Merge pull request #513 from jihanyang/master

fixbug: multi_classes_nms and waymo dataset with old version splits

pcdet/datasets/waymo/waymo_dataset.py

@@ -70,7 +70,7 @@ class WaymoDataset(DatasetTemplate):
     @staticmethod
     def check_sequence_name_with_all_version(sequence_file):
         if '_with_camera_labels' not in str(sequence_file) and not sequence_file.exists():
-            sequence_file = Path(str(sequence_file[:-9]) + '_with_camera_labels.tfrecord')
+            sequence_file = Path(str(sequence_file)[:-9] + '_with_camera_labels.tfrecord')
         if '_with_camera_labels' in str(sequence_file) and not sequence_file.exists():
             sequence_file = Path(str(sequence_file).replace('_with_camera_labels', ''))
 

pcdet/models/model_utils/model_nms_utils.py

@@ -44,6 +44,7 @@ def multi_classes_nms(cls_scores, box_preds, nms_config, score_thresh=None):
             cur_box_preds = box_preds[scores_mask]
         else:
             box_scores = cls_scores[:, k]
+            cur_box_preds = box_preds
 
         selected = []
         if box_scores.shape[0] > 0: