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[Feature] Refactor Waymo dataset_converter/dataset/evaluator #1035

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Job	Run time
build_cu102 (3.7)	6m 35s
build_cpu (3.7)	5m 59s
build_windows (3.7, cpu, 1.8.1, 0.9.1)	11m 43s
build_cu117 (3.9)	8m 31s
build_windows (3.7, cu111, 1.8.1, 0.9.1)	15m 54s
build_windows (3.8, cu117, 2.0.0, 0.15.1)	12m 19s
	1h 1m 1s