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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.

caused by `features` in pointnet2_backbone.py:78, which is possible to be a non-contiguous tensor, being directly passed into SA_modules without calling .contiguous()

* bugfixed: ignore empty boxes in visualization

* add contiguous() after transpose() at pointrcnn_head.py

support more flexible setting of conv head; slice inputs when batch size is too large in PFNLayer to avoid bugs (#124)

* support more flexible setting

* slice inputs of nn.Linear when batch size is too large