[Feature] Support DSVT training

[sunjiahao1999]

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✅ JingweiZhang12
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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (5b88c7b) 47.24% compared to head (fc93172) 47.24%.

❗ Current head fc93172 differs from pull request most recent head 7bbaeb7. Consider uploading reports for the commit 7bbaeb7 to get more accurate results

Additional details and impacted files

@@           Coverage Diff            @@
##           dev-1.x    #2738   +/-   ##
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  Coverage    47.24%   47.24%           
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  Files          277      277           
  Lines        23417    23416    -1     
  Branches      3658     3657    -1     
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  Hits         11063    11063           
  Misses       11640    11640           
+ Partials       714      713    -1     

Flag	Coverage Δ
unittests	47.24% <100.00%> (+<0.01%)	⬆️

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[sunjiahao1999]

bbox3d.in_range_3d should filter out bboxes where the gravity center of the bbox is not in the target range, not the bottom center. Btw, this function not use the training/testing pipeline of any other model, except for DSVT. Therefore, this modification does not cause BC-breaking.

[sunjiahao1999]

Add --sync_bn option in training.