Support latest version of OpenPCDet v0.6.0 (8caccce) & Support PyTorch 2.x & Fix several bugs

[realcwj]

Updates

1. Support latest version of OpenPCDet v0.6.0 (8cacccec11db6f59bf6934600c9a175dae254806), which supports PyTorch 2.x now.
2. Fix bugs:

• TypeError: forward() missing 1 required positional argument: 'batch_dict'
• Could not export onnx. #72
• Two questions:TypeError: forward() missing 1 required positional argument: 'batch_dict' and failed to parse onnx model file, please check the onnx version and trt support op! #97
• TypeError: PointPillar.forward() missing 1 required positional argument: 'batch_dict' #124
• name: xxxxxx OpType: ScatterND is not output of any previous nodes.
• Model .onnx Export Failure with Latest onnx & onnx-simplifier #121

3. Modified related files such as readme.md and dockerfile
4. Tested on:

• Ubuntu 20.0.4 LTS
• CUDA 12.8
• TensorRT 8.6.1.6
• torch==2.2.0+cu121
• onnx==1.15.0
• onnxsim==0.4.36
• pcdet==0.6.0+8caccce