bugfixed: indice_key in VoxelResBackBone8x

pcdet/models/backbones_3d/spconv_backbone.py

@@ -199,8 +199,8 @@ class VoxelResBackBone8x(nn.Module):
         self.conv4 = spconv.SparseSequential(
             # [400, 352, 11] <- [200, 176, 5]
             block(64, 128, 3, norm_fn=norm_fn, stride=2, padding=(0, 1, 1), indice_key='spconv4', conv_type='spconv'),
-            SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res3'),
-            SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res3'),
+            SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res4'),
+            SparseBasicBlock(128, 128, norm_fn=norm_fn, indice_key='res4'),
         )
 
         last_pad = 0

tools/cfgs/nuscenes_models/second_multihead.yaml

@@ -36,7 +36,7 @@ MODEL:
         DIR_LIMIT_OFFSET: 0.0
         NUM_DIR_BINS: 2
 
-        USE_MULTI_HEAD: True
+        USE_MULTIHEAD: True
         ANCHOR_GENERATOR_CONFIG: [
             {
                 'class_name': car,