[Feature] Add Cylinder3D head

[xizaoqu]

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Motivation

Add Cylinder3D head

Modification

Add Cylinder3D head

BC-breaking (Optional)

Does the modification introduce changes that break the back-compatibility of the downstream repos?
If so, please describe how it breaks the compatibility and how the downstream projects should modify their code to keep compatibility with this PR.

Use cases (Optional)

If this PR introduces a new feature, it is better to list some use cases here, and update the documentation.

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.

[codecov]

Codecov Report

Base: 46.37% // Head: 46.80% // Increases project coverage by +0.42% 🎉

Coverage data is based on head (ab60a3d) compared to base (d84e081).
Patch coverage: 58.74% of modified lines in pull request are covered.

❗ Current head ab60a3d differs from pull request most recent head 57a0218. Consider uploading reports for the commit 57a0218 to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           dev-1.x    #2291      +/-   ##
===========================================
+ Coverage    46.37%   46.80%   +0.42%     
===========================================
  Files          259      264       +5     
  Lines        21390    22119     +729     
  Branches      3379     3484     +105     
===========================================
+ Hits          9919    10352     +433     
- Misses       10827    11105     +278     
- Partials       644      662      +18     

Flag	Coverage Δ
unittests	46.80% <58.74%> (+0.42%)	⬆️

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

Impacted Files	Coverage Δ
mmdet3d/datasets/transforms/__init__.py	100.00% <ø> (ø)
mmdet3d/evaluation/__init__.py	100.00% <ø> (ø)
mmdet3d/models/dense_heads/fcaf3d_head.py	16.23% <ø> (ø)
mmdet3d/models/detectors/mink_single_stage.py	43.58% <ø> (ø)
mmdet3d/testing/data_utils.py	70.83% <ø> (ø)
mmdet3d/models/voxel_encoders/voxel_encoder.py	38.46% <6.94%> (-12.08%)	⬇️
mmdet3d/models/losses/lovasz_loss.py	16.81% <16.81%> (ø)
...t3d/models/data_preprocessors/data_preprocessor.py	39.10% <17.24%> (-5.05%)	⬇️
mmdet3d/datasets/transforms/formating.py	58.03% <33.33%> (+1.78%)	⬆️
mmdet3d/models/data_preprocessors/voxelize.py	33.92% <33.92%> (ø)
... and 31 more

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