hotfix(eval/test): for history frames, we update keys' name and it need rm ground mask also.

Author: Kin-Zhang

src/trainer.py

@@ -290,8 +290,10 @@ def run_model_wo_ground_data(self, batch):
         batch['origin_pc0'] = batch['pc0'].clone()
         batch['pc0'] = batch['pc0'][~batch['gm0']].unsqueeze(0)
         batch['pc1'] = batch['pc1'][~batch['gm1']].unsqueeze(0)
-        if 'pcb0' in batch:
-            batch['pcb0'] = batch['pcb0'][~batch['gmb0']].unsqueeze(0)
+        
+        for i in range(1, self.num_frames-1):
+            batch[f'pch{i}'] = batch[f'pch{i}'][~batch[f'gmh{i}']].unsqueeze(0)
+
         self.model.timer[12].start("One Scan")
         res_dict = self.model(batch)
         self.model.timer[12].stop()