[Feature] Refactor Waymo dataset_converter/dataset/evaluator

[sunjiahao1999]

Thanks for your contribution and we appreciate it a lot. The following instructions would make your pull request more healthy and more easily get feedback. If you do not understand some items, don't worry, just make the pull request and seek help from maintainers.

Motivation

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

Modification

1. Refactor Waymo dataset_converter
2. Refactor Waymo dataset
3. Refactor Waymo evaluator
4. Fix Det3DDataset potential bug to speed up training/test setup
5. Fix a print_log in visualization hook

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

Attention: 144 lines in your changes are missing coverage. Please review.

Comparison is base (5c0613b) 46.70% compared to head (bd6e0a4) 47.24%.

Files	Patch %	Lines
mmdet3d/evaluation/metrics/waymo_metric.py	9.52%	76 Missing ⚠️
...tion/functional/waymo_utils/prediction_to_waymo.py	0.00%	34 Missing ⚠️
mmdet3d/datasets/waymo_dataset.py	30.43%	27 Missing and 5 partials ⚠️
mmdet3d/engine/hooks/visualization_hook.py	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2836      +/-   ##
==========================================
+ Coverage   46.70%   47.24%   +0.53%     
==========================================
  Files         277      277              
  Lines       23635    23417     -218     
  Branches     3704     3658      -46     
==========================================
+ Hits        11039    11063      +24     
+ Misses      11892    11640     -252     
- Partials      704      714      +10     

Flag	Coverage Δ
unittests	47.24% <16.27%> (+0.53%)	⬆️

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[Tai-Wang]

Please also update the dataset and compatibility documentation

[CLAassistant]

Thank you for your submission! We really appreciate it. Like many open source projects, we ask that you all sign our Contributor License Agreement before we can accept your contribution.
1 out of 2 committers have signed the CLA.

✅ sunjiahao1999
❌ sjh

---

sjh seems not to be a GitHub user. You need a GitHub account to be able to sign the CLA. If you have already a GitHub account, please add the email address used for this commit to your account.
_{You have signed the CLA already but the status is still pending? Let us recheck it.}

[ZCMax]

An int indicating the label of instance and the -1 indicating ignore.