[Fix] Converting point with specified rt_matrix

[wHao-Wu]

• Fixing the bug that the specified rt_matrix will be overwritten by fixed constant when converting from lidar to cam, or from cam to lidar, or from lidar to depth, or from depth to lidar.

[codecov]

Codecov Report

Merging #556 (41bdee4) into master (cff8ca5) will increase coverage by 0.06%.
The diff coverage is 50.00%.

@@            Coverage Diff             @@
##           master     #556      +/-   ##
==========================================
+ Coverage   50.69%   50.76%   +0.06%     
==========================================
  Files         197      197              
  Lines       14873    14927      +54     
  Branches     2419     2430      +11     
==========================================
+ Hits         7540     7577      +37     
- Misses       6836     6851      +15     
- Partials      497      499       +2     

Flag	Coverage Δ
unittests	50.76% <50.00%> (+0.06%)	⬆️

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

Impacted Files	Coverage Δ
mmdet3d/core/bbox/structures/coord_3d_mode.py	63.12% <50.00%> (-1.85%)	⬇️
mmdet3d/datasets/lyft_dataset.py	71.57% <0.00%> (ø)
mmdet3d/datasets/nuscenes_dataset.py	40.99% <0.00%> (ø)
mmdet3d/datasets/nuscenes_mono_dataset.py	33.33% <0.00%> (ø)
mmdet3d/datasets/s3dis_dataset.py	91.01% <0.00%> (+0.10%)	⬆️
mmdet3d/core/visualizer/show_result.py	66.95% <0.00%> (+2.60%)	⬆️
mmdet3d/apis/inference.py	59.19% <0.00%> (+3.19%)	⬆️

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