Bounding Box 3D and BEV Visualizer

[x] Add LIDAR coordinate definition.
[x] Support the 3D boxes transformation in different source-to-target coordinates.
[x] Support rotation matrix to yaw angle in different coordinates.
[x] Refactor Track3DOut to support batch outputs and update the nuScenes evaluator.
[x] Refactor the SelectSensor transform. Make it the first preprocess to map a multi-sensor dataset to a normal dataset (i.e. single sensor).
[x] Refactor MultiSensorDataConnector, MultiSensorCallbackConnector, and MultiSensorLossConnector to support key_mapping with sensors information and handle metadata.
[x] Refactor the NuScenes dataset to have metadata and LIDAR data.
[x] Refactor build_train_dataloader and build_inference_dataloader to support passing sensors information to collate function.
[x] Support BEVBBox3DVisualizer.
[x] Support BoundingBox3DVisualizer for normal datasets and multi-sensor ones.
[x] Support trajectory plotting for both visualizers.

Fix the get_intersection_point function to handle negative depth for image visualization.
Fix ConfigDict still exists after instantiate_classes.
Fix PostProcessBoxes2D for boxes3d related.
Fix NuScenes test cases to speed up testing.

SysCV / vis4d