bugfixed: shape check in vsa layer and nms (#174)

pcdet/models/backbones_3d/pfe/voxel_set_abstraction.py

@@ -193,7 +193,7 @@ class VoxelSetAbstraction(nn.Module):
             xyz_batch_cnt = xyz.new_zeros(batch_size).int()
             for bs_idx in range(batch_size):
                 xyz_batch_cnt[bs_idx] = (raw_points[:, 0] == bs_idx).sum()
-            point_features = raw_points[:, 4:].contiguous() if len(raw_points) > 4 else None
+            point_features = raw_points[:, 4:].contiguous() if raw_points.shape[1] > 4 else None
 
             pooled_points, pooled_features = self.SA_rawpoints(
                 xyz=xyz.contiguous(),

pcdet/ops/iou3d_nms/iou3d_nms_utils.py

@@ -105,7 +105,7 @@ def nms_normal_gpu(boxes, scores, thresh, **kwargs):
     :param thresh:
     :return:
     """
-    assert boxes.shape[0] == 7
+    assert boxes.shape[1] == 7
     order = scores.sort(0, descending=True)[1]
 
     boxes = boxes[order].contiguous()