[Fix]Fix train.py and registe all model

mmdet3d/utils/setup_env.py

 # Copyright (c) OpenMMLab. All rights reserved.
+import datetime
 import os
 import platform
 import warnings
@@ -58,7 +59,7 @@ def register_all_modules(init_default_scope: bool = True) -> None:
     """Register all modules in mmdet3d into the registries.
 
     Args:
-        init_default_scope (bool): Whether initialize the mmdet3d default scope.
+        init_default_scope (bool): Whether initialize the mmdet default scope.
             When `init_default_scope=True`, the global default scope will be
             set to `mmdet3d`, and all registries will build modules from mmdet3d's
             registry node. To understand more about the registry, please refer
@@ -67,7 +68,23 @@ def register_all_modules(init_default_scope: bool = True) -> None:
     """  # noqa
     import mmdet3d.core  # noqa: F401,F403
     import mmdet3d.datasets  # noqa: F401,F403
+    import mmdet3d.metrics  # noqa: F401,F403
     import mmdet3d.models  # noqa: F401,F403
     import mmdet3d.ops  # noqa: F401,F403
+    import mmdet3d.scheduler  # noqa: F401,F403
     if init_default_scope:
-        DefaultScope.get_instance('mmdet3d', scope_name='mmdet3d')
+        never_created = DefaultScope.get_current_instance() is None \
+                        or not DefaultScope.check_instance_created('mmdet3d')
+        if never_created:
+            DefaultScope.get_instance('mmdet3d', scope_name='mmdet3d')
+            return
+        current_scope = DefaultScope.get_current_instance()
+        if current_scope.scope_name != 'mmdet3d':
+            warnings.warn('The current default scope '
+                          f'"{current_scope.scope_name}" is not "mmdet3d", '
+                          '`register_all_modules` will force the current'
+                          'default scope to be "mmdet3d". If this is not '
+                          'expected, please set `init_default_scope=False`.')
+            # avoid name conflict
+            new_instance_name = f'mmdet3d-{datetime.datetime.now()}'
+            DefaultScope.get_instance(new_instance_name, scope_name='mmdet3d')

tools/train.py

 # Copyright (c) OpenMMLab. All rights reserved.
-from __future__ import division
 import argparse
 import os
-from os import path as osp
+import os.path as osp
 
-from mmcv import Config, DictAction
-from mmengine import Runner
+from mmengine.config import Config, DictAction
+from mmengine.runner import Runner
 
 from mmdet3d.utils import register_all_modules
 
 
 def parse_args():
-    parser = argparse.ArgumentParser(description='Train a detector')
+    parser = argparse.ArgumentParser(description='Train a 3D detector')
     parser.add_argument('config', help='train config file path')
     parser.add_argument('--work-dir', help='the dir to save logs and models')
     parser.add_argument(
@@ -33,21 +32,19 @@ def parse_args():
     args = parser.parse_args()
     if 'LOCAL_RANK' not in os.environ:
         os.environ['LOCAL_RANK'] = str(args.local_rank)
-
     return args
 
 
 def main():
     args = parse_args()
-
     # register all modules in mmdet3d into the registries
     # do not init the default scope here because it will be init in the runner
     register_all_modules(init_default_scope=False)
-
+    # load config
     cfg = Config.fromfile(args.config)
+    cfg.launcher = args.launcher
     if args.cfg_options is not None:
         cfg.merge_from_dict(args.cfg_options)
-
     # work_dir is determined in this priority: CLI > segment in file > filename
     if args.work_dir is not None:
         # update configs according to CLI args if args.work_dir is not None
@@ -56,10 +53,8 @@ def main():
         # use config filename as default work_dir if cfg.work_dir is None
         cfg.work_dir = osp.join('./work_dirs',
                                 osp.splitext(osp.basename(args.config))[0])
-
     # build the runner from config
     runner = Runner.from_cfg(cfg)
-
     # start training
     runner.train()