submanifold convolution

Sparse conv3d backward(gpu)

* sparse conv3d: gpu code

* fix incorrect dims settings

* sparse conv3d

* fix out dims

* test performance

* test large shape success

* opt scatter, double performance

* test float16

* remove profiling code

* remove pten

* opt code lines

* correct boundary judgment

* only cpu

* test ci

* test ci

* remove the including paddle/fluid header; extract the conmmon function

* opt code lines

* use DenseTensor::data() instead of mutable_data

* return rulebook for backward

* specify layout

* rename:conv -> sparse_conv3d

* change Vector to std::vector and provide MixVector class as a helper wrapper class

* solve the multi-gpu hang problem

* remove the duplicate template instantialize

* Copy vector to cpu

* add CopyToCPU

* xxx

* final version: fix the problem of all reduce

* remove mixvector dependence

* fix

* merge

* fix code

* fix by CI

* unify register macro

* rename declare macro

* fix infrt error

* rename pten dir to phi

* rename namespace to phi

* rename infrt pten dir to phi

* resolve conflict

* rename pten to phi in cmake

* revert all infrt change

* change needed files

* fix infrt failed

* fix inference failed