bugfixed: remove separate_multihead in AxisAlignedTargetAssigner (#392)

pcdet/models/dense_heads/target_assigner/axis_aligned_target_assigner.py

@@ -25,13 +25,13 @@ class AxisAlignedTargetAssigner(object):
             self.unmatched_thresholds[config['class_name']] = config['unmatched_threshold']
 
         self.use_multihead = model_cfg.get('USE_MULTIHEAD', False)
-        self.seperate_multihead = model_cfg.get('SEPARATE_MULTIHEAD', False)
-        if self.seperate_multihead:
-            rpn_head_cfgs = model_cfg.RPN_HEAD_CFGS
-            self.gt_remapping = {}
-            for rpn_head_cfg in rpn_head_cfgs:
-                for idx, name in enumerate(rpn_head_cfg['HEAD_CLS_NAME']):
-                    self.gt_remapping[name] = idx + 1
+        # self.separate_multihead = model_cfg.get('SEPARATE_MULTIHEAD', False)
+        # if self.seperate_multihead:
+        #     rpn_head_cfgs = model_cfg.RPN_HEAD_CFGS
+        #     self.gt_remapping = {}
+        #     for rpn_head_cfg in rpn_head_cfgs:
+        #         for idx, name in enumerate(rpn_head_cfg['HEAD_CLS_NAME']):
+        #             self.gt_remapping[name] = idx + 1
 
     def assign_targets(self, all_anchors, gt_boxes_with_classes):
         """
@@ -67,12 +67,13 @@ class AxisAlignedTargetAssigner(object):
 
                 if self.use_multihead:
                     anchors = anchors.permute(3, 4, 0, 1, 2, 5).contiguous().view(-1, anchors.shape[-1])
-                    if self.seperate_multihead:
-                        selected_classes = cur_gt_classes[mask].clone()
-                        if len(selected_classes) > 0:
-                            new_cls_id = self.gt_remapping[anchor_class_name]
-                            selected_classes[:] = new_cls_id
-                    else:
+                    # if self.seperate_multihead:
+                    #     selected_classes = cur_gt_classes[mask].clone()
+                    #     if len(selected_classes) > 0:
+                    #         new_cls_id = self.gt_remapping[anchor_class_name]
+                    #         selected_classes[:] = new_cls_id
+                    # else:
+                    #     selected_classes = cur_gt_classes[mask]
                     selected_classes = cur_gt_classes[mask]
                 else:
                     feature_map_size = anchors.shape[:3]
@@ -128,12 +129,7 @@ class AxisAlignedTargetAssigner(object):
         }
         return all_targets_dict
 
-    def assign_targets_single(self, anchors,
-                         gt_boxes,
-                         gt_classes,
-                         matched_threshold=0.6,
-                         unmatched_threshold=0.45
-                        ):
+    def assign_targets_single(self, anchors, gt_boxes, gt_classes, matched_threshold=0.6, unmatched_threshold=0.45):
 
         num_anchors = anchors.shape[0]
         num_gt = gt_boxes.shape[0]