[WIP] [Feature] CodeCamp #42 Support FSD

[PeterH0323]

Motivation

Support FSD

Modification

Please briefly describe what modification is made in this PR.

BC-breaking (Optional)

Does the modification introduce changes that break the back-compatibility of the downstream repos?
If so, please describe how it breaks the compatibility and how the downstream projects should modify their code to keep compatibility with this PR.

Use cases (Optional)

If this PR introduces a new feature, it is better to list some use cases here, and update the documentation.

Checklist

1. Pre-commit or other linting tools are used to fix the potential lint issues.
2. The modification is covered by complete unit tests. If not, please add more unit test to ensure the correctness.
3. If the modification has potential influence on downstream projects, this PR should be tested with downstream projects.
4. The documentation has been modified accordingly, like docstring or example tutorials.

[CLAassistant]

All committers have signed the CLA.

[Abyssaledge]

Dear maintainers, @PeterH0323 I come across this PR, and thanks for your efforts to support FSD. I may offer some help if you need, for example, the model weights for inference debugging.
There are some experiences to support FSD in MMDet3D > v1.0. (1) The coordinate system in DynamicPointPooling should be paid attention to. (2) IoUNegPiecewiseSampler in original FSD seems to be different from the one in the new MMDet3D.
Further discussions are definitely welcome!

[PeterH0323]

Dear maintainers, @PeterH0323 I come across this PR, and thanks for your efforts to support FSD. I may offer some help if you need, for example, the model weights for inference debugging. There are some experiences to support FSD in MMDet3D > v1.0. (1) The coordinate system in DynamicPointPooling should be paid attention to. (2) IoUNegPiecewiseSampler in original FSD seems to be different from the one in the new MMDet3D. Further discussions are definitely welcome!

Hi, the creator of FSD @Abyssaledge 😄
Thx for the advice. May i ask, do you have some time, maybe we can support it together on MMDet3d 1.x ?

[Abyssaledge]

@PeterH0323 I cannot promise enough time, but I can help with the code review, problem discussion and lightweight commits. You could search my github username in wechat for further communication :)