bugfixed: add **kwargs to each roi_head to support variable argument (#559)

pcdet/models/detectors/detector3d_template.py

@@ -77,7 +77,8 @@ class Detector3DTemplate(nn.Module):
         )
         model_info_dict['module_list'].append(backbone_3d_module)
         model_info_dict['num_point_features'] = backbone_3d_module.num_point_features
-        model_info_dict['backbone_channels'] = backbone_3d_module.backbone_channels
+        model_info_dict['backbone_channels'] = backbone_3d_module.backbone_channels \
+            if hasattr(backbone_3d_module, 'backbone_channels') else None
         return backbone_3d_module, model_info_dict
 
     def build_map_to_bev_module(self, model_info_dict):

pcdet/models/roi_heads/partA2_head.py

@@ -8,7 +8,7 @@ from .roi_head_template import RoIHeadTemplate
 
 
 class PartA2FCHead(RoIHeadTemplate):
-    def __init__(self, input_channels, model_cfg, num_class=1):
+    def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
         super().__init__(num_class=num_class, model_cfg=model_cfg)
         self.model_cfg = model_cfg
 

pcdet/models/roi_heads/pointrcnn_head.py

@@ -8,7 +8,7 @@ from .roi_head_template import RoIHeadTemplate
 
 
 class PointRCNNHead(RoIHeadTemplate):
-    def __init__(self, input_channels, model_cfg, num_class=1):
+    def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
         super().__init__(num_class=num_class, model_cfg=model_cfg)
         self.model_cfg = model_cfg
         use_bn = self.model_cfg.USE_BN

pcdet/models/roi_heads/pvrcnn_head.py

@@ -6,7 +6,7 @@ from .roi_head_template import RoIHeadTemplate
 
 
 class PVRCNNHead(RoIHeadTemplate):
-    def __init__(self, input_channels, model_cfg, num_class=1):
+    def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
         super().__init__(num_class=num_class, model_cfg=model_cfg)
         self.model_cfg = model_cfg
 

pcdet/models/roi_heads/roi_head_template.py

@@ -9,7 +9,7 @@ from .target_assigner.proposal_target_layer import ProposalTargetLayer
 
 
 class RoIHeadTemplate(nn.Module):
-    def __init__(self, num_class, model_cfg):
+    def __init__(self, num_class, model_cfg, **kwargs):
         super().__init__()
         self.model_cfg = model_cfg
         self.num_class = num_class

pcdet/models/roi_heads/second_head.py

@@ -5,7 +5,7 @@ from ...utils import common_utils, loss_utils
 
 
 class SECONDHead(RoIHeadTemplate):
-    def __init__(self, input_channels, model_cfg, num_class=1):
+    def __init__(self, input_channels, model_cfg, num_class=1, **kwargs):
         super().__init__(num_class=num_class, model_cfg=model_cfg)
         self.model_cfg = model_cfg