Add pandaset support (#396)

* Add basic support for Pandaset dataset

* Add gt_sampling support for pandaset

* Enable training on different classes than raw dataset

* Save pandaset output in the same format as annotations

* Add dataset config file for pandaset

* Make pandaset dataset compatible with test.py

- add 'evaluation' method
- add 'name' key to predictions dict

* Enable selecting lidar device for pandaset

Author: lea-v

pcdet/datasets/__init__.py

@@ -8,12 +8,14 @@
 from .kitti.kitti_dataset import KittiDataset
 from .nuscenes.nuscenes_dataset import NuScenesDataset
 from .waymo.waymo_dataset import WaymoDataset
+from .pandaset.pandaset_dataset import PandasetDataset
 
 __all__ = {
     'DatasetTemplate': DatasetTemplate,
     'KittiDataset': KittiDataset,
     'NuScenesDataset': NuScenesDataset,
-    'WaymoDataset': WaymoDataset
+    'WaymoDataset': WaymoDataset,
+    'PandasetDataset': PandasetDataset
 }