[Refactor] Support imvoxelnet @ SUN RGB-D on 1.x branch

[Tai-Wang]

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Motivation

Please describe the motivation of this PR and the goal you want to achieve through this PR.
Support imvoxelnet @ SUN RGB-D on 1.x branch.

Modification

Please briefly describe what modification is made in this PR.

• Refactor imvoxelnet detector, neck, head
• Add refactored config
• Add refactored unit test

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.