[Refactor]Fix ObjectRangeFilter + PointsRangeFilter + ObjectNameFilter

mmdet3d/datasets/pipelines/transforms_3d.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import random
 import warnings
-from typing import Dict
 
 import cv2
 import numpy as np
@@ -12,6 +11,7 @@ from mmengine.registry import build_from_cfg
 from mmdet3d.core import VoxelGenerator
 from mmdet3d.core.bbox import (CameraInstance3DBoxes, DepthInstance3DBoxes,
                                LiDARInstance3DBoxes, box_np_ops)
+from mmdet3d.core.points import BasePoints
 from mmdet3d.registry import TRANSFORMS
 from mmdet.datasets.pipelines import RandomFlip
 from .data_augment_utils import noise_per_object_v3_
@@ -274,6 +274,7 @@ class ObjectSample(BaseTransform):
     - gt_bboxes (optional)
 
     Modified Keys:
+
     - points
     - gt_bboxes_3d
     - gt_labels_3d
@@ -293,7 +294,10 @@ class ObjectSample(BaseTransform):
             3D labels.
     """
 
-    def __init__(self, db_sampler, sample_2d=False, use_ground_plane=False):
+    def __init__(self,
+                 db_sampler: dict,
+                 sample_2d: bool = False,
+                 use_ground_plane: bool = False):
         self.sampler_cfg = db_sampler
         self.sample_2d = sample_2d
         if 'type' not in db_sampler.keys():
@@ -302,7 +306,8 @@ class ObjectSample(BaseTransform):
         self.use_ground_plane = use_ground_plane
 
     @staticmethod
-    def remove_points_in_boxes(points, boxes):
+    def remove_points_in_boxes(points: BasePoints,
+                               boxes: np.ndarray) -> np.ndarray:
         """Remove the points in the sampled bounding boxes.
 
         Args:
@@ -422,10 +427,10 @@ class ObjectNoise(BaseTransform):
     """
 
     def __init__(self,
-                 translation_std=[0.25, 0.25, 0.25],
-                 global_rot_range=[0.0, 0.0],
-                 rot_range=[-0.15707963267, 0.15707963267],
-                 num_try=100):
+                 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):
         self.translation_std = translation_std
         self.global_rot_range = global_rot_range
         self.rot_range = rot_range
@@ -756,18 +761,26 @@ class PointShuffle(object):
 
 
 @TRANSFORMS.register_module()
-class ObjectRangeFilter(object):
+class ObjectRangeFilter(BaseTransform):
     """Filter objects by the range.
 
+    Required Keys:
+
+    - gt_bboxes_3d
+
+    Modified Keys:
+
+    - gt_bboxes_3d
+
     Args:
         point_cloud_range (list[float]): Point cloud range.
     """
 
-    def __init__(self, point_cloud_range):
+    def __init__(self, point_cloud_range: list):
         self.pcd_range = np.array(point_cloud_range, dtype=np.float32)
 
-    def __call__(self, input_dict):
-        """Call function to filter objects by the range.
+    def transform(self, input_dict: dict) -> dict:
+        """Transform function to filter objects by the range.
 
         Args:
             input_dict (dict): Result dict from loading pipeline.
@@ -808,18 +821,28 @@ class ObjectRangeFilter(object):
 
 
 @TRANSFORMS.register_module()
-class PointsRangeFilter(object):
+class PointsRangeFilter(BaseTransform):
     """Filter points by the range.
 
+    Required Keys:
+
+    - points
+    - pts_instance_mask (optional)
+
+    Modified Keys:
+
+    - points
+    - pts_instance_mask (optional)
+
     Args:
         point_cloud_range (list[float]): Point cloud range.
     """
 
-    def __init__(self, point_cloud_range):
+    def __init__(self, point_cloud_range: list):
         self.pcd_range = np.array(point_cloud_range, dtype=np.float32)
 
-    def __call__(self, input_dict):
-        """Call function to filter points by the range.
+    def transform(self, input_dict: dict) -> dict:
+        """Transform function to filter points by the range.
 
         Args:
             input_dict (dict): Result dict from loading pipeline.
@@ -853,19 +876,27 @@ class PointsRangeFilter(object):
 
 
 @TRANSFORMS.register_module()
-class ObjectNameFilter(object):
+class ObjectNameFilter(BaseTransform):
     """Filter GT objects by their names.
 
+    Required Keys:
+
+    - gt_labels_3d
+
+    Modified Keys:
+
+    - gt_labels_3d
+
     Args:
         classes (list[str]): List of class names to be kept for training.
     """
 
-    def __init__(self, classes):
+    def __init__(self, classes: list):
         self.classes = classes
         self.labels = list(range(len(self.classes)))
 
-    def __call__(self, input_dict):
-        """Call function to filter objects by their names.
+    def transform(self, input_dict: dict) -> dict:
+        """Transform function to filter objects by their names.
 
         Args:
             input_dict (dict): Result dict from loading pipeline.
@@ -896,11 +927,13 @@ class PointSample(BaseTransform):
     Sampling data to a certain number.
 
     Required Keys:
+
     - points
     - pts_instance_mask (optional)
     - pts_semantic_mask (optional)
 
     Modified Keys:
+
     - points
     - pts_instance_mask (optional)
     - pts_semantic_mask (optional)
@@ -914,7 +947,10 @@ class PointSample(BaseTransform):
             replacement. Defaults to False.
     """
 
-    def __init__(self, num_points, sample_range=None, replace=False):
+    def __init__(self,
+                 num_points: int,
+                 sample_range: float = None,
+                 replace: bool = False):
         self.num_points = num_points
         self.sample_range = sample_range
         self.replace = replace
@@ -967,7 +1003,7 @@ class PointSample(BaseTransform):
         else:
             return points[choices]
 
-    def transform(self, input_dict: Dict) -> Dict:
+    def transform(self, input_dict: dict) -> dict:
         """Transform function to sample points to in indoor scenes.
 
         Args: