From fe291c213680d18135289b84b4633f153b637f54 Mon Sep 17 00:00:00 2001
From: inter <inter@qq.com>
Date: Sun, 21 Sep 2025 20:18:43 +0800
Subject: [PATCH] Add File

---
 pcdet/models/detectors/caddn.py | 38 +++++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 pcdet/models/detectors/caddn.py

diff --git a/pcdet/models/detectors/caddn.py b/pcdet/models/detectors/caddn.py
new file mode 100644
index 0000000..32f56a7
--- /dev/null
+++ b/pcdet/models/detectors/caddn.py
@@ -0,0 +1,38 @@
+from .detector3d_template import Detector3DTemplate
+
+
+class CaDDN(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_rpn = self.dense_head.get_loss()
+        loss_depth, tb_dict_depth = self.vfe.get_loss()
+
+        tb_dict = {
+            'loss_rpn': loss_rpn.item(),
+            'loss_depth': loss_depth.item(),
+            **tb_dict_rpn,
+            **tb_dict_depth
+        }
+
+        loss = loss_rpn + loss_depth
+        return loss, tb_dict, disp_dict