diff --git a/pcdet/datasets/dataset.py b/pcdet/datasets/dataset.py
index 63f5cc8..6da27c0 100644
--- a/pcdet/datasets/dataset.py
+++ b/pcdet/datasets/dataset.py
@@ -40,7 +40,10 @@ def __init__(self, dataset_cfg=None, class_names=None, training=True, root_path=
 
         self.grid_size = self.data_processor.grid_size
         self.voxel_size = self.data_processor.voxel_size
-        self.depth_downsample_factor = self.dataset_cfg.DEPTH_MAP.DOWNSAMPLE_FACTOR
+
+        if "DEPTH_MAP" in self.dataset_cfg:
+            self.depth_downsample_factor = self.dataset_cfg.DEPTH_MAP.DOWNSAMPLE_FACTOR
+
         self.total_epochs = 0
         self._merge_all_iters_to_one_epoch = False
 
diff --git a/requirements.txt b/requirements.txt
index 2d57c2d..9f5b940 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -20,7 +20,7 @@ networkx==2.5
 numba==0.52.0
 numpy==1.20.1
 oauthlib==3.1.0
-Pillow==8.1.0
+Pillow==8.1.2
 protobuf==3.15.3
 pyasn1==0.4.8
 pyasn1-modules==0.2.8