[Enhance]: Add typehints for dataset transforms and fix potential bug for `PointSample` (#1875)

* update dataset transforms

* update dbsampler docstring and add typehints

* add type hints and fix potential point sample bug

* fix lint

* fix

* fix

mmdet3d/datasets/transforms/compose.py

@@ -32,7 +32,7 @@ class Compose:
             data (dict): A result dict contains the data to transform.
 
         Returns:
-           dict: Transformed data.
+            dict: Transformed data.
         """
 
         for t in self.transforms:

mmdet3d/datasets/transforms/dbsampler.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import copy
 import os
-import warnings
+from typing import List, Optional
 
 import mmengine
 import numpy as np
@@ -16,18 +16,19 @@ class BatchSampler:
 
     Args:
         sample_list (list[dict]): List of samples.
-        name (str, optional): The category of samples. Default: None.
-        epoch (int, optional): Sampling epoch. Default: None.
-        shuffle (bool, optional): Whether to shuffle indices. Default: False.
-        drop_reminder (bool, optional): Drop reminder. Default: False.
+        name (str, optional): The category of samples. Defaults to None.
+        epoch (int, optional): Sampling epoch. Defaults to None.
+        shuffle (bool, optional): Whether to shuffle indices.
+            Defaults to False.
+        drop_reminder (bool, optional): Drop reminder. Defaults to False.
     """
 
     def __init__(self,
-                 sampled_list,
-                 name=None,
-                 epoch=None,
-                 shuffle=True,
-                 drop_reminder=False):
+                 sampled_list: List[dict],
+                 name: Optional[str] = None,
+                 epoch: Optional[int] = None,
+                 shuffle: bool = True,
+                 drop_reminder: bool = False) -> None:
         self._sampled_list = sampled_list
         self._indices = np.arange(len(sampled_list))
         if shuffle:
@@ -40,7 +41,7 @@ class BatchSampler:
         self._epoch_counter = 0
         self._drop_reminder = drop_reminder
 
-    def _sample(self, num):
+    def _sample(self, num: int) -> List[int]:
         """Sample specific number of ground truths and return indices.
 
         Args:
@@ -57,7 +58,7 @@ class BatchSampler:
             self._idx += num
         return ret
 
-    def _reset(self):
+    def _reset(self) -> None:
         """Reset the index of batchsampler to zero."""
         assert self._name is not None
         # print("reset", self._name)
@@ -65,7 +66,7 @@ class BatchSampler:
             np.random.shuffle(self._indices)
         self._idx = 0
 
-    def sample(self, num):
+    def sample(self, num: int) -> List[dict]:
         """Sample specific number of ground truths.
 
         Args:
@@ -88,24 +89,28 @@ class DataBaseSampler(object):
         rate (float): Rate of actual sampled over maximum sampled number.
         prepare (dict): Name of preparation functions and the input value.
         sample_groups (dict): Sampled classes and numbers.
-        classes (list[str], optional): List of classes. Default: None.
-        points_loader(dict, optional): Config of points loader. Default:
-            dict(type='LoadPointsFromFile', load_dim=4, use_dim=[0,1,2,3])
+        classes (list[str], optional): List of classes. Defaults to None.
+        points_loader(dict, optional): Config of points loader. Defaults to
+            dict(type='LoadPointsFromFile', load_dim=4, use_dim=[0, 1, 2, 3]).
+        file_client_args (dict, optional): Config dict of file clients,
+            refer to
+            https://github.com/open-mmlab/mmengine/blob/main/mmengine/fileio/file_client.py
+            for more details. Defaults to dict(backend='disk').
     """
 
     def __init__(self,
-                 info_path,
-                 data_root,
-                 rate,
-                 prepare,
-                 sample_groups,
-                 classes=None,
-                 points_loader=dict(
+                 info_path: str,
+                 data_root: str,
+                 rate: float,
+                 prepare: dict,
+                 sample_groups: dict,
+                 classes: Optional[List[str]] = None,
+                 points_loader: dict = dict(
                      type='LoadPointsFromFile',
                      coord_type='LIDAR',
                      load_dim=4,
                      use_dim=[0, 1, 2, 3]),
-                 file_client_args=dict(backend='disk')):
+                 file_client_args: dict = dict(backend='disk')) -> None:
         super().__init__()
         self.data_root = data_root
         self.info_path = info_path
@@ -118,18 +123,9 @@ class DataBaseSampler(object):
         self.file_client = mmengine.FileClient(**file_client_args)
 
         # load data base infos
-        if hasattr(self.file_client, 'get_local_path'):
-            with self.file_client.get_local_path(info_path) as local_path:
-                # loading data from a file-like object needs file format
-                db_infos = mmengine.load(
-                    open(local_path, 'rb'), file_format='pkl')
-        else:
-            warnings.warn(
-                'The used MMCV version does not have get_local_path. '
-                f'We treat the {info_path} as local paths and it '
-                'might cause errors if the path is not a local path. '
-                'Please use MMCV>= 1.3.16 if you meet errors.')
-            db_infos = mmengine.load(info_path)
+        with self.file_client.get_local_path(info_path) as local_path:
+            # loading data from a file-like object needs file format
+            db_infos = mmengine.load(open(local_path, 'rb'), file_format='pkl')
 
         # filter database infos
         from mmengine.logging import MMLogger
@@ -163,7 +159,7 @@ class DataBaseSampler(object):
         # TODO: No group_sampling currently
 
     @staticmethod
-    def filter_by_difficulty(db_infos, removed_difficulty):
+    def filter_by_difficulty(db_infos: dict, removed_difficulty: list) -> dict:
         """Filter ground truths by difficulties.
 
         Args:
@@ -182,7 +178,7 @@ class DataBaseSampler(object):
         return new_db_infos
 
     @staticmethod
-    def filter_by_min_points(db_infos, min_gt_points_dict):
+    def filter_by_min_points(db_infos: dict, min_gt_points_dict: dict) -> dict:
         """Filter ground truths by number of points in the bbox.
 
         Args:
@@ -203,12 +199,19 @@ class DataBaseSampler(object):
                 db_infos[name] = filtered_infos
         return db_infos
 
-    def sample_all(self, gt_bboxes, gt_labels, img=None, ground_plane=None):
+    def sample_all(self,
+                   gt_bboxes: np.ndarray,
+                   gt_labels: np.ndarray,
+                   img: Optional[np.ndarray] = None,
+                   ground_plane: Optional[np.ndarray] = None) -> dict:
         """Sampling all categories of bboxes.
 
         Args:
             gt_bboxes (np.ndarray): Ground truth bounding boxes.
             gt_labels (np.ndarray): Ground truth labels of boxes.
+            img (np.ndarray, optional): Image array. Defaults to None.
+            ground_plane (np.ndarray, optional): Ground plane information.
+                Defaults to None.
 
         Returns:
             dict: Dict of sampled 'pseudo ground truths'.
@@ -301,7 +304,10 @@ class DataBaseSampler(object):
 
         return ret
 
-    def sample_class_v2(self, name, num, gt_bboxes):
+    def sample_class_v2(self,
+                        name: str,
+                        num: int,
+                        gt_bboxes: np.ndarray) -> List[dict]:
         """Sampling specific categories of bounding boxes.
 
         Args:

mmdet3d/datasets/transforms/formating.py

@@ -63,16 +63,16 @@ class Pack3DDetInputs(BaseTransform):
 
     def __init__(
         self,
-        keys: dict,
-        meta_keys: dict = ('img_path', 'ori_shape', 'img_shape', 'lidar2img',
-                           'depth2img', 'cam2img', 'pad_shape', 'scale_factor',
-                           'flip', 'pcd_horizontal_flip', 'pcd_vertical_flip',
-                           'box_mode_3d', 'box_type_3d', 'img_norm_cfg',
-                           'num_pts_feats', 'pcd_trans', 'sample_idx',
-                           'pcd_scale_factor', 'pcd_rotation',
-                           'pcd_rotation_angle', 'lidar_path',
-                           'transformation_3d_flow', 'trans_mat',
-                           'affine_aug')):
+        keys: tuple,
+        meta_keys: tuple = ('img_path', 'ori_shape', 'img_shape', 'lidar2img',
+                            'depth2img', 'cam2img', 'pad_shape',
+                            'scale_factor', 'flip', 'pcd_horizontal_flip',
+                            'pcd_vertical_flip', 'box_mode_3d', 'box_type_3d',
+                            'img_norm_cfg', 'num_pts_feats', 'pcd_trans',
+                            'sample_idx', 'pcd_scale_factor', 'pcd_rotation',
+                            'pcd_rotation_angle', 'lidar_path',
+                            'transformation_3d_flow', 'trans_mat',
+                            'affine_aug')) -> None:
         self.keys = keys
         self.meta_keys = meta_keys
 
@@ -99,7 +99,7 @@ class Pack3DDetInputs(BaseTransform):
                 - img
 
             - 'data_samples' (obj:`Det3DDataSample`): The annotation info of
-                the sample.
+              the sample.
         """
         # augtest
         if isinstance(results, list):
@@ -116,7 +116,7 @@ class Pack3DDetInputs(BaseTransform):
         else:
             raise NotImplementedError
 
-    def pack_single_results(self, results):
+    def pack_single_results(self, results: dict) -> dict:
         """Method to pack the single input data. when the value in this dict is
         a list, it usually is in Augmentations Testing.
 
@@ -132,7 +132,7 @@ class Pack3DDetInputs(BaseTransform):
                 - points
                 - img
 
-            - 'data_samples' (obj:`Det3DDataSample`): The annotation info
+            - 'data_samples' (:obj:`Det3DDataSample`): The annotation info
               of the sample.
         """
         # Format 3D data
@@ -220,6 +220,7 @@ class Pack3DDetInputs(BaseTransform):
         return packed_results
 
     def __repr__(self) -> str:
+        """str: Return a string that describes the module."""
         repr_str = self.__class__.__name__
         repr_str += f'(keys={self.keys})'
         repr_str += f'(meta_keys={self.meta_keys})'

mmdet3d/datasets/transforms/loading.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from typing import List
+from typing import List, Union
 
 import mmcv
 import mmengine
@@ -13,7 +13,7 @@ from mmdet.datasets.transforms import LoadAnnotations
 
 
 @TRANSFORMS.register_module()
-class LoadMultiViewImageFromFiles(object):
+class LoadMultiViewImageFromFiles(BaseTransform):
     """Load multi channel images from a list of separate channel files.
 
     Expects results['img_filename'] to be a list of filenames.
@@ -25,11 +25,15 @@ class LoadMultiViewImageFromFiles(object):
             Defaults to 'unchanged'.
     """
 
-    def __init__(self, to_float32=False, color_type='unchanged'):
+    def __init__(
+        self,
+        to_float32: bool = False,
+        color_type: str = 'unchanged'
+    ) -> None:
         self.to_float32 = to_float32
         self.color_type = color_type
 
-    def __call__(self, results):
+    def transform(self, results: dict) -> dict:
         """Call function to load multi-view image from files.
 
         Args:
@@ -139,7 +143,7 @@ class LoadPointsFromMultiSweeps(BaseTransform):
             Defaults to [0, 1, 2, 4].
         file_client_args (dict, optional): Config dict of file clients,
             refer to
-            https://github.com/open-mmlab/mmcv/blob/master/mmcv/fileio/file_client.py
+            https://github.com/open-mmlab/mmengine/blob/main/mmengine/fileio/file_client.py
             for more details. Defaults to dict(backend='disk').
         pad_empty_sweeps (bool, optional): Whether to repeat keyframe when
             sweeps is empty. Defaults to False.
@@ -150,14 +154,16 @@ class LoadPointsFromMultiSweeps(BaseTransform):
             Defaults to False.
     """
 
-    def __init__(self,
-                 sweeps_num=10,
-                 load_dim=5,
-                 use_dim=[0, 1, 2, 4],
-                 file_client_args=dict(backend='disk'),
-                 pad_empty_sweeps=False,
-                 remove_close=False,
-                 test_mode=False):
+    def __init__(
+        self,
+        sweeps_num: int = 10,
+        load_dim: int = 5,
+        use_dim: List[int] = [0, 1, 2, 4],
+        file_client_args: dict = dict(backend='disk'),
+        pad_empty_sweeps: bool = False,
+        remove_close: bool = False,
+        test_mode: bool = False
+    ) -> None:
         self.load_dim = load_dim
         self.sweeps_num = sweeps_num
         self.use_dim = use_dim
@@ -167,7 +173,7 @@ class LoadPointsFromMultiSweeps(BaseTransform):
         self.remove_close = remove_close
         self.test_mode = test_mode
 
-    def _load_points(self, pts_filename):
+    def _load_points(self, pts_filename: str) -> np.ndarray:
         """Private function to load point clouds data.
 
         Args:
@@ -189,7 +195,11 @@ class LoadPointsFromMultiSweeps(BaseTransform):
                 points = np.fromfile(pts_filename, dtype=np.float32)
         return points
 
-    def _remove_close(self, points, radius=1.0):
+    def _remove_close(
+        self,
+        points: Union[np.ndarray, BasePoints],
+        radius: float = 1.0
+    ) -> Union[np.ndarray, BasePoints]:
         """Removes point too close within a certain radius from origin.
 
         Args:
@@ -198,7 +208,7 @@ class LoadPointsFromMultiSweeps(BaseTransform):
                 Defaults to 1.0.
 
         Returns:
-            np.ndarray: Points after removing.
+            np.ndarray | :obj:`BasePoints`: Points after removing.
         """
         if isinstance(points, np.ndarray):
             points_numpy = points
@@ -211,7 +221,7 @@ class LoadPointsFromMultiSweeps(BaseTransform):
         not_close = np.logical_not(np.logical_and(x_filt, y_filt))
         return points[not_close]
 
-    def transform(self, results):
+    def transform(self, results: dict) -> dict:
         """Call function to load multi-sweep point clouds from files.
 
         Args:
@@ -220,7 +230,7 @@ class LoadPointsFromMultiSweeps(BaseTransform):
 
         Returns:
             dict: The result dict containing the multi-sweep points data.
-                Added key and value are described below.
+                Updated key and value are described below.
 
                 - points (np.ndarray | :obj:`BasePoints`): Multi-sweep point
                     cloud arrays.
@@ -290,7 +300,7 @@ class PointSegClassMapping(BaseTransform):
     others as len(valid_cat_ids).
     """
 
-    def transform(self, results: dict) -> None:
+    def transform(self, results: dict) -> dict:
         """Call function to map original semantic class to valid category ids.
 
         Args:
@@ -322,8 +332,6 @@ class PointSegClassMapping(BaseTransform):
     def __repr__(self):
         """str: Return a string that describes the module."""
         repr_str = self.__class__.__name__
-        repr_str += f'(valid_cat_ids={self.valid_cat_ids}, '
-        repr_str += f'max_cat_id={self.max_cat_id})'
         return repr_str
 
 
@@ -385,13 +393,14 @@ class LoadPointsFromFile(BaseTransform):
     Args:
         coord_type (str): The type of coordinates of points cloud.
             Available options includes:
+
             - 'LIDAR': Points in LiDAR coordinates.
             - 'DEPTH': Points in depth coordinates, usually for indoor dataset.
             - 'CAMERA': Points in camera coordinates.
         load_dim (int, optional): The dimension of the loaded points.
             Defaults to 6.
-        use_dim (list[int], optional): Which dimensions of the points to use.
-            Defaults to [0, 1, 2]. For KITTI dataset, set use_dim=4
+        use_dim (list[int] | int, optional): Which dimensions of the points
+            to use. Defaults to [0, 1, 2]. For KITTI dataset, set use_dim=4
             or use_dim=[0, 1, 2, 3] to use the intensity dimension.
         shift_height (bool, optional): Whether to use shifted height.
             Defaults to False.
@@ -399,7 +408,7 @@ class LoadPointsFromFile(BaseTransform):
             Defaults to False.
         file_client_args (dict, optional): Config dict of file clients,
             refer to
-            https://github.com/open-mmlab/mmcv/blob/master/mmcv/fileio/file_client.py
+            https://github.com/open-mmlab/mmengine/blob/main/mmengine/fileio/file_client.py
             for more details. Defaults to dict(backend='disk').
     """
 
@@ -407,7 +416,7 @@ class LoadPointsFromFile(BaseTransform):
         self,
         coord_type: str,
         load_dim: int = 6,
-        use_dim: list = [0, 1, 2],
+        use_dim: Union[int, List[int]] = [0, 1, 2],
         shift_height: bool = False,
         use_color: bool = False,
         file_client_args: dict = dict(backend='disk')
@@ -523,6 +532,7 @@ class LoadAnnotations3D(LoadAnnotations):
     Required Keys:
 
     - ann_info (dict)
+
         - gt_bboxes_3d (:obj:`LiDARInstance3DBoxes` |
           :obj:`DepthInstance3DBoxes` | :obj:`CameraInstance3DBoxes`):
           3D ground truth bboxes. Only when `with_bbox_3d` is True
@@ -592,7 +602,7 @@ class LoadAnnotations3D(LoadAnnotations):
         seg_3d_dtype (dtype, optional): Dtype of 3D semantic masks.
             Defaults to int64.
         file_client_args (dict): Config dict of file clients, refer to
-            https://github.com/open-mmlab/mmcv/blob/master/mmcv/fileio/file_client.py
+            https://github.com/open-mmlab/mmengine/blob/main/mmengine/fileio/file_client.py
             for more details.
     """
 

mmdet3d/datasets/transforms/test_time_aug.py

@@ -16,7 +16,7 @@ class MultiScaleFlipAug3D(BaseTransform):
 
     Args:
         transforms (list[dict]): Transforms to apply in each augmentation.
-        img_scale (tuple | list[tuple]: Images scales for resizing.
+        img_scale (tuple | list[tuple]): Images scales for resizing.
         pts_scale_ratio (float | list[float]): Points scale ratios for
             resizing.
         flip (bool, optional): Whether apply flip augmentation.
@@ -25,11 +25,11 @@ class MultiScaleFlipAug3D(BaseTransform):
             directions for images, options are "horizontal" and "vertical".
             If flip_direction is list, multiple flip augmentations will
             be applied. It has no effect when ``flip == False``.
-            Defaults to "horizontal".
-        pcd_horizontal_flip (bool, optional): Whether apply horizontal
+            Defaults to 'horizontal'.
+        pcd_horizontal_flip (bool, optional): Whether to apply horizontal
             flip augmentation to point cloud. Defaults to True.
             Note that it works only when 'flip' is turned on.
-        pcd_vertical_flip (bool, optional): Whether apply vertical flip
+        pcd_vertical_flip (bool, optional): Whether to apply vertical flip
             augmentation to point cloud. Defaults to True.
             Note that it works only when 'flip' is turned on.
     """

mmdet3d/datasets/transforms/transforms_3d.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import random
 import warnings
-from typing import Dict, List, Optional, Tuple, Union
+from typing import List, Optional, Tuple, Union
 
 import cv2
 import numpy as np
@@ -76,7 +76,6 @@ class RandomFlip3D(RandomFlip):
     otherwise it will be randomly decided by a ratio specified in the init
     method.
 
-
     Required Keys:
 
     - points (np.float32)
@@ -329,7 +328,7 @@ class ObjectSample(BaseTransform):
     def __init__(self,
                  db_sampler: dict,
                  sample_2d: bool = False,
-                 use_ground_plane: bool = False):
+                 use_ground_plane: bool = False) -> None:
         self.sampler_cfg = db_sampler
         self.sample_2d = sample_2d
         if 'type' not in db_sampler.keys():
@@ -456,10 +455,10 @@ class ObjectNoise(BaseTransform):
     """
 
     def __init__(self,
-                 translation_std: list = [0.25, 0.25, 0.25],
-                 global_rot_range: list = [0.0, 0.0],
-                 rot_range: list = [-0.15707963267, 0.15707963267],
-                 num_try: int = 100):
+                 translation_std: List[float] = [0.25, 0.25, 0.25],
+                 global_rot_range: List[float] = [0.0, 0.0],
+                 rot_range: List[float] = [-0.15707963267, 0.15707963267],
+                 num_try: int = 100) -> None:
         self.translation_std = translation_std
         self.global_rot_range = global_rot_range
         self.rot_range = rot_range
@@ -522,7 +521,7 @@ class GlobalAlignment(BaseTransform):
     def __init__(self, rotation_axis: int) -> None:
         self.rotation_axis = rotation_axis
 
-    def _trans_points(self, results: Dict, trans_factor: np.ndarray) -> None:
+    def _trans_points(self, results: dict, trans_factor: np.ndarray) -> None:
         """Private function to translate points.
 
         Args:
@@ -534,7 +533,7 @@ class GlobalAlignment(BaseTransform):
         """
         results['points'].translate(trans_factor)
 
-    def _rot_points(self, results: Dict, rot_mat: np.ndarray) -> None:
+    def _rot_points(self, results: dict, rot_mat: np.ndarray) -> None:
         """Private function to rotate bounding boxes and points.
 
         Args:
@@ -560,7 +559,7 @@ class GlobalAlignment(BaseTransform):
         is_valid &= (rot_mat[:, self.rotation_axis] == valid_array).all()
         assert is_valid, f'invalid rotation matrix {rot_mat}'
 
-    def transform(self, results: Dict) -> Dict:
+    def transform(self, results: dict) -> dict:
         """Call function to shuffle points.
 
         Args:
@@ -586,6 +585,7 @@ class GlobalAlignment(BaseTransform):
         return results
 
     def __repr__(self):
+        """str: Return a string that describes the module."""
         repr_str = self.__class__.__name__
         repr_str += f'(rotation_axis={self.rotation_axis})'
         return repr_str
@@ -804,6 +804,7 @@ class PointShuffle(BaseTransform):
         return input_dict
 
     def __repr__(self):
+        """str: Return a string that describes the module."""
         return self.__class__.__name__
 
 
@@ -823,7 +824,7 @@ class ObjectRangeFilter(BaseTransform):
         point_cloud_range (list[float]): Point cloud range.
     """
 
-    def __init__(self, point_cloud_range: list):
+    def __init__(self, point_cloud_range: List[float]):
         self.pcd_range = np.array(point_cloud_range, dtype=np.float32)
 
     def transform(self, input_dict: dict) -> dict:
@@ -885,7 +886,7 @@ class PointsRangeFilter(BaseTransform):
         point_cloud_range (list[float]): Point cloud range.
     """
 
-    def __init__(self, point_cloud_range: list):
+    def __init__(self, point_cloud_range: List[float]) -> None:
         self.pcd_range = np.array(point_cloud_range, dtype=np.float32)
 
     def transform(self, input_dict: dict) -> dict:
@@ -938,7 +939,7 @@ class ObjectNameFilter(BaseTransform):
         classes (list[str]): List of class names to be kept for training.
     """
 
-    def __init__(self, classes: list):
+    def __init__(self, classes: List[str]) -> None:
         self.classes = classes
         self.labels = list(range(len(self.classes)))
 
@@ -996,34 +997,38 @@ class PointSample(BaseTransform):
 
     def __init__(self,
                  num_points: int,
-                 sample_range: float = None,
-                 replace: bool = False):
+                 sample_range: Optional[float] = None,
+                 replace: bool = False) -> None:
         self.num_points = num_points
         self.sample_range = sample_range
         self.replace = replace
 
-    def _points_random_sampling(self,
-                                points,
-                                num_samples,
-                                sample_range=None,
-                                replace=False,
-                                return_choices=False):
+    def _points_random_sampling(
+        self,
+        points: BasePoints,
+        num_samples: int,
+        sample_range: Optional[float] = None,
+        replace: bool = False,
+        return_choices: bool = False
+    ) -> Union[Tuple[BasePoints, np.ndarray], BasePoints]:
         """Points random sampling.
 
         Sample points to a certain number.
 
         Args:
-            points (np.ndarray | :obj:`BasePoints`): 3D Points.
+            points (:obj:`BasePoints`): 3D Points.
             num_samples (int): Number of samples to be sampled.
             sample_range (float, optional): Indicating the range where the
                 points will be sampled. Defaults to None.
             replace (bool, optional): Sampling with or without replacement.
-                Defaults to None.
+                Defaults to False.
             return_choices (bool, optional): Whether return choice.
                 Defaults to False.
+
         Returns:
-            tuple[np.ndarray] | np.ndarray:
-                - points (np.ndarray | :obj:`BasePoints`): 3D Points.
+            tuple[:obj:`BasePoints`, np.ndarray] | :obj:`BasePoints`:
+
+                - points (:obj:`BasePoints`): 3D Points.
                 - choices (np.ndarray, optional): The generated random samples.
         """
         if not replace:
@@ -1031,7 +1036,7 @@ class PointSample(BaseTransform):
         point_range = range(len(points))
         if sample_range is not None and not replace:
             # Only sampling the near points when len(points) >= num_samples
-            dist = np.linalg.norm(points.tensor, axis=1)
+            dist = np.linalg.norm(points.coord.numpy(), axis=1)
             far_inds = np.where(dist >= sample_range)[0]
             near_inds = np.where(dist < sample_range)[0]
             # in case there are too many far points
@@ -1055,6 +1060,7 @@ class PointSample(BaseTransform):
 
         Args:
             input_dict (dict): Result dict from loading pipeline.
+
         Returns:
             dict: Results after sampling, 'points', 'pts_instance_mask'
                 and 'pts_semantic_mask' keys are updated in the result dict.
@@ -1214,8 +1220,11 @@ class IndoorPatchPointSample(BaseTransform):
 
         return points
 
-    def _patch_points_sampling(self, points: BasePoints,
-                               sem_mask: np.ndarray) -> BasePoints:
+    def _patch_points_sampling(
+        self,
+        points: BasePoints,
+        sem_mask: np.ndarray
+    ) -> Tuple[BasePoints, np.ndarray]:
         """Patch points sampling.
 
         First sample a valid patch.
@@ -1226,7 +1235,7 @@ class IndoorPatchPointSample(BaseTransform):
             sem_mask (np.ndarray): semantic segmentation mask for input points.
 
         Returns:
-            tuple[:obj:`BasePoints`, np.ndarray] | :obj:`BasePoints`:
+            tuple[:obj:`BasePoints`, np.ndarray]:
 
                 - points (:obj:`BasePoints`): 3D Points.
                 - choices (np.ndarray): The generated random samples.
@@ -1433,7 +1442,7 @@ class BackgroundPointsFilter(BaseTransform):
 
 
 @TRANSFORMS.register_module()
-class VoxelBasedPointSampler(object):
+class VoxelBasedPointSampler(BaseTransform):
     """Voxel based point sampler.
 
     Apply voxel sampling to multiple sweep points.
@@ -1445,7 +1454,10 @@ class VoxelBasedPointSampler(object):
             for input points.
     """
 
-    def __init__(self, cur_sweep_cfg, prev_sweep_cfg=None, time_dim=3):
+    def __init__(self,
+                 cur_sweep_cfg: dict,
+                 prev_sweep_cfg: Optional[dict] = None,
+                 time_dim: int = 3) -> None:
         self.cur_voxel_generator = VoxelGenerator(**cur_sweep_cfg)
         self.cur_voxel_num = self.cur_voxel_generator._max_voxels
         self.time_dim = time_dim
@@ -1458,7 +1470,10 @@ class VoxelBasedPointSampler(object):
             self.prev_voxel_generator = None
             self.prev_voxel_num = 0
 
-    def _sample_points(self, points, sampler, point_dim):
+    def _sample_points(self,
+                       points: np.ndarray,
+                       sampler: VoxelGenerator,
+                       point_dim: int) -> np.ndarray:
         """Sample points for each points subset.
 
         Args:
@@ -1484,7 +1499,7 @@ class VoxelBasedPointSampler(object):
 
         return sample_points
 
-    def __call__(self, results):
+    def transform(self, results: dict) -> dict:
         """Call function to sample points from multiple sweeps.
 
         Args:
@@ -1766,6 +1781,7 @@ class AffineResize(BaseTransform):
         return ref_point3
 
     def __repr__(self):
+        """str: Return a string that describes the module."""
         repr_str = self.__class__.__name__
         repr_str += f'(img_scale={self.img_scale}, '
         repr_str += f'down_ratio={self.down_ratio}) '
@@ -1786,7 +1802,7 @@ class RandomShiftScale(BaseTransform):
         aug_prob (float): The shifting and scaling probability.
     """
 
-    def __init__(self, shift_scale: Tuple[float], aug_prob: float):
+    def __init__(self, shift_scale: Tuple[float], aug_prob: float) -> None:
 
         self.shift_scale = shift_scale
         self.aug_prob = aug_prob
@@ -1825,6 +1841,7 @@ class RandomShiftScale(BaseTransform):
         return results
 
     def __repr__(self):
+        """str: Return a string that describes the module."""
         repr_str = self.__class__.__name__
         repr_str += f'(shift_scale={self.shift_scale}, '
         repr_str += f'aug_prob={self.aug_prob}) '