diff --git a/pytorch3d/implicitron/dataset/implicitron_dataset.py b/pytorch3d/implicitron/dataset/implicitron_dataset.py
index 88142b4e..4ff2da7d 100644
--- a/pytorch3d/implicitron/dataset/implicitron_dataset.py
+++ b/pytorch3d/implicitron/dataset/implicitron_dataset.py
@@ -16,11 +16,13 @@ from dataclasses import dataclass, field, fields
 from itertools import islice
 from pathlib import Path
 from typing import (
+    Any,
     ClassVar,
     Dict,
     Iterable,
     Iterator,
     List,
+    Mapping,
     Optional,
     Sequence,
     Tuple,
@@ -42,7 +44,7 @@ from . import types
 
 
 @dataclass
-class FrameData:
+class FrameData(Mapping[str, Any]):
     """
     A type of the elements returned by indexing the dataset object.
     It can represent both individual frames and batches of thereof;
@@ -137,13 +139,16 @@ class FrameData:
         return self.to(device=torch.device("cuda"))
 
     # the following functions make sure **frame_data can be passed to functions
-    def keys(self):
+    def __iter__(self):
         for f in fields(self):
             yield f.name
 
     def __getitem__(self, key):
         return getattr(self, key)
 
+    def __len__(self):
+        return len(fields(self))
+
     @classmethod
     def collate(cls, batch):
         """
diff --git a/pytorch3d/renderer/points/rasterizer.py b/pytorch3d/renderer/points/rasterizer.py
index 73233ac7..cfa65da2 100644
--- a/pytorch3d/renderer/points/rasterizer.py
+++ b/pytorch3d/renderer/points/rasterizer.py
@@ -10,6 +10,7 @@ from typing import NamedTuple, Optional, Tuple, Union
 
 import torch
 import torch.nn as nn
+from pytorch3d.structures import Pointclouds
 
 from .rasterize_points import rasterize_points
 
@@ -75,7 +76,7 @@ class PointsRasterizer(nn.Module):
         self.cameras = cameras
         self.raster_settings = raster_settings
 
-    def transform(self, point_clouds, **kwargs) -> torch.Tensor:
+    def transform(self, point_clouds, **kwargs) -> Pointclouds:
         """
         Args:
             point_clouds: a set of point clouds