bugfixed: set num_point_features without vfe, typos

pcdet/models/detectors/detector3d_template.py

@@ -33,6 +33,7 @@ class Detector3DTemplate(nn.Module):
         model_info_dict = {
             'module_list': [],
             'num_rawpoint_features': self.dataset.point_feature_encoder.num_point_features,
+            'num_point_features': self.dataset.point_feature_encoder.num_point_features,
             'grid_size': self.dataset.grid_size,
             'point_cloud_range': self.dataset.point_cloud_range,
             'voxel_size': self.dataset.voxel_size
@@ -141,6 +142,7 @@ class Detector3DTemplate(nn.Module):
             model_cfg=self.model_cfg.POINT_HEAD,
             input_channels=num_point_features,
             num_class=self.num_class if not self.model_cfg.POINT_HEAD.CLASS_AGNOSTIC else 1,
+            predict_boxes_when_training=self.model_cfg.get('ROI_HEAD', False)
         )
 
         model_info_dict['module_list'].append(point_head_module)
@@ -152,7 +154,7 @@ class Detector3DTemplate(nn.Module):
         point_head_module = roi_heads.__all__[self.model_cfg.ROI_HEAD.NAME](
             model_cfg=self.model_cfg.ROI_HEAD,
             input_channels=model_info_dict['num_point_features'],
-            num_class=self.num_class if not self.model_cfg.POINT_HEAD.CLASS_AGNOSTIC else 1,
+            num_class=self.num_class if not self.model_cfg.ROI_HEAD.CLASS_AGNOSTIC else 1,
         )
 
         model_info_dict['module_list'].append(point_head_module)