A decoder forward function, that contains multiple decoder layers. Most of the the important stuff is written in DQDecoderLayer. Args: tgt: query feature tensor, (batch, num_points, feature_dims) reference_points: 3D reference poi
(self, tgt, reference_points, src_views,
meta, src_spatial_shapes,
src_level_start_index, src_valid_ratios,
query_pos=None, src_padding_mask=None, rgb_views=None,
output_dir='./', frame_id=None, indices=None, threshold = 0.5, indices_all=None)
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