Fix: Resolve matrix dimension mismatch issue in _dispatch_kwargs

[kyh980909]

• Updated _dispatch_kwargs method to handle cam_type and out_dir more robustly.
• Ensured proper handling of cam2img and lidar2cam matrix dimensions:
  • Added logic to convert 3x3 matrices to 4x4 for compatibility with downstream calculations.
  • Included validation checks for input dimensions to prevent runtime errors.
• Improved error handling for unsupported or missing cam_type in the dataset.
• Added debug logging to trace matrix shapes during preprocessing.

These changes resolve the ValueError related to incompatible matrix dimensions during the matmul operation.

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Motivation

This PR resolves a ValueError caused by incompatible matrix dimensions during the matmul operation in the _dispatch_kwargs and related methods. The goal is to ensure compatibility of cam2img and lidar2cam matrix dimensions while improving the robustness of handling the cam_type and out_dir arguments. This fix ensures smooth execution and avoids runtime errors in 3D object detection pipelines.

Modification

1. Updated _dispatch_kwargs method:

• Handled cam_type and out_dir more robustly by ensuring proper addition of relevant keys to kwargs.

2. Ensured proper handling of matrix dimensions:

• Added logic to convert 3x3 matrices (e.g., cam2img) to 4x4 matrices for downstream compatibility.
• Included validation checks to detect and handle mismatched dimensions before performing matrix operations.

3. Improved error handling:

• Added fallback for missing or unsupported cam_type in the dataset.
• Included debug logging to trace matrix shapes during preprocessing for easier debugging and maintenance.

4. Enhanced debugging:

• Added logging to inspect input matrix shapes (cam2img, lidar2cam) during preprocessing.

BC-breaking (Optional)

This PR does not introduce any backward compatibility-breaking changes. All updates are compatible with existing pipelines, provided that the input dataset adheres to expected formats.

Use cases (Optional)

This PR primarily improves the stability and reliability of the matrix transformation process within 3D object detection pipelines. It can handle real-world scenarios where datasets may include incomplete or inconsistent camera parameters.

Checklist

1. ✅ Pre-commit hooks and linting tools were used to fix potential issues.
2. ✅ Unit tests were added to validate the correctness of the modifications.
3. ✅ The changes were tested with downstream projects to ensure no unintended side effects.
4. ✅ Documentation, including docstrings, has been updated to reflect these modifications.

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