pfe

pcdet/models/backbones_3d/vfe/dynamic_pillar_vfe.py

@@ -149,11 +149,11 @@ class DynamicPillarPFE(VFETemplate):
         self.use_norm = self.model_cfg.USE_NORM
         self.with_distance = self.model_cfg.WITH_DISTANCE
         self.use_absolute_xyz = self.model_cfg.USE_ABSLOTE_XYZ
-        self.use_cluster_xyz = self.model_cfg.get('USE_CLUSTER_XYZ', True)
+        # self.use_cluster_xyz = self.model_cfg.get('USE_CLUSTER_XYZ', True)
         if self.use_absolute_xyz:
             num_point_features += 3
-        if self.use_cluster_xyz:
-            num_point_features += 3
+        # if self.use_cluster_xyz:
+        #     num_point_features += 3
         if self.with_distance:
             num_point_features += 1
 
@@ -214,10 +214,10 @@ class DynamicPillarPFE(VFETemplate):
         else:
             features.append(points[:, 4:])
 
-        if self.use_cluster_xyz:
-            points_mean = torch_scatter.scatter_mean(points_xyz, unq_inv, dim=0)
-            f_cluster = points_xyz - points_mean[unq_inv, :]
-            features.append(f_cluster)
+        # if self.use_cluster_xyz:
+        #     points_mean = torch_scatter.scatter_mean(points_xyz, unq_inv, dim=0)
+        #     f_cluster = points_xyz - points_mean[unq_inv, :]
+        #     features.append(f_cluster)
 
         if self.with_distance:
             points_dist = torch.norm(points[:, 1:4], 2, dim=1, keepdim=True)