[Feature] dev-1.x change np.transpose to torch.permute for speed up

[sunjiahao1999]

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Motivation

Please describe the motivation of this PR and the goal you want to achieve through this PR.

Modification

dev-1.x change np.transpose to torch.permute. Related mmdet PR open-mmlab/mmdetection#9533.

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: 46.61% // Head: 47.04% // Increases project coverage by +0.42% 🎉

Coverage data is based on head (8e8f99b) compared to base (f4ae6d7).
Patch coverage: 92.11% of modified lines in pull request are covered.

❗ Current head 8e8f99b differs from pull request most recent head 8b8cf9e. Consider uploading reports for the commit 8b8cf9e to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           dev-1.x    #2277      +/-   ##
===========================================
+ Coverage    46.61%   47.04%   +0.42%     
===========================================
  Files          259      261       +2     
  Lines        21435    21635     +200     
  Branches      3383     3417      +34     
===========================================
+ Hits          9992    10178     +186     
- Misses       10796    10807      +11     
- Partials       647      650       +3     

Flag	Coverage Δ
unittests	47.04% <92.11%> (+0.42%)	⬆️

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

Impacted Files	Coverage Δ
mmdet3d/evaluation/__init__.py	100.00% <ø> (ø)
mmdet3d/datasets/transforms/formating.py	56.25% <33.33%> (ø)
mmdet3d/evaluation/metrics/panoptic_seg_metric.py	90.00% <90.00%> (ø)
mmdet3d/evaluation/functional/panoptic_seg_eval.py	93.45% <93.45%> (ø)
mmdet3d/evaluation/functional/__init__.py	100.00% <100.00%> (ø)
mmdet3d/evaluation/metrics/__init__.py	100.00% <100.00%> (ø)

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