Suport train/test bevfusion with waymo dataset.

[KoapT]

Motivation

When I train/test bevfusion with waymo dataset, some errors occurred, you can see it in ## Modification.

Modification

1. Compatible with varying image sizes from multiple viewpoints in Det3DLocalVisualizer.
2. Compatible with camera intrinsic parameters in the 3x4 format(e.g. waymo), in BEVLoadMultiViewImageFromFiles.

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]

Thank you for your submission! We really appreciate it. Like many open source projects, we ask that you sign our Contributor License Agreement before we can accept your contribution.

---

tangkang seems not to be a GitHub user. You need a GitHub account to be able to sign the CLA. If you have already a GitHub account, please add the email address used for this commit to your account.
_{You have signed the CLA already but the status is still pending? Let us recheck it.}

[KoapT]

这是来自QQ邮箱的自动回复邮件。您好，我已收到您的邮件，会在阅读之后尽快给您回复。

[Barath19]

Motivation

When I train/test bevfusion with waymo dataset, some errors occurred, you can see it in ## Modification.

Modification

1. Compatible with varying image sizes from multiple viewpoints in Det3DLocalVisualizer.
2. Compatible with camera intrinsic parameters in the 3x4 format(e.g. waymo), in BEVLoadMultiViewImageFromFiles.

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.

Hi Could you provide the waymo config file for BEVFusion?!