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If there are less than half of model_cfg.NUM_KEYPOINTS it will lead to 
RuntimeError: unsupported operation: some elements of the input tensor and the written-to tensor refer to a single memory location. 
Please clone() the tensor before performing the operation.

all model codes refactoring for training/testing, support multiple 3D detectors (SECOND, PartA2-Net (official release), PV-RCNN (official release))