From 200ba526191029eec5716a3f5301368dd3e64ce0 Mon Sep 17 00:00:00 2001
From: inter <inter@qq.com>
Date: Sun, 21 Sep 2025 20:18:44 +0800
Subject: [PATCH] Add File

---
 pcdet/models/detectors/pv_rcnn.py | 36 +++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 pcdet/models/detectors/pv_rcnn.py

diff --git a/pcdet/models/detectors/pv_rcnn.py b/pcdet/models/detectors/pv_rcnn.py
new file mode 100644
index 0000000..4808513
--- /dev/null
+++ b/pcdet/models/detectors/pv_rcnn.py
@@ -0,0 +1,36 @@
+from .detector3d_template import Detector3DTemplate
+
+
+class PVRCNN(Detector3DTemplate):
+    def __init__(self, model_cfg, num_class, dataset):
+        super().__init__(model_cfg=model_cfg, num_class=num_class, dataset=dataset)
+        self.module_list = self.build_networks()
+
+    def forward(self, batch_dict):
+        for cur_module in self.module_list:
+            batch_dict = cur_module(batch_dict)
+
+        if self.training:
+            loss, tb_dict, disp_dict = self.get_training_loss()
+
+            ret_dict = {
+                'loss': loss
+            }
+            return ret_dict, tb_dict, disp_dict
+        else:
+            pred_dicts, recall_dicts = self.post_processing(batch_dict)
+            return pred_dicts, recall_dicts
+
+    def get_training_loss(self):
+        disp_dict = {}
+        loss_rpn, tb_dict = self.dense_head.get_loss()
+        loss_point, tb_dict = self.point_head.get_loss(tb_dict)
+        loss_rcnn, tb_dict = self.roi_head.get_loss(tb_dict)
+
+        loss = loss_rpn + loss_point + loss_rcnn
+        
+        if hasattr(self.backbone_3d, 'get_loss'):
+            loss_backbone3d, tb_dict = self.backbone_3d.get_loss(tb_dict)
+            loss += loss_backbone3d
+        
+        return loss, tb_dict, disp_dict