Intern accomplish, frozen the version.

mmdet3d/apis/inference.py

@@ -114,11 +114,11 @@ def inference_detector(model, pcd):
 
     with torch.no_grad():
         # result = model(return_loss=False, rescale=True, **data)
-        del data['img_metas']
+        # del data['img_metas']
 
         # for i in data.items():
         #     print(i)
-        data.update({'return_loss':[0, 0]})
+        # data.update({'return_loss':[0, 0]})
         torch.onnx.export(model, data, f="onnx_model/pfe.onnx",
                           export_params=True,
                           verbose=True,opset_version=11)

mmdet3d/models/detectors/base.py

@@ -38,7 +38,7 @@ class Base3DDetector(BaseDetector):
 
         if num_augs == 1:
             img = [img] if img is None else img
-            return self.simple_test(points[0], img_metas[0], img[0], **kwargs)
+            return self.simple_basetest(points[0], img_metas[0], img[0], **kwargs)
         else:
             return self.aug_test(points, img_metas, img, **kwargs)
 
@@ -59,6 +59,10 @@ class Base3DDetector(BaseDetector):
         else:
             return self.forward_test(**kwargs)
 
+    # @auto_fp16(apply_to=('img', 'points'))
+    # def forward(self, return_loss=False, **kwargs):
+    #     return self.forward_test(**kwargs)
+
     def show_results(self, data, result, out_dir):
         """Results visualization.