fix mmdet3d

Author: RunningLeon

mmdeploy/codebase/mmdet3d/deploy/mono_detection.py

@@ -124,7 +124,7 @@ def create_input(
 
         if data_preprocessor is not None:
             collate_data = data_preprocessor(collate_data, False)
-            inputs = collate_data['inputs']
+            inputs = collate_data['inputs']['imgs']
         else:
             inputs = collate_data['inputs']
         return collate_data, inputs

mmdeploy/codebase/mmdet3d/models/base.py

@@ -10,16 +10,18 @@
     'mmdet3d.models.detectors.Base3DDetector.forward'  # noqa: E501
 )
 def basedetector__forward(self,
-                          inputs: list,
+                          voxels: torch.Tensor,
+                          num_points: torch.Tensor,
+                          coors: torch.Tensor,
                           data_samples=None,
                           **kwargs) -> Tuple[List[torch.Tensor]]:
     """Extract features of images."""
 
     batch_inputs_dict = {
         'voxels': {
-            'voxels': inputs[0],
-            'num_points': inputs[1],
-            'coors': inputs[2]
+            'voxels': voxels,
+            'num_points': num_points,
+            'coors': coors
         }
     }
     return self._forward(batch_inputs_dict, data_samples, **kwargs)

mmdeploy/codebase/mmdet3d/models/single_stage_mono3d.py

@@ -1,19 +1,22 @@
 # Copyright (c) OpenMMLab. All rights reserved.
+from torch import Tensor
+
 from mmdeploy.core import FUNCTION_REWRITER
 
 
 @FUNCTION_REWRITER.register_rewriter(
     'mmdet3d.models.detectors.single_stage_mono3d.'
     'SingleStageMono3DDetector.forward')
-def singlestagemono3ddetector__forward(self, inputs: list, **kwargs):
-    """Rewrite this func to r.
+def singlestagemono3ddetector__forward(self, inputs: Tensor, **kwargs):
+    """Rewrite to support feed inputs of Tensor type.
 
     Args:
-        inputs (dict): Input dict comprises `imgs`
+        inputs (Tensor): Input image
 
     Returns:
         list: two torch.Tensor
     """
-    x = self.extract_feat(inputs)
+
+    x = self.extract_feat({'imgs': inputs})
     results = self.bbox_head.forward(x)
     return results[0], results[1]

tests/test_codebase/test_mmdet3d/test_mmdet3d_models.py

@@ -157,7 +157,7 @@ def test_pointpillars(backend_type: Backend):
             cfg=deploy_cfg,
             backend=deploy_cfg.backend_config.type,
             opset=deploy_cfg.onnx_config.opset_version):
-        outputs = model.forward(data)
+        outputs = model.forward(*data)
         assert len(outputs) == 3