[Feature] Add FCAF3D on ScanNet, S3DIS and SUN RGB-D

[filaPro]

Motivation

Close #1219. Add FCAF3DNeckWithHead, MinkSingleStage3DDetector and RotatedIoU3DLoss. For all 3 datasets the original authors' checkpoints show exactly the same metrics. Benchmark can be added in the next PR.

Modification

Add FCAF3DHead, MinkSingleStage3DDetector and RotatedIoU3DLoss.

BC-breaking (Optional)

Fix DepthInstance3DBoxes.overlaps. BC-breaking part is merged in #1548. No.

[filaPro]

The BC-breaking part of the PR is separated to #1548.

Also build problem AssertionError: MMCV==1.5.2 is used but incompatible. Please install mmcv>=1.3.8, <=1.5.0. is probably not caused by this PR.

And one more thing, the minimal version of mmcv-full should be increased to 1.5.2.

[Tai-Wang]

The BC-breaking part of the PR is separated to #1548.

Also build problem AssertionError: MMCV==1.5.2 is used but incompatible. Please install mmcv>=1.3.8, <=1.5.0. is probably not caused by this PR.

And one more thing, the minimal version of mmcv-full should be increased to 1.5.2.

Hi @filaPro , thanks for your contribution! We have fixed the compatibility problem in #1537 . You can merge the latest dev and resolve conflicts to pass the CI test.

[filaPro]

Will think, how to skip MinkowskiEngine in the failed test and add test for RotatedIoU3DLoss.

[codecov]

Codecov Report

Merging #1547 (6a8054e) into dev (dea954e) will decrease coverage by 0.36%.
The diff coverage is 21.51%.

@@            Coverage Diff             @@
##              dev    #1547      +/-   ##
==========================================
- Coverage   50.16%   49.80%   -0.37%     
==========================================
  Files         223      226       +3     
  Lines       19104    19453     +349     
  Branches     3134     3174      +40     
==========================================
+ Hits         9584     9689     +105     
- Misses       8940     9177     +237     
- Partials      580      587       +7     

Flag	Coverage Δ
unittests	49.80% <21.51%> (-0.37%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
mmdet3d/models/backbones/mink_resnet.py	26.31% <0.00%> (ø)
mmdet3d/models/losses/axis_aligned_iou_loss.py	91.30% <ø> (+26.08%)	⬆️
mmdet3d/models/dense_heads/fcaf3d_head.py	15.67% <15.67%> (ø)
mmdet3d/models/detectors/mink_single_stage.py	44.11% <44.11%> (ø)
mmdet3d/models/losses/rotated_iou_loss.py	45.83% <45.83%> (ø)
mmdet3d/models/dense_heads/__init__.py	100.00% <100.00%> (ø)
mmdet3d/models/detectors/__init__.py	100.00% <100.00%> (ø)
mmdet3d/models/losses/__init__.py	100.00% <100.00%> (ø)
mmdet3d/datasets/pipelines/dbsampler.py	74.07% <0.00%> (-1.73%)	⬇️
mmdet3d/models/dense_heads/centerpoint_head.py	44.05% <0.00%> (-0.69%)	⬇️
... and 6 more

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[filaPro]

Removed DepthInstance3DBoxes.overlaps due to #1556.

[Tai-Wang]

Almost ready to merge. Just need to fix the minor comments.