fix(deepen_to_t4): handling non keyframe in sample

[miursh]

Description

• Add KeyFrameConsistencyResolver class
• Each function within the class is used to resolve keyframe consistency.
  • This includes tasks such as removing non-keyframe samples, changing sample tokens to the next closest keyframe, and organizing data and annotations.

How to review

try Deepen_to_t4 conversion and confirm that

• Non-keyframe data is not included in the sample list.
• The code adheres to the specification, which states, "A sample is an annotated keyframe at 2 Hz. The timestamp of a sample is the same as that of a LiDAR sample data."
• The generated T4 dataset has passed validation

How to test

test data

test command

Reference

Notes for reviewer

[Guolong-Zhang]

Tested with DBv3.0 shiojiri data. LGTM.