size']))
         pred_bbox3d = pred_bbox3d.reshape(-1, pred_bbox3d.shape[-1])
-        pred_bbox3d = img_metas[0]['box_type_3d'](
+        pred_bbox3d = batch_input_metas[0]['box_type_3d'](
             pred_bbox3d.clone(),
             box_dim=pred_bbox3d.shape[-1],
             with_yaw=self.bbox_coder.with_rot,
@@ -204,7 +202,7 @@ class SSD3DHead(VoteHead):
 
         # calculate vote loss
         vote_loss = self.vote_loss(
-            bbox_preds['vote_offset'].transpose(1, 2),
+            bbox_preds_dict['vote_offset'].transpose(1, 2),
             vote_targets,
             weight=vote_mask.unsqueeze(-1))
 
@@ -219,57 +217,74 @@ class SSD3DHead(VoteHead):
 
         return losses
 
-    def get_targets(self,
-                    points,
-                    gt_bboxes_3d,
-                    gt_labels_3d,
-                    pts_semantic_mask=None,
-                    pts_instance_mask=None,
-                    bbox_preds=None):
-        """Generate targets of ssd3d head.
+    def get_targets(
+        self,
+        points: List[Tensor],
+        bbox_preds_dict: dict = None,
+        batch_gt_instances_3d: List[InstanceData] = None,
+        batch_pts_semantic_mask: List[torch.Tensor] = None,
+        batch_pts_instance_mask: List[torch.Tensor] = None,
+    ) -> Tuple[Tensor]:
+        """Generate targets of 3DSSD head.
 
         Args:
             points (list[torch.Tensor]): Points of each batch.
-            gt_bboxes_3d (list[:obj:`BaseInstance3DBoxes`]): Ground truth
-                bboxes of each batch.
-            gt_labels_3d (list[torch.Tensor]): Labels of each batch.
-            pts_semantic_mask (list[torch.Tensor]): Point-wise semantic
-                label of each batch.
-            pts_instance_mask (list[torch.Tensor]): Point-wise instance
-                label of each batch.
-            bbox_preds (torch.Tensor): Bounding box predictions of ssd3d head.
+            bbox_preds_dict (dict): Bounding box predictions of
+                vote head.  Defaults to None.
+            batch_gt_instances_3d (list[:obj:`InstanceData`]): Batch of
+                gt_instances. It usually includes ``bboxes`` and ``labels``
+                attributes.  Defaults to None.
+            batch_pts_semantic_mask (list[tensor]): Semantic gt mask for
+                point clouds.  Defaults to None.
+            batch_pts_instance_mask (list[tensor]): Instance gt mask for
+                point clouds. Defaults to None.
 
         Returns:
-            tuple[torch.Tensor]: Targets of ssd3d head.
+            tuple[torch.Tensor]: Targets of 3DSSD head.
         """
-        # find empty example
-        for index in range(len(gt_labels_3d)):
-            if len(gt_labels_3d[index]) == 0:
-                fake_box = gt_bboxes_3d[index].tensor.new_zeros(
-                    1, gt_bboxes_3d[index].tensor.shape[-1])
-                gt_bboxes_3d[index] = gt_bboxes_3d[index].new_box(fake_box)
-                gt_labels_3d[index] = gt_labels_3d[index].new_zeros(1)
+        batch_gt_labels_3d = [
+            gt_instances_3d.labels_3d
+            for gt_instances_3d in batch_gt_instances_3d
+        ]
+        batch_gt_bboxes_3d = [
+            gt_instances_3d.bboxes_3d
+            for gt_instances_3d in batch_gt_instances_3d
+        ]
 
-        if pts_semantic_mask is None:
-            pts_semantic_mask = [None for i in range(len(gt_labels_3d))]
-            pts_instance_mask = [None for i in range(len(gt_labels_3d))]
+        # find empty example
+        for index in range(len(batch_gt_labels_3d)):
+            if len(batch_gt_labels_3d[index]) == 0:
+                fake_box = batch_gt_bboxes_3d[index].tensor.new_zeros(
+                    1, batch_gt_bboxes_3d[index].tensor.shape[-1])
+                batch_gt_bboxes_3d[index] = batch_gt_bboxes_3d[index].new_box(
+                    fake_box)
+                batch_gt_labels_3d[index] = batch_gt_labels_3d[
+                    index].new_zeros(1)
+
+        if batch_pts_semantic_mask is None:
+            batch_pts_semantic_mask = [
+                None for _ in range(len(batch_gt_labels_3d))
+            ]
+            batch_pts_instance_mask = [
+                None for _ in range(len(batch_gt_labels_3d))
+            ]
 
         aggregated_points = [
-            bbox_preds['aggregated_points'][i]
-            for i in range(len(gt_labels_3d))
+            bbox_preds_dict['aggregated_points'][i]
+            for i in range(len(batch_gt_labels_3d))
         ]
 
         seed_points = [
-            bbox_preds['seed_points'][i, :self.num_candidates].detach()
-            for i in range(len(gt_labels_3d))
+            bbox_preds_dict['seed_points'][i, :self.num_candidates].detach()
+            for i in range(len(batch_gt_labels_3d))
         ]
 
         (vote_targets, center_targets, size_res_targets, dir_class_targets,
          dir_res_targets, mask_targets, centerness_targets, corner3d_targets,
          vote_mask, positive_mask, negative_mask) = multi_apply(
-             self.get_targets_single, points, gt_bboxes_3d, gt_labels_3d,
-             pts_semantic_mask, pts_instance_mask, aggregated_points,
-             seed_points)
+             self.get_targets_single, points, batch_gt_bboxes_3d,
+             batch_gt_labels_3d, batch_pts_semantic_mask,
+             batch_pts_instance_mask, aggregated_points, seed_points)
 
         center_targets = torch.stack(center_targets)
         positive_mask = torch.stack(positive_mask)
@@ -283,7 +298,7 @@ class SSD3DHead(VoteHead):
         vote_targets = torch.stack(vote_targets)
         vote_mask = torch.stack(vote_mask)
 
-        center_targets -= bbox_preds['aggregated_points']
+        center_targets -= bbox_preds_dict['aggregated_points']
 
         centerness_weights = (positive_mask +
                               negative_mask).unsqueeze(-1).repeat(
@@ -308,13 +323,14 @@ class SSD3DHead(VoteHead):
                 heading_res_loss_weight)
 
     def get_targets_single(self,
-                           points,
-                           gt_bboxes_3d,
-                           gt_labels_3d,
-                           pts_semantic_mask=None,
-                           pts_instance_mask=None,
-                           aggregated_points=None,
-                           seed_points=None):
+                           points: Tensor,
+                           gt_bboxes_3d: BaseInstance3DBoxes,
+                           gt_labels_3d: Tensor,
+                           pts_semantic_mask: Optional[Tensor] = None,
+                           pts_instance_mask: Optional[Tensor] = None,
+                           aggregated_points: Optional[Tensor] = None,
+                           seed_points: Optional[Tensor] = None,
+                           **kwargs):
         """Generate targets of ssd3d head for single batch.
 
         Args:
@@ -440,41 +456,50 @@ class SSD3DHead(VoteHead):
                 centerness_targets, corner3d_targets, vote_mask, positive_mask,
                 negative_mask)
 
-    def get_bboxes(self, points, bbox_preds, input_metas, rescale=False):
-        """Generate bboxes from 3DSSD head predictions.
+    def predict_by_feat(self, points: List[torch.Tensor],
+                        bbox_preds_dict: dict, batch_input_metas: List[dict],
+                        **kwargs) -> List[InstanceData]:
+        """Generate bboxes from vote head predictions.
 
         Args:
-            points (torch.Tensor): Input points.
-            bbox_preds (dict): Predictions from sdd3d head.
-            input_metas (list[dict]): Point cloud and image's meta info.
-            rescale (bool): Whether to rescale bboxes.
+            points (List[torch.Tensor]): Input points of multiple samples.
+            bbox_preds_dict (dict): Predictions from vote head.
+            batch_input_metas (list[dict]): Each item
+                contains the meta information of each sample.
 
         Returns:
-            list[tuple[torch.Tensor]]: Bounding boxes, scores and labels.
+            list[:obj:`InstanceData`]: List of processed predictions. Each
+            InstanceData cantains 3d Bounding boxes and corresponding
+            scores and labels.
         """
         # decode boxes
-        sem_scores = F.sigmoid(bbox_preds['obj_scores']).transpose(1, 2)
+        sem_scores = F.sigmoid(bbox_preds_dict['obj_scores']).transpose(1, 2)
         obj_scores = sem_scores.max(-1)[0]
-        bbox3d = self.bbox_coder.decode(bbox_preds)
-
+        bbox3d = self.bbox_coder.decode(bbox_preds_dict)
         batch_size = bbox3d.shape[0]
-        results = list()
-
+        points = torch.stack(points)
+        results_list = []
         for b in range(batch_size):
+            temp_results = InstanceData()
             bbox_selected, score_selected, labels = self.multiclass_nms_single(
                 obj_scores[b], sem_scores[b], bbox3d[b], points[b, ..., :3],
-                input_metas[b])
+                batch_input_metas[b])
 
-            bbox = input_metas[b]['box_type_3d'](
+            bbox = batch_input_metas[b]['box_type_3d'](
                 bbox_selected.clone(),
                 box_dim=bbox_selected.shape[-1],
                 with_yaw=self.bbox_coder.with_rot)
-            results.append((bbox, score_selected, labels))
 
-        return results
+            temp_results.bboxes_3d = bbox
+            temp_results.scores_3d = score_selected
+            temp_results.labels_3d = labels
+            results_list.append(temp_results)
+
+        return results_list
 
-    def multiclass_nms_single(self, obj_scores, sem_scores, bbox, points,
-                              input_meta):
+    def multiclass_nms_single(self, obj_scores: Tensor, sem_scores: Tensor,
+                              bbox: Tensor, points: Tensor,
+                              input_meta: dict) -> Tuple[Tensor]:
         """Multi-class nms in single batch.
 
         Args:
@@ -538,7 +563,8 @@ class SSD3DHead(VoteHead):
 
         return bbox_selected, score_selected, labels
 
-    def _assign_targets_by_points_inside(self, bboxes_3d, points):
+    def _assign_targets_by_points_inside(self, bboxes_3d: BaseInstance3DBoxes,
+                                         points: Tensor) -> Tuple:
         """Compute assignment by checking whether point is inside bbox.
 
         Args:

mmdet3d/models/detectors/ssd3dnet.py

@@ -16,11 +16,11 @@ class SSD3DNet(VoteNet):
                  train_cfg=None,
                  test_cfg=None,
                  init_cfg=None,
-                 pretrained=None):
+                 **kwargs):
         super(SSD3DNet, self).__init__(
             backbone=backbone,
             bbox_head=bbox_head,
             train_cfg=train_cfg,
             test_cfg=test_cfg,
             init_cfg=init_cfg,
-            pretrained=pretrained)
+            **kwargs)

tests/test_models/test_detectors/test_3dssd.py

+import unittest
+
+import torch
+from mmengine import DefaultScope
+
+from mmdet3d.registry import MODELS
+from tests.utils.model_utils import (_create_detector_inputs,
+                                     _get_detector_cfg, _setup_seed)
+
+
+class Test3DSSD(unittest.TestCase):
+
+    def test_3dssd(self):
+        import mmdet3d.models
+
+        assert hasattr(mmdet3d.models, 'SSD3DNet')
+        DefaultScope.get_instance('test_ssd3d', scope_name='mmdet3d')
+        _setup_seed(0)
+        voxel_net_cfg = _get_detector_cfg('3dssd/3dssd_4x4_kitti-3d-car.py')
+        model = MODELS.build(voxel_net_cfg)
+        num_gt_instance = 3
+        data = [
+            _create_detector_inputs(
+                num_gt_instance=num_gt_instance, num_classes=1)
+        ]
+
+        if torch.cuda.is_available():
+            model = model.cuda()
+            # test simple_test
+            with torch.no_grad():
+                batch_inputs, data_samples = model.data_preprocessor(
+                    data, True)
+                results = model.forward(
+                    batch_inputs, data_samples, mode='predict')
+            self.assertEqual(len(results), len(data))
+            self.assertIn('bboxes_3d', results[0].pred_instances_3d)
+            self.assertIn('scores_3d', results[0].pred_instances_3d)
+            self.assertIn('labels_3d', results[0].pred_instances_3d)
+
+            losses = model.forward(batch_inputs, data_samples, mode='loss')
+
+            self.assertGreater(losses['centerness_loss'], 0)