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[Enhance] Parallel waymo dataset converter and ground truth database generator & Fix unprecise timestamps saving (#1327)

* enable parallel waymo dataset converter and fix timestamp overflow bug

* update waymo db_sampler configs

* add docstrings and do the formatting

* fix docstring typos

* fix wrong docstrings, and refactor conversion code

* add information into the compatibility doc
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* change np.long to np.int64

* change all log to int64

* add with_plane flag for create_data.py

* update kitti datasets doc

* fix missed mmcv

* reinstall pre-commit and recheck

* update isort

* update setuptools

* fix

* pre-commit run --all-files

* accelerate training

* use multi_processes

* get args from config

* reorganize env setup

* import from mmdet

* import from mmdet

* add plane info in pkl file

* add_plane_info

* fix comments

* change to mmcv api

* change road plane link

* Fix bug in non-distributed multi-gpu training/testing

* add deprecated warning to void BC-breaking

* support dataset augmentation visualization

* unify two kinds of dataset visualization

* update docs about visualization

* fix typos

* change description in doc

* add new converter

* add compac doc

* merge compac doc

* add header

* add tochserve support

* fully support torchserve

* Delete the empty file

* fix typos

* add docstrings and doc

* add config.properties

* fix typos and dosctrings

* change pipeline name
Co-authored-by: Tai-Wang <tab_wang@outlook.com>

* refactor points_in_boxes

* Merge same functions of three boxes

* More docstring fixes and unify x/y/z size

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Add "optional" and fix "Default"

* Remove None in function param type

* Fix unittest

* Add comments for NMS functions

* Merge methods of Points

* Add unittest

* Add optional and default value

* Fix box conversion and add unittest

* Fix comments

* Add unit test

* Indent

* Fix CI

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Remove useless \\

* Add unit test for box bev

* More unit tests and refine docstrings in box_np_ops

* Fix comment

* Add deprecation warning

* Fixed wrong config paths and fixed a bug in test

* Fixed metafile

* Coord sys refactor (main code)

* Update test_waymo_dataset.py

* Manually resolve conflict

* Removed unused lines and fixed imports

* remove coord2box and box2coord

* update dir_limit_offset

* Some minor improvements

* Removed some \s in comments

* Revert a change

* Change Box3DMode to Coord3DMode where points are converted

* Fix points_in_bbox function

* Fix Imvoxelnet config

* Revert adding a line

* Fix rotation bug when batch size is 0

* Keep sign of dir_scores as before

* Fix several comments

* Add a comment

* Fix docstring

* Add data update scripts

* Fix comments

* Add header for files

* Add header for files

* Add header for files

* Add header for files

* add s3dis dataset

* fix comments; remove _S3DISDataset if favour of ConcatDataset

* fix comments

* fix comments

* fix link in __init__/py

* remove unused import

* add dataset tests

* add pytest.skip

* replace all cam_intrinsic

* revert cam_intrinsic in test

* remove rect and fix lint

* Add doc

* Creation of SUN RGB-D dataset doc and some mods on ScanNet dataset doc

* Revert mistakenly modified file

* Fix typos

* Add multi-modality related info

* Add doc

* Creation of SUN RGB-D dataset doc and some mods on ScanNet dataset doc

* Revert mistakenly modified file

* Fix typos

* Add multi-modality related info

* Add multi-modality related info

* Update according to comments

* Add chinese doc and frevised the docs

* Add some script

* Fix typos and formats

* Fix typos

* Fix typos

* add PAConv decode head

* add config files

* add paconv's correlation loss

* support reg loss in Segmentor class

* minor fix

* add augmentation to configs

* fix ed7 in cfg

* fix bug in corr loss

* enable syncbn in paconv

* rename to loss_regularization

* rename loss_reg to loss_regularize

* use SyncBN

* change weight kernels to kernel weights

* rename corr_loss to reg_loss

* minor fix

* configs fix IndoorPatchPointSample

* fix grouped points minus center error

* update transform_3d & add configs

* merge master

* fix enlarge_size bug

* refine config

* remove cfg files

* minor fix

* add comments on PAConv's ScoreNet

* refine comments

* update compatibility doc

* remove useless lines in transforms_3d

* rename with_loss_regularization to with_regularization_loss

* revert palette change

* remove xavier init from PAConv's ScoreNet

* Fix rotation and dim hacks between nuscbox and our cambox

* Remove hack in the mono browse, fix cam_intrinsic in the RandomFlip3D

* Apply a more suitable hack transformation (dim & yaw hack)

* Fix incorrect transformation of dim in post-processing

* Remove transformation from global to local yaw in kitti mono dataset

* Add comments for cam_intrinsic modification in the doc and code

* Fix typos and invalid links

* Add compatibility doc for fixing nus hacks

* Update benchmark

* extract RGB images for ScanNet

* update scannet_data_utils with rgb

* fix docs an tools; add use_camera to ScanNetDataset

* fix typos is scannet doc

* fix very rare undefined poses for ScanNet

* update ScanNet dataset for more clear MultiViewPipeline

* update compatibility for ScanNet

* fix typo in compatibility doc

* use mmcv.track_parallel_progress for scannet images

* fix bug when interval == 1

* minor fix

* add get_flops.py

* modify SSD to support flops calc

* update docs

* support mono3d models

* support 3dssd

* support one-stage method

* for lint

* support two_stage

* Support all methods

* remove init_cfg=[] in configs

* test

* support h3dnet

* fix lint error

* fix isort

* fix code style error

* fix imvotenet bug

* rename init_weight->init_weights

* clean comma

* fix test_apis does not init weights

* support newest mmdet and mmcv

* fix test_heads h3dnet bug

* rm *.swp

* remove the wrong code in build.yml

* fix ssn low map

* modify docs

* modified ssn init_config

* modify params in backbone pointnet2_sa_ssg

* add ssn direction init_cfg

* support segmentor

* add conv a=sqrt(5)

* Convmodule uses kaiming_init

* fix centerpointhead init bug

* add second conv2d init cfg

* add unittest to confirm the input is not be modified

* assert gt_bboxes_3d

* rm .swag

* modify docs mmdet version

* adopt fcosmono3d

* add fcos 3d original init method

* fix mmseg version

* add init cfg in fcos_mono3d.py

* merge newest master

* remove unused code

* modify focs config due to changes of resnet

* support imvoxelnet pointnet2

* modified the dependencies version

* support decode head

* fix inference bug

* modify the useless init_cfg

* fix multi_modality BC-breaking

* fix error blank

* modify docs error

* refactor K and Rt to depth2img for SUN RGB-D

* fix lint

* update 3 tests

* fix extra calib key and comments

* remove calib from browse_dataset

* fix cam to depth; rename return_z

* fix when killing before eval

* fix resume log

* add tools/dist_train.sh exec permission

* add tools/create_data.sh exec permission

* fix comment errors

* add eval_pipeline in mono-nuscene cfg

* add vis function in nuscene-mono dataset

* refactor vis function to support all three mode boxes proj to img

* add unit test for nuscene-mono show func

* browse_dataset support nuScenes_mono

* add show_results() to SingleStageMono3DDetector

* support mono-3d dataset browse

* support nus_mono_dataset and single_stage_mono_detector show function

* update useful_tools.md docs

* support mono-3d demo

* add unit test

* update demo docs

* fix typos & remove unused comments

* polish docs