fix: fix TypeError in ROI subsampling function (#893)

* fix TypeError in ROI subsampling function * add comment

fix: fix TypeError in ROI subsampling function (#893)
* fix TypeError in ROI subsampling function * add comment
1d5dac76 · Julian Schoep · GitHub · a35f4297 · 1d5dac76
Unverified Commit 1d5dac76 authored Mar 29, 2022 by Julian Schoep Committed by GitHub Mar 29, 2022
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pcdet/models/roi_heads/target_assigner/proposal_target_layer.py ...models/roi_heads/target_assigner/proposal_target_layer.py +1 -1

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--- a/pcdet/models/roi_heads/target_assigner/proposal_target_layer.py
+++ b/pcdet/models/roi_heads/target_assigner/proposal_target_layer.py
@@ -145,7 +145,7 @@ class ProposalTargetLayer(nn.Module):
            rand_num = np.floor(np.random.rand(self.roi_sampler_cfg.ROI_PER_IMAGE) * fg_num_rois)
            rand_num = torch.from_numpy(rand_num).type_as(max_overlaps).long()
            fg_inds = fg_inds[rand_num]
-            bg_inds = []
+            bg_inds = fg_inds[fg_inds < 0] # yield empty tensor

        elif bg_num_rois > 0 and fg_num_rois == 0:
            # sampling bg