add config DISABLE_PART for PartA2Head

pcdet/models/roi_heads/partA2_head.py

@@ -118,7 +118,8 @@ class PartA2FCHead(RoIHeadTemplate):
         point_coords = batch_dict['point_coords'][:, 1:4]
         point_features = batch_dict['point_features']
         part_features = torch.cat((
-            batch_dict['point_part_offset'], batch_dict['point_cls_scores'].view(-1, 1).detach()
+            batch_dict['point_part_offset'] if not self.model_cfg.get('DISABLE_PART', False) else point_coords,
+            batch_dict['point_cls_scores'].view(-1, 1).detach()
         ), dim=1)
         part_features[part_features[:, -1] < self.model_cfg.SEG_MASK_SCORE_THRESH, 0:3] = 0