def decode(self, preds_dicts):
        """Decode bboxes.
        Args:
            all_cls_scores (Tensor): Outputs from the classification head, \
                shape [nb_dec, bs, num_query, cls_out_channels]. Note \
                cls_out_channels should includes background.
            all_bbox_preds (Tensor): Sigmoid outputs from the regression \
                head with normalized coordinate format (cx, cy, w, l, cz, h, rot_sine, rot_cosine, vx, vy). \
                Shape [nb_dec, bs, num_query, 9].
        Returns:
            list[dict]: Decoded boxes.
        """
        all_cls_scores = preds_dicts['map_all_cls_scores'][-1]
        all_bbox_preds = preds_dicts['map_all_bbox_preds'][-1]
        all_pts_preds = preds_dicts['map_all_pts_preds'][-1]
        batch_size = all_cls_scores.size()[0]
        predictions_list = []
        for i in range(batch_size):
            predictions_list.append(self.decode_single(all_cls_scores[i], all_bbox_preds[i],all_pts_preds[i]))
        return predictions_list
Decode bboxes.
        Args:
            all_cls_scores (Tensor): Outputs from the classification head,                 shape [nb_dec, bs, num_query, cls_out_channels]. Note                 cls_out_channels should includes background.
            all_bbox_preds (Tensor): Sigmoid outputs from the regression                 head with normalized coordinate format (cx, cy, w, l, cz, h, rot_sine, rot_cosine, vx, vy).                 Shape [nb_dec, bs, num_query, 9].
        Returns:
            list[dict]: Decoded boxes.
        
projects/mmdet3d_plugin/core/bbox/coders/map_nms_free_coder.py