Merge mmlab master #1
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* Add merge_aug_bboxes_3d unittest * Add voxel_generator unittest * Change test_merge_augs * Add clean_data unittest * Finish eval_class unittest * Add kitti_eval unittest * Add do_eval unittest * Add gpu judgement for do_eval * Change test_kitti_eval and test_voxel_generator * Change to isclose * Add unittests for bbox transform * Add unittests for bbox transform * Add unittests for bbox transform * Add decode * Add pred_split unittest * Change allclose to eq
* Add ply convert * Change example. * Change shell to python.
* Add centerpoint_rpn and scn, change pillar encoder and voxel_encoder * Move test_voxel_encoders. * Change names, add docstring. * Reconstruct centerpoint_rpn. * Add centerpoint_rpn. * Change SECONDFPN, delete centerpoint_fpn * Remove SparseBasicBlock. * Change SpMiddleResNetFHD to SparseEncoder. * Finish SparseEncoder unittest. * Change test_hard_simple_VFE. * Change option, add legacy. * Change docstring, change legacy. * Fix legacy bug. * Change unittest, change docstring. * Change docstring.
* add multi backbone * update multi backbone * update multi backbone * update multi backbone * modify multi backbone * modify multi_backbone params * modify docstring * update multi_backbone unittest * modify docstring
* Add unittest. * Change to 'defaults to'. * Add replace=False, remove T op, add num_sweeps=10 unittest. * Change lyft_infos.pkl. * Add nus unittest. * Add nus unittest. * Change nus_info.pkl. * Add test_mode.
* Fix minor bugs encountered when computing iou3d with gpu while the specified cuda id is not default 0 * Fix nonstandard formats * Remove trailing whitespace * Fix nonstandard format * Fix ambiguous initialization of cuda tensors
* Fix a minor bug in json2csv of lyft dataset * Fix variable names and minor hard code
* add primitive head * register of primitive head * modify primitive head * modify primitive head * modify primitive head * modify primitive head * update primitive head unittest * modify primitive had * fix bugs for primitive head * update primitive head
* Add bottom2gravity and balance_class option. * Add valid_flag. * Add use_valid_flag. * Change balance_class option. * Add wrapper, remove gravity and balance_class option. * Change flag, change load_infos to repeat_indices. * Remove pdb, change docstring. * Change name, remove unnecessary args. * Remove _concat_dataset. * Change name of ClassSampledDataset. * Change docstring. * Add get_cat_ids in nus_dataset, add unittest for wrapper. * Change to len(self.dataset) * Update nus data.
* add op fps with distance * add op fps with distance * modify F-DFS unittest * modify sa module * modify sa module * SA Module support D-FPS and F-FPS * modify sa module * update points sa module * modify point_sa_module * modify point sa module * reconstruct FPS * reconstruct FPS * modify docstring * modify docstring
* add h3d head * add h3d roi head * update docstring of h3d roi head * reconstruct h3d head * remove unused code * modify h3d bbox head * add h3dnet init files * modify h3d bbox head * add depth_box3d unittest * update h3d head * add h3dnet benchmark * update docstring in vote_head * resovle primitive conflict
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