Add CC-3DT Training

[RoyYang0714]

This PR aims to reproduce CC-3DT training on nuScenes dataset.

Features

Data

MultiViewDataset

• [x] Support sorting function.
• [x] Fix UniformViewSampler with nonconsecutive frame ids.
• [x] Support retry and SequentialViewSampler.

CBGSDataset

• [x] Support CBGS to solve class unbalanced issues.

ResampleDataset

• [x] Support resampling index to align the numbers of samples within an epoch to other codebases (MMEngine & Detectron 2).

Datasets

• [x] Refactor nuScenes Monocular datasets.
• [x] Refactor VideoDataset. Change video_to_indices to VideoMapping which contains video_to_indices and video_to_frame_ids to handle nonconsecutive frames.

Engine

LossModule

• [x] Support loss weight in dictionary format.

Eval

NuScenes Evaluator

• [x] Split 3D Detection & 3D Tracking evaluators.
• [x] Refactor inputs to align vis4d.data.const.CommonKeys.
• [x] Support 3D Detection evaluation code while 3D Tracking only saves prediction due to dependency issues.

Model

QDTrack

• [x] Split QDTrack int QDTrackHead (vis4d.op.track) and QDTrackGraph (vis4d.state.track) to make them easy to reuse.

CC-3DT

• [x] Split CC3DTrack into QDTrackHead and CC3DTrackGraph.
• [x] Create CC3DTrackGraph in vis4d.state.track3d which updates the track memory with association and motion model.
• [x] Refactor QD3DTBBox3DHead to a single functor.
• [x] Refactor Box3DUncertaintyLoss and move it to vis4d.op.
• [x] Refactor Track3DOut to align vis4d.data.const.CommonKeys.
• [x] Add training configs.
• [x] Add model zoo.
• [x] Reproduce R50 performance.
• [x] Reproduce R101 performance.

Op

Weight initialization

• [x] Support weight initialization functions.

Bug Fixes

• [x] Rename some module names (detect_3d to detect3d / track_3d to track3d / vis4d.op.detect_3d.filter to vis4d.op.detect3d.util).
• [x] Fix the in-place operation of the shared convolution in RCNNHead.
• [x] Fix missing weight init in RCNNHead and QD3DTBBox3DHead.
• [x] Resolve the ordering issue of visualizer callback and COCO evaluator.
• [x] Fix get_rank function on local machine.
• [x] Fix loss logging.
• [x] Fix the learning rate scheduler for OnecyleLR.