Bump version to v1.1.0rc2

Bump to v1.1.0rc2

mmdet3d/models/roi_heads/mask_heads/primitive_head.py

@@ -4,6 +4,7 @@ from typing import Dict, List, Optional, Tuple
 import torch
 from mmcv.cnn import ConvModule
 from mmcv.ops import furthest_point_sample
+from mmdet.models.utils import multi_apply
 from mmengine.model import BaseModule
 from mmengine.structures import InstanceData
 from torch import nn as nn
@@ -13,7 +14,6 @@ from mmdet3d.models.layers import VoteModule, build_sa_module
 from mmdet3d.registry import MODELS
 from mmdet3d.structures import Det3DDataSample
 from mmdet3d.structures.bbox_3d import BaseInstance3DBoxes
-from mmdet.models.utils import multi_apply
 
 
 @MODELS.register_module()

mmdet3d/models/roi_heads/part_aggregation_roi_head.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from typing import Dict, List, Tuple
 
+from mmdet.models.task_modules import AssignResult, SamplingResult
 from mmengine import ConfigDict
 from torch import Tensor
 from torch.nn import functional as F
@@ -8,7 +9,6 @@ from torch.nn import functional as F
 from mmdet3d.registry import MODELS
 from mmdet3d.structures import bbox3d2roi
 from mmdet3d.utils import InstanceList
-from mmdet.models.task_modules import AssignResult, SamplingResult
 from ...structures.det3d_data_sample import SampleList
 from .base_3droi_head import Base3DRoIHead
 

mmdet3d/models/roi_heads/point_rcnn_roi_head.py

@@ -2,13 +2,13 @@
 from typing import Dict, Optional
 
 import torch
+from mmdet.models.task_modules import AssignResult
 from torch import Tensor
 from torch.nn import functional as F
 
 from mmdet3d.registry import MODELS, TASK_UTILS
 from mmdet3d.structures import bbox3d2roi
 from mmdet3d.utils.typing import InstanceList, SampleList
-from mmdet.models.task_modules import AssignResult
 from .base_3droi_head import Base3DRoIHead
 
 

mmdet3d/models/roi_heads/pv_rcnn_roi_head.py

+# Copyright (c) OpenMMLab. All rights reserved.
+from typing import List, Optional
+
+import torch
+from mmdet.models.task_modules import AssignResult
+from mmdet.models.task_modules.samplers import SamplingResult
+from torch.nn import functional as F
+
+from mmdet3d.models.roi_heads.base_3droi_head import Base3DRoIHead
+from mmdet3d.registry import MODELS
+from mmdet3d.structures import bbox3d2roi
+from mmdet3d.structures.det3d_data_sample import SampleList
+from mmdet3d.utils import InstanceList
+
+
+@MODELS.register_module()
+class PVRCNNRoiHead(Base3DRoIHead):
+    """RoI head for PV-RCNN.
+
+    Args:
+        num_classes (int): The number of classes. Defaults to 3.
+        semantic_head (dict, optional): Config of semantic head.
+            Defaults to None.
+        bbox_roi_extractor (dict, optional): Config of roi_extractor.
+            Defaults to None.
+        bbox_head (dict, optional): Config of bbox_head. Defaults to None.
+        train_cfg (dict, optional): Train config of model.
+            Defaults to None.
+        test_cfg (dict, optional): Train config of model.
+            Defaults to None.
+        init_cfg (dict, optional): Initialize config of
+            model. Defaults to None.
+    """
+
+    def __init__(self,
+                 num_classes: int = 3,
+                 semantic_head: Optional[dict] = None,
+                 bbox_roi_extractor: Optional[dict] = None,
+                 bbox_head: Optional[dict] = None,
+                 train_cfg: Optional[dict] = None,
+                 test_cfg: Optional[dict] = None,
+                 init_cfg: Optional[dict] = None):
+        super(PVRCNNRoiHead, self).__init__(
+            bbox_head=bbox_head,
+            bbox_roi_extractor=bbox_roi_extractor,
+            train_cfg=train_cfg,
+            test_cfg=test_cfg,
+            init_cfg=init_cfg)
+        self.num_classes = num_classes
+        self.semantic_head = MODELS.build(semantic_head)
+
+        self.init_assigner_sampler()
+
+    @property
+    def with_semantic(self):
+        """bool: whether the head has semantic branch"""
+        return hasattr(self,
+                       'semantic_head') and self.semantic_head is not None
+
+    def loss(self, feats_dict: dict, rpn_results_list: InstanceList,
+             batch_data_samples: SampleList, **kwargs) -> dict:
+        """Training forward function of PVRCNNROIHead.
+
+        Args:
+            feats_dict (dict): Contains point-wise features.
+            rpn_results_list (List[:obj:`InstanceData`]): Detection results
+                of rpn head.
+            batch_data_samples (List[:obj:`Det3DDataSample`]): The Data
+                samples. It usually includes information such as
+                `gt_instance_3d`, `gt_panoptic_seg_3d` and `gt_sem_seg_3d`.
+
+        Returns:
+            dict: losses from each head.
+
+            - loss_semantic (torch.Tensor): loss of semantic head.
+            - loss_bbox (torch.Tensor): loss of bboxes.
+            - loss_cls (torch.Tensor): loss of object classification.
+            - loss_corner (torch.Tensor): loss of bboxes corners.
+        """
+        losses = dict()
+        batch_gt_instances_3d = []
+        batch_gt_instances_ignore = []
+        for data_sample in batch_data_samples:
+            batch_gt_instances_3d.append(data_sample.gt_instances_3d)
+            if 'ignored_instances' in data_sample:
+                batch_gt_instances_ignore.append(data_sample.ignored_instances)
+            else:
+                batch_gt_instances_ignore.append(None)
+        if self.with_semantic:
+            semantic_results = self._semantic_forward_train(
+                feats_dict['keypoint_features'], feats_dict['keypoints'],
+                batch_gt_instances_3d)
+            losses['loss_semantic'] = semantic_results['loss_semantic']
+
+        sample_results = self._assign_and_sample(rpn_results_list,
+                                                 batch_gt_instances_3d)
+        if self.with_bbox:
+            bbox_results = self._bbox_forward_train(
+                semantic_results['seg_preds'],
+                feats_dict['fusion_keypoint_features'],
+                feats_dict['keypoints'], sample_results)
+            losses.update(bbox_results['loss_bbox'])
+
+        return losses
+
+    def predict(self, feats_dict: dict, rpn_results_list: InstanceList,
+                batch_data_samples: SampleList, **kwargs) -> SampleList:
+        """Perform forward propagation of the roi head and predict detection
+        results on the features of the upstream network.
+
+        Args:
+            feats_dict (dict): Contains point-wise features.
+            rpn_results_list (List[:obj:`InstanceData`]): Detection results
+                of rpn head.
+            batch_data_samples (List[:obj:`Det3DDataSample`]): The Data
+                samples. It usually includes information such as
+                `gt_instance_3d`, `gt_panoptic_seg_3d` and `gt_sem_seg_3d`.
+
+        Returns:
+            list[:obj:`InstanceData`]: Detection results of each sample
+            after the post process.
+            Each item usually contains following keys.
+
+            - scores_3d (Tensor): Classification scores, has a shape
+              (num_instances, )
+            - labels_3d (Tensor): Labels of bboxes, has a shape
+              (num_instances, ).
+            - bboxes_3d (BaseInstance3DBoxes): Prediction of bboxes,
+              contains a tensor with shape (num_instances, C), where
+              C >= 7.
+        """
+        assert self.with_bbox, 'Bbox head must be implemented.'
+        assert self.with_semantic, 'Semantic head must be implemented.'
+
+        batch_input_metas = [
+            data_samples.metainfo for data_samples in batch_data_samples
+        ]
+
+        semantic_results = self.semantic_head(feats_dict['keypoint_features'])
+        point_features = feats_dict[
+            'fusion_keypoint_features'] * semantic_results[
+                'seg_preds'].sigmoid().max(
+                    dim=-1, keepdim=True).values
+        rois = bbox3d2roi(
+            [res['bboxes_3d'].tensor for res in rpn_results_list])
+        labels_3d = [res['labels_3d'] for res in rpn_results_list]
+        bbox_results = self._bbox_forward(point_features,
+                                          feats_dict['keypoints'], rois)
+
+        results_list = self.bbox_head.get_results(rois,
+                                                  bbox_results['bbox_scores'],
+                                                  bbox_results['bbox_reg'],
+                                                  labels_3d, batch_input_metas,
+                                                  self.test_cfg)
+        return results_list
+
+    def _bbox_forward_train(self, seg_preds: torch.Tensor,
+                            keypoint_features: torch.Tensor,
+                            keypoints: torch.Tensor,
+                            sampling_results: SamplingResult) -> dict:
+        """Forward training function of roi_extractor and bbox_head.
+
+        Args:
+            seg_preds (torch.Tensor): Point-wise semantic features.
+            keypoint_features (torch.Tensor): key points features
+                from points encoder.
+            keypoints (torch.Tensor): Coordinate of key points.
+            sampling_results (:obj:`SamplingResult`): Sampled results used
+                for training.
+
+        Returns:
+            dict: Forward results including losses and predictions.
+        """
+        rois = bbox3d2roi([res.bboxes for res in sampling_results])
+        keypoint_features = keypoint_features * seg_preds.sigmoid().max(
+            dim=-1, keepdim=True).values
+        bbox_results = self._bbox_forward(keypoint_features, keypoints, rois)
+
+        bbox_targets = self.bbox_head.get_targets(sampling_results,
+                                                  self.train_cfg)
+        loss_bbox = self.bbox_head.loss(bbox_results['bbox_scores'],
+                                        bbox_results['bbox_reg'], rois,
+                                        *bbox_targets)
+
+        bbox_results.update(loss_bbox=loss_bbox)
+        return bbox_results
+
+    def _bbox_forward(self, keypoint_features: torch.Tensor,
+                      keypoints: torch.Tensor, rois: torch.Tensor) -> dict:
+        """Forward function of roi_extractor and bbox_head used in both
+        training and testing.
+
+        Args:
+            rois (Tensor): Roi boxes.
+            keypoint_features (torch.Tensor): key points features
+                from points encoder.
+            keypoints (torch.Tensor): Coordinate of key points.
+            rois (Tensor): Roi boxes.
+
+        Returns:
+            dict: Contains predictions of bbox_head and
+                features of roi_extractor.
+        """
+        pooled_keypoint_features = self.bbox_roi_extractor(
+            keypoint_features, keypoints[..., 1:], keypoints[..., 0].int(),
+            rois)
+        bbox_score, bbox_reg = self.bbox_head(pooled_keypoint_features)
+
+        bbox_results = dict(bbox_scores=bbox_score, bbox_reg=bbox_reg)
+        return bbox_results
+
+    def _assign_and_sample(
+            self, proposal_list: InstanceList,
+            batch_gt_instances_3d: InstanceList) -> List[SamplingResult]:
+        """Assign and sample proposals for training.
+
+        Args:
+            proposal_list (list[:obj:`InstancesData`]): Proposals produced by
+                rpn head.
+            batch_gt_instances_3d (list[:obj:`InstanceData`]): Batch of
+                gt_instances. It usually includes ``bboxes_3d`` and
+                ``labels_3d`` attributes.
+
+        Returns:
+            list[:obj:`SamplingResult`]: Sampled results of each training
+                sample.
+        """
+        sampling_results = []
+        # bbox assign
+        for batch_idx in range(len(proposal_list)):
+            cur_proposal_list = proposal_list[batch_idx]
+            cur_boxes = cur_proposal_list['bboxes_3d']
+            cur_labels_3d = cur_proposal_list['labels_3d']
+            cur_gt_instances_3d = batch_gt_instances_3d[batch_idx]
+            cur_gt_instances_3d.bboxes_3d = cur_gt_instances_3d.\
+                bboxes_3d.tensor
+            cur_gt_bboxes = batch_gt_instances_3d[batch_idx].bboxes_3d.to(
+                cur_boxes.device)
+            cur_gt_labels = batch_gt_instances_3d[batch_idx].labels_3d
+
+            batch_num_gts = 0
+            # 0 is bg
+            batch_gt_indis = cur_gt_labels.new_full((len(cur_boxes), ), 0)
+            batch_max_overlaps = cur_boxes.tensor.new_zeros(len(cur_boxes))
+            # -1 is bg
+            batch_gt_labels = cur_gt_labels.new_full((len(cur_boxes), ), -1)
+
+            # each class may have its own assigner
+            if isinstance(self.bbox_assigner, list):
+                for i, assigner in enumerate(self.bbox_assigner):
+                    gt_per_cls = (cur_gt_labels == i)
+                    pred_per_cls = (cur_labels_3d == i)
+                    cur_assign_res = assigner.assign(
+                        cur_proposal_list[pred_per_cls],
+                        cur_gt_instances_3d[gt_per_cls])
+                    # gather assign_results in different class into one result
+                    batch_num_gts += cur_assign_res.num_gts
+                    # gt inds (1-based)
+                    gt_inds_arange_pad = gt_per_cls.nonzero(
+                        as_tuple=False).view(-1) + 1
+                    # pad 0 for indice unassigned
+                    gt_inds_arange_pad = F.pad(
+                        gt_inds_arange_pad, (1, 0), mode='constant', value=0)
+                    # pad -1 for indice ignore
+                    gt_inds_arange_pad = F.pad(
+                        gt_inds_arange_pad, (1, 0), mode='constant', value=-1)
+                    # convert to 0~gt_num+2 for indices
+                    gt_inds_arange_pad += 1
+                    # now 0 is bg, >1 is fg in batch_gt_indis
+                    batch_gt_indis[pred_per_cls] = gt_inds_arange_pad[
+                        cur_assign_res.gt_inds + 1] - 1
+                    batch_max_overlaps[
+                        pred_per_cls] = cur_assign_res.max_overlaps
+                    batch_gt_labels[pred_per_cls] = cur_assign_res.labels
+
+                assign_result = AssignResult(batch_num_gts, batch_gt_indis,
+                                             batch_max_overlaps,
+                                             batch_gt_labels)
+            else:  # for single class
+                assign_result = self.bbox_assigner.assign(
+                    cur_proposal_list, cur_gt_instances_3d)
+            # sample boxes
+            sampling_result = self.bbox_sampler.sample(assign_result,
+                                                       cur_boxes.tensor,
+                                                       cur_gt_bboxes,
+                                                       cur_gt_labels)
+            sampling_results.append(sampling_result)
+        return sampling_results
+
+    def _semantic_forward_train(self, keypoint_features: torch.Tensor,
+                                keypoints: torch.Tensor,
+                                batch_gt_instances_3d: InstanceList) -> dict:
+        """Train semantic head.
+
+        Args:
+            keypoint_features (torch.Tensor): key points features
+                from points encoder.
+            keypoints (torch.Tensor): Coordinate of key points.
+            batch_gt_instances_3d (list[:obj:`InstanceData`]): Batch of
+                gt_instances. It usually includes ``bboxes_3d`` and
+                ``labels_3d`` attributes.
+
+        Returns:
+            dict: Segmentation results including losses
+        """
+        semantic_results = self.semantic_head(keypoint_features)
+        semantic_targets = self.semantic_head.get_targets(
+            keypoints, batch_gt_instances_3d)
+        loss_semantic = self.semantic_head.loss(semantic_results,
+                                                semantic_targets)
+        semantic_results.update(loss_semantic)
+        return semantic_results

mmdet3d/models/roi_heads/roi_extractors/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from mmdet.models.roi_heads.roi_extractors import SingleRoIExtractor
+
+from .batch_roigridpoint_extractor import Batch3DRoIGridExtractor
 from .single_roiaware_extractor import Single3DRoIAwareExtractor
 from .single_roipoint_extractor import Single3DRoIPointExtractor
 
 __all__ = [
     'SingleRoIExtractor', 'Single3DRoIAwareExtractor',
-    'Single3DRoIPointExtractor'
+    'Single3DRoIPointExtractor', 'Batch3DRoIGridExtractor'
 ]

mmdet3d/models/roi_heads/roi_extractors/batch_roigridpoint_extractor.py

+# Copyright (c) OpenMMLab. All rights reserved.
+import torch
+from mmengine.model import BaseModule
+
+from mmdet3d.registry import MODELS
+from mmdet3d.structures.bbox_3d import rotation_3d_in_axis
+
+
+@MODELS.register_module()
+class Batch3DRoIGridExtractor(BaseModule):
+    """Grid point wise roi-aware Extractor.
+
+    Args:
+        grid_size (int): The number of grid points in a roi bbox.
+            Defaults to 6.
+        roi_layer (dict, optional): Config of sa module to get
+            grid points features. Defaults to None.
+        init_cfg (dict, optional): Initialize config of
+            model. Defaults to None.
+    """
+
+    def __init__(self,
+                 grid_size: int = 6,
+                 roi_layer: dict = None,
+                 init_cfg: dict = None) -> None:
+        super(Batch3DRoIGridExtractor, self).__init__(init_cfg=init_cfg)
+        self.roi_grid_pool_layer = MODELS.build(roi_layer)
+        self.grid_size = grid_size
+
+    def forward(self, feats: torch.Tensor, coordinate: torch.Tensor,
+                batch_inds: torch.Tensor, rois: torch.Tensor) -> torch.Tensor:
+        """Forward roi extractor to extract grid points feature.
+
+        Args:
+            feats (torch.Tensor): Key points features.
+            coordinate (torch.Tensor): Key points coordinates.
+            batch_inds (torch.Tensor): Input batch indexes.
+            rois (torch.Tensor): Detection results of rpn head.
+
+        Returns:
+            torch.Tensor: Grid points features.
+        """
+        batch_size = int(batch_inds.max()) + 1
+
+        xyz = coordinate
+        xyz_batch_cnt = xyz.new_zeros(batch_size).int()
+        for k in range(batch_size):
+            xyz_batch_cnt[k] = (batch_inds == k).sum()
+
+        rois_batch_inds = rois[:, 0].int()
+        # (N1+N2+..., 6x6x6, 3)
+        roi_grid = self.get_dense_grid_points(rois[:, 1:])
+
+        new_xyz = roi_grid.view(-1, 3)
+        new_xyz_batch_cnt = new_xyz.new_zeros(batch_size).int()
+        for k in range(batch_size):
+            new_xyz_batch_cnt[k] = ((rois_batch_inds == k).sum() *
+                                    roi_grid.size(1))
+        pooled_points, pooled_features = self.roi_grid_pool_layer(
+            xyz=xyz.contiguous(),
+            xyz_batch_cnt=xyz_batch_cnt,
+            new_xyz=new_xyz.contiguous(),
+            new_xyz_batch_cnt=new_xyz_batch_cnt,
+            features=feats.contiguous())  # (M1 + M2 ..., C)
+
+        pooled_features = pooled_features.view(-1, self.grid_size,
+                                               self.grid_size, self.grid_size,
+                                               pooled_features.shape[-1])
+        # (BxN, 6, 6, 6, C)
+        return pooled_features
+
+    def get_dense_grid_points(self, rois: torch.Tensor) -> torch.Tensor:
+        """Get dense grid points from rois.
+
+        Args:
+            rois (torch.Tensor): Detection results of rpn head.
+
+        Returns:
+            torch.Tensor: Grid points coordinates.
+        """
+        rois_bbox = rois.clone()
+        rois_bbox[:, 2] += rois_bbox[:, 5] / 2
+        faked_features = rois_bbox.new_ones(
+            (self.grid_size, self.grid_size, self.grid_size))
+        dense_idx = faked_features.nonzero()
+        dense_idx = dense_idx.repeat(rois_bbox.size(0), 1, 1).float()
+        dense_idx = ((dense_idx + 0.5) / self.grid_size)
+        dense_idx[..., :3] -= 0.5
+
+        roi_ctr = rois_bbox[:, :3]
+        roi_dim = rois_bbox[:, 3:6]
+        roi_grid_points = dense_idx * roi_dim.view(-1, 1, 3)
+        roi_grid_points = rotation_3d_in_axis(
+            roi_grid_points, rois_bbox[:, 6], axis=2)
+        roi_grid_points += roi_ctr.view(-1, 1, 3)
+
+        return roi_grid_points

mmdet3d/models/segmentors/base.py

@@ -140,7 +140,8 @@ class Base3DSegmentor(BaseModel, metaclass=ABCMeta):
 
     def postprocess_result(self, seg_pred_list: List[dict],
                            batch_img_metas: List[dict]) -> list:
-        """ Convert results list to `Det3DDataSample`.
+        """Convert results list to `Det3DDataSample`.
+
         Args:
             seg_logits_list (List[dict]): List of segmentation results,
                 seg_logits from model of each input point clouds sample.
@@ -157,7 +158,8 @@ class Base3DSegmentor(BaseModel, metaclass=ABCMeta):
         for i in range(len(seg_pred_list)):
             img_meta = batch_img_metas[i]
             seg_pred = seg_pred_list[i]
-            prediction = Det3DDataSample(**{'metainfo': img_meta})
+            prediction = Det3DDataSample(**{'metainfo': img_meta.metainfo})
+            prediction.set_data({'eval_ann_info': img_meta.eval_ann_info})
             prediction.set_data(
                 {'pred_pts_seg': PointData(**{'pts_semantic_mask': seg_pred})})
             predictions.append(prediction)

mmdet3d/models/segmentors/encoder_decoder.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from typing import List
+from typing import List, Tuple
 
 import numpy as np
 import torch
@@ -65,10 +65,10 @@ class EncoderDecoder3D(Base3DSegmentor):
             loass. Defaults to None.
         train_cfg (OptConfigType): The config for training. Defaults to None.
         test_cfg (OptConfigType): The config for testing. Defaults to None.
-        data_preprocessor (dict, optional): The pre-process config of
-            :class:`BaseDataPreprocessor`.
-        init_cfg (dict, optional): The weight initialized config for
-            :class:`BaseModule`.
+        data_preprocessor (OptConfigType): The pre-process config of
+            :class:`BaseDataPreprocessor`. Defaults to None.
+        init_cfg (OptMultiConfig): The weight initialized config for
+            :class:`BaseModule`. Defaults to None.
     """  # noqa: E501
 
     def __init__(self,
@@ -80,7 +80,7 @@ class EncoderDecoder3D(Base3DSegmentor):
                  train_cfg: OptConfigType = None,
                  test_cfg: OptConfigType = None,
                  data_preprocessor: OptConfigType = None,
-                 init_cfg: OptMultiConfig = None):
+                 init_cfg: OptMultiConfig = None) -> None:
         super(EncoderDecoder3D, self).__init__(
             data_preprocessor=data_preprocessor, init_cfg=init_cfg)
         self.backbone = MODELS.build(backbone)
@@ -122,15 +122,15 @@ class EncoderDecoder3D(Base3DSegmentor):
             else:
                 self.loss_regularization = MODELS.build(loss_regularization)
 
-    def extract_feat(self, batch_inputs) -> List[Tensor]:
+    def extract_feat(self, batch_inputs: Tensor) -> Tensor:
         """Extract features from points."""
         x = self.backbone(batch_inputs)
         if self.with_neck:
             x = self.neck(x)
         return x
 
-    def encode_decode(self, batch_inputs: torch.Tensor,
-                      batch_input_metas: List[dict]) -> List[Tensor]:
+    def encode_decode(self, batch_inputs: Tensor,
+                      batch_input_metas: List[dict]) -> Tensor:
         """Encode points with backbone and decode into a semantic segmentation
         map of the same size as input.
 
@@ -178,7 +178,7 @@ class EncoderDecoder3D(Base3DSegmentor):
 
         return losses
 
-    def _loss_regularization_forward_train(self):
+    def _loss_regularization_forward_train(self) -> dict:
         """Calculate regularization loss for model weight in training."""
         losses = dict()
         if isinstance(self.loss_regularization, nn.ModuleList):
@@ -213,7 +213,8 @@ class EncoderDecoder3D(Base3DSegmentor):
         """
 
         # extract features using backbone
-        x = self.extract_feat(batch_inputs_dict)
+        points = torch.stack(batch_inputs_dict['points'])
+        x = self.extract_feat(points)
 
         losses = dict()
 
@@ -236,7 +237,7 @@ class EncoderDecoder3D(Base3DSegmentor):
                           patch_center: Tensor,
                           coord_max: Tensor,
                           feats: Tensor,
-                          use_normalized_coord: bool = False):
+                          use_normalized_coord: bool = False) -> Tensor:
         """Generating model input.
 
         Generate input by subtracting patch center and adding additional
@@ -273,7 +274,7 @@ class EncoderDecoder3D(Base3DSegmentor):
                                   block_size: float,
                                   sample_rate: float = 0.5,
                                   use_normalized_coord: bool = False,
-                                  eps: float = 1e-3):
+                                  eps: float = 1e-3) -> Tuple[Tensor, Tensor]:
         """Sampling points in a sliding window fashion.
 
         First sample patches to cover all the input points.
@@ -291,7 +292,7 @@ class EncoderDecoder3D(Base3DSegmentor):
                 points coverage. Defaults to 1e-3.
 
         Returns:
-            np.ndarray | np.ndarray:
+            tuple:
 
                 - patch_points (torch.Tensor): Points of different patches of
                   shape [K, N, 3+C].
@@ -372,7 +373,7 @@ class EncoderDecoder3D(Base3DSegmentor):
         return patch_points, patch_idxs
 
     def slide_inference(self, point: Tensor, img_meta: List[dict],
-                        rescale: bool):
+                        rescale: bool) -> Tensor:
         """Inference by sliding-window with overlap.
 
         Args:
@@ -417,14 +418,14 @@ class EncoderDecoder3D(Base3DSegmentor):
         return preds.transpose(0, 1)  # to [num_classes, K*N]
 
     def whole_inference(self, points: Tensor, input_metas: List[dict],
-                        rescale: bool):
+                        rescale: bool) -> Tensor:
         """Inference with full scene (one forward pass without sliding)."""
         seg_logit = self.encode_decode(points, input_metas)
         # TODO: if rescale and voxelization segmentor
         return seg_logit
 
     def inference(self, points: Tensor, input_metas: List[dict],
-                  rescale: bool):
+                  rescale: bool) -> Tensor:
         """Inference with slide/whole style.
 
         Args:
@@ -489,7 +490,7 @@ class EncoderDecoder3D(Base3DSegmentor):
             seg_map = seg_map.cpu()
             seg_pred_list.append(seg_map)
 
-        return self.postprocess_result(seg_pred_list, batch_input_metas)
+        return self.postprocess_result(seg_pred_list, batch_data_samples)
 
     def _forward(self,
                  batch_inputs_dict: dict,
@@ -510,7 +511,8 @@ class EncoderDecoder3D(Base3DSegmentor):
         Returns:
             Tensor: Forward output of model without any post-processes.
         """
-        x = self.extract_feat(batch_inputs_dict)
+        points = torch.stack(batch_inputs_dict['points'])
+        x = self.extract_feat(points)
         return self.decode_head.forward(x)
 
     def aug_test(self, batch_inputs, batch_img_metas):

mmdet3d/models/task_modules/__init__.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from mmdet.models.task_modules import AssignResult, BaseAssigner
+
 from .anchor import (ANCHOR_GENERATORS, PRIOR_GENERATORS,
                      AlignedAnchor3DRangeGenerator,
                      AlignedAnchor3DRangeGeneratorPerCls,

mmdet3d/models/task_modules/assigners/max_3d_iou_assigner.py

 # Copyright (c) OpenMMLab. All rights reserved.
 from typing import Optional, Union
 
+from mmdet.models.task_modules import AssignResult, MaxIoUAssigner
 from mmengine.structures import InstanceData
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import AssignResult, MaxIoUAssigner
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/centerpoint_bbox_coders.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/delta_xyzwhlr_bbox_coder.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/fcos3d_bbox_coder.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 
 from mmdet3d.registry import TASK_UTILS
 from mmdet3d.structures.bbox_3d import limit_period
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/monoflex_bbox_coder.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 from torch.nn import functional as F
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/partial_bin_based_bbox_coder.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/point_xyzwhlr_bbox_coder.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/coders/smoke_bbox_coder.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import numpy as np
 import torch
+from mmdet.models.task_modules import BaseBBoxCoder
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import BaseBBoxCoder
 
 
 @TASK_UTILS.register_module()

mmdet3d/models/task_modules/samplers/__init__.py

@@ -4,6 +4,7 @@ from mmdet.models.task_modules.samplers import (BaseSampler, CombinedSampler,
                                                 IoUBalancedNegSampler,
                                                 OHEMSampler, RandomSampler,
                                                 SamplingResult)
+
 from .iou_neg_piecewise_sampler import IoUNegPiecewiseSampler
 from .pseudosample import PseudoSampler
 

mmdet3d/models/task_modules/samplers/iou_neg_piecewise_sampler.py

 # Copyright (c) OpenMMLab. All rights reserved.
+import math
+
 import torch
 
 from mmdet3d.registry import TASK_UTILS
@@ -74,9 +76,11 @@ class IoUNegPiecewiseSampler(RandomSampler):
                     # if the numbers of negative samplers in previous
                     # pieces are less than the expected number, extend
                     # the same number in the current piece.
-                    piece_expected_num = int(
-                        num_expected *
-                        self.neg_piece_fractions[piece_inds]) + extend_num
+                    piece_expected_num = min(
+                        num_expected,
+                        math.ceil(num_expected *
+                                  self.neg_piece_fractions[piece_inds]) +
+                        extend_num)
                     min_iou_thr = self.neg_iou_thr[piece_inds + 1]
                 max_iou_thr = self.neg_iou_thr[piece_inds]
                 piece_neg_inds = torch.nonzero(

mmdet3d/models/task_modules/samplers/pseudosample.py

 # Copyright (c) OpenMMLab. All rights reserved.
 import torch
+from mmdet.models.task_modules import AssignResult
 from mmengine.structures import InstanceData
 
 from mmdet3d.registry import TASK_UTILS
-from mmdet.models.task_modules import AssignResult
 from ..samplers import BaseSampler, SamplingResult