[Fix]: fix dcn bias bug in centerpoint (#137)

* fix dcn bias bug in centerpoint

* fix unit tesats bug of empty iou calculation

configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py

@@ -10,7 +10,6 @@ model = dict(
                 out_channels=64,
                 kernel_size=3,
                 padding=1,
-                groups=4,
-                bias=True),
+                groups=4),
             init_bias=-2.19,
             final_kernel=3)))

configs/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py

@@ -10,8 +10,7 @@ model = dict(
                 out_channels=64,
                 kernel_size=3,
                 padding=1,
-                groups=4,
-                bias=True),
+                groups=4),
             init_bias=-2.19,
             final_kernel=3)))
 

configs/centerpoint/centerpoint_01voxel_second_secfpn_dcn_4x8_cyclic_20e_nus.py

@@ -10,7 +10,6 @@ model = dict(
                 out_channels=64,
                 kernel_size=3,
                 padding=1,
-                groups=4,
-                bias=True),
+                groups=4),
             init_bias=-2.19,
             final_kernel=3)))

configs/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py

@@ -10,8 +10,7 @@ model = dict(
                 out_channels=64,
                 kernel_size=3,
                 padding=1,
-                groups=4,
-                bias=True),
+                groups=4),
             init_bias=-2.19,
             final_kernel=3)))
 

configs/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py

@@ -10,7 +10,6 @@ model = dict(
                 out_channels=64,
                 kernel_size=3,
                 padding=1,
-                groups=4,
-                bias=True),
+                groups=4),
             init_bias=-2.19,
             final_kernel=3)))

configs/centerpoint/centerpoint_02pillar_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py

@@ -10,8 +10,7 @@ model = dict(
                 out_channels=64,
                 kernel_size=3,
                 padding=1,
-                groups=4,
-                bias=True),
+                groups=4),
             init_bias=-2.19,
             final_kernel=3)))
 

tests/test_assigners.py

@@ -72,7 +72,7 @@ def test_max_iou_assigner_with_empty_gt():
         [5, 5, 15, 15],
         [32, 32, 38, 42],
     ])
-    gt_bboxes = torch.FloatTensor([])
+    gt_bboxes = torch.FloatTensor(size=(0, 4))
     assign_result = self.assign(bboxes, gt_bboxes)
 
     expected_gt_inds = torch.LongTensor([0, 0, 0, 0])