[Enhance] Support dataset browsing on all datasets

[wHao-Wu]

• Support dataset browsing on KITTI

• Saving image of views specified by users when pressing ESC in open3d window

[Tai-Wang]

Please also add an instruction and illustration in the documentation [USEFUL TOOLS...] .

[codecov]

Codecov Report

Merging #367 (8f4f0cd) into master (0c74471) will decrease coverage by 0.00%.
The diff coverage is 41.66%.

❗ Current head 8f4f0cd differs from pull request most recent head ce7f037. Consider uploading reports for the commit ce7f037 to get more accurate results

@@            Coverage Diff             @@
##           master     #367      +/-   ##
==========================================
- Coverage   50.17%   50.17%   -0.01%     
==========================================
  Files         183      184       +1     
  Lines       13165    13177      +12     
  Branches     2095     2097       +2     
==========================================
+ Hits         6606     6611       +5     
- Misses       6123     6130       +7     
  Partials      436      436              

Flag	Coverage Δ
unittests	50.17% <41.66%> (-0.01%)	⬇️

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Impacted Files	Coverage Δ
mmdet3d/datasets/utils.py	36.36% <36.36%> (ø)
mmdet3d/datasets/__init__.py	100.00% <100.00%> (ø)

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[ZwwWayne]

Please @Wuziyi616 check the functionality of each dataset. The PR can be merged after all datasets could be correctly visualized.

[Wuziyi616]

We may also consider visualizing segmentation/multi-modality detection dataset in the future? I am checking the functionality on all datasets now, it may take a while...

[ZwwWayne]

We may also consider visualizing segmentation/multi-modality detection dataset in the future? I am checking the functionality on all datasets now, it may take a while...

Yes, we need to consider that. At least the high-level logic and code of each dataset should be unified in MMDet3D.

[Wuziyi616]

Fix some small bugs in the code.

[Wuziyi616]

Below are some saved visualization examples of browse_dataset, they cover all three (currently supported) dataset formats.

KITTI:

ScanNet:

Lyft:

[wHao-Wu]

Below are some visualization results for Waymo and SUN RGB-D datasets.

Waymo:

SUN RGB-D: