I haven't tested out SMOKE myself yet, but it is normal for FCOS3D to output 9 values as far as I know.

This is because FCOS3D not only predicts the 3D Box(7 attributes) but also their velocity (vel_x and vel_y) which sum up to 9 values in total.

* you can find more detail in Figure 2 of the FCOS3D paper or their code here.

* Paper link: https://arxiv.org/pdf/2104.10956.pdf

If you don't need the estimated velocities of individual boxes, you can simply take the first 7 values.

Look forward to hearing from you that those model resolve the tilting issue :)