[Enhancement]: Add assertions of data dimensions in points_in_boxes.py (#357)

* Avoid 4 dims points

* add assert prinf

* modify print info

mmdet3d/ops/roiaware_pool3d/points_in_boxes.py

@@ -15,8 +15,15 @@ def points_in_boxes_gpu(points, boxes):
     Returns:
         box_idxs_of_pts (torch.Tensor): (B, M), default background = -1
     """
-    assert boxes.shape[0] == points.shape[0]
-    assert boxes.shape[2] == 7
+    assert boxes.shape[0] == points.shape[0], \
+        f'Points and boxes should have the same batch size, ' \
+        f'got {boxes.shape[0]} and {boxes.shape[0]}'
+    assert boxes.shape[2] == 7, \
+        f'boxes dimension should be 7, ' \
+        f'got unexpected shape {boxes.shape[2]}'
+    assert points.shape[2] == 3, \
+        f'points dimension should be 3, ' \
+        f'got unexpected shape {points.shape[2]}'
     batch_size, num_points, _ = points.shape
 
     box_idxs_of_pts = points.new_zeros((batch_size, num_points),
@@ -59,8 +66,12 @@ def points_in_boxes_cpu(points, boxes):
         point_indices (torch.Tensor): (N, npoints)
     """
     # TODO: Refactor this function as a CPU version of points_in_boxes_gpu
-    assert boxes.shape[1] == 7
-    assert points.shape[1] == 3
+    assert boxes.shape[1] == 7, \
+        f'boxes dimension should be 7, ' \
+        f'got unexpected shape {boxes.shape[2]}'
+    assert points.shape[1] == 3, \
+        f'points dimension should be 3, ' \
+        f'got unexpected shape {points.shape[2]}'
 
     point_indices = points.new_zeros((boxes.shape[0], points.shape[0]),
                                      dtype=torch.int)
@@ -83,8 +94,15 @@ def points_in_boxes_batch(points, boxes):
     Returns:
         box_idxs_of_pts (torch.Tensor): (B, M, T), default background = 0
     """
-    assert boxes.shape[0] == points.shape[0]
-    assert boxes.shape[2] == 7
+    assert boxes.shape[0] == points.shape[0], \
+        f'Points and boxes should have the same batch size, ' \
+        f'got {boxes.shape[0]} and {boxes.shape[0]}'
+    assert boxes.shape[2] == 7, \
+        f'boxes dimension should be 7, ' \
+        f'got unexpected shape {boxes.shape[2]}'
+    assert points.shape[2] == 3, \
+        f'points dimension should be 3, ' \
+        f'got unexpected shape {points.shape[2]}'
     batch_size, num_points, _ = points.shape
     num_boxes = boxes.shape[1]