[Enhance] Update data structures

[Xiangxu-0103]

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Motivation

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

Modification

• Add unittest of PointData.
• Update docstring.

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.

[JingweiZhang12]

@Xiangxu-0103 Please fix the UT. Also, better to pull the latest code which has fixed some UTs and lints.

[Xiangxu-0103]

The updated PointData for checking the length of input will cause bc-breaking for instance_seg_metric. I will delete this check and update the instance_seg_metric in another PR.

[codecov]

Codecov Report

Base: 45.33% // Head: 45.51% // Increases project coverage by +0.18% 🎉

Coverage data is based on head (aa10e02) compared to base (f42e968).
Patch coverage: 59.83% of modified lines in pull request are covered.

Additional details and impacted files

@@             Coverage Diff             @@
##           dev-1.x    #2155      +/-   ##
===========================================
+ Coverage    45.33%   45.51%   +0.18%     
===========================================
  Files          255      255              
  Lines        21067    21095      +28     
  Branches      3325     3331       +6     
===========================================
+ Hits          9550     9601      +51     
+ Misses       10891    10868      -23     
  Partials       626      626              

Flag	Coverage Δ
unittests	45.51% <59.83%> (+0.18%)	⬆️

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

Impacted Files	Coverage Δ
mmdet3d/datasets/waymo_dataset.py	17.72% <ø> (ø)
mmdet3d/evaluation/functional/seg_eval.py	96.07% <0.00%> (-3.93%)	⬇️
mmdet3d/evaluation/metrics/nuscenes_metric.py	11.43% <20.00%> (-0.53%)	⬇️
mmdet3d/evaluation/metrics/waymo_metric.py	8.11% <31.25%> (-0.04%)	⬇️
mmdet3d/evaluation/metrics/kitti_metric.py	9.09% <40.00%> (+0.24%)	⬆️
mmdet3d/models/test_time_augs/merge_augs.py	11.53% <100.00%> (+3.53%)	⬆️
mmdet3d/models/utils/add_prefix.py	20.00% <100.00%> (ø)
mmdet3d/models/utils/clip_sigmoid.py	60.00% <100.00%> (+10.00%)	⬆️
mmdet3d/models/utils/edge_indices.py	83.72% <100.00%> (+0.79%)	⬆️
mmdet3d/models/utils/gaussian.py	41.37% <100.00%> (+2.09%)	⬆️
... and 8 more

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