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Unverified Commit f747daab authored by ChaimZhu's avatar ChaimZhu Committed by GitHub
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[Fix] update part of model links (#1369) 

* update model link

* update ssn

* update info in changelog, reamde

* fix comments

* update table
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configs/second/README.md
View file @ f747daab
......@@ -24,7 +24,7 @@ We implement SECOND and provide the results and checkpoints on KITTI dataset.
| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
| [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-car.py)| Car |cyclic 80e|5.4||79.07|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238-393f000c.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238.log.json)|
| [SECFPN (FP16)](./hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py)| Car |cyclic 80e|2.9||78.72|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car_20200924_211301-1f5ad833.pth)| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car_20200924_211301.log.json)|
| [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-3class.py)| 3 Class |cyclic 80e|5.4||64.41|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238-9208083a.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238.log.json)|
| [SECFPN](./hv_second_secfpn_6x8_80e_kitti-3d-3class.py)| 3 Class |cyclic 80e|5.4||65.74|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20210831_022017-ae782e87.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20210831_022017log.json)|
| [SECFPN (FP16)](./hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py)| 3 Class |cyclic 80e|2.9||67.4|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class_20200925_110059-05f67bdf.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class_20200925_110059.log.json)|
### Waymo
......
configs/second/metafile.yml
View file @ f747daab
......@@ -39,8 +39,8 @@ Models:
- Task: 3D Object Detection
Dataset: KITTI
Metrics:
mAP: 64.41
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20200620_230238-9208083a.pth
mAP: 65.74
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20210831_022017-ae782e87.pth
- Name: hv_second_secfpn_sbn_2x16_2x_waymoD5-3d-3class
In Collection: SECOND
......
configs/ssn/README.md
View file @ f747daab
......@@ -23,17 +23,17 @@ We implement PointPillars with Shape-aware grouping heads used in the SSN and pr
| Backbone | Lr schd | Mem (GB) | Inf time (fps) | mAP | NDS | Download |
| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
|[SECFPN](../pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||35.17|49.76|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725-0817d270.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230725.log.json)|
|[SSN](./hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py)|2x|9.62||41.56|54.83|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d_20201023_193737-5fda3f00.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d_20201023_193737.log.json)|
|[SSN](./hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py)|2x|3.6||40.91|54.44|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d_20210830_101351-51915986.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d_20210830_101351.log.json)|
[RegNetX-400MF-SECFPN](../regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d.py)|2x|16.4||41.15|55.20|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230334-53044f32.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/regnet/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_regnet-400mf_secfpn_sbn-all_4x8_2x_nus-3d_20200620_230334.log.json)|
|[RegNetX-400MF-SSN](./hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py)|2x|10.26||46.95|58.24|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d_20201024_232447-7af3d8c8.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d_20201024_232447.log.json)|
|[RegNetX-400MF-SSN](./hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py)|2x|5.1||46.65|58.24|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d_20210829_210615-361e5e04.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d_20210829_210615.log.json)|
### Lyft
| Backbone | Lr schd | Mem (GB) | Inf time (fps) | Private Score | Public Score | Download |
| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
|[SECFPN](../pointpillars/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d.py)|2x|12.2||13.9|14.1|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d_20210517_204807-2518e3de.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d_20210517_204807.log.json)|
|[SSN](./hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py)|2x|8.30||17.4|17.5|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d_20201016_220844-3058d9fc.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d_20201016_220844.log.json)|
|[RegNetX-400MF-SSN](./hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py)|2x|9.98||18.1|18.3|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_lyft-3d_20201025_213155-4532096c.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_lyft-3d_20201025_213155.log.json)|
|[SSN](./hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py)|2x|8.5||17.5|17.5|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d_20210822_134731-46841b41.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d_20210822_134731.log.json)|
|[RegNetX-400MF-SSN](./hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py)|2x|7.4||17.9|18|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d_20210829_122825-d93475a1.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d_20210829_122825.log.json)|
Note:
......
configs/ssn/metafile.yml
View file @ f747daab
......@@ -20,53 +20,53 @@ Models:
Config: configs/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d.py
Metadata:
Training Data: nuScenes
Training Memory (GB): 9.62
Training Memory (GB): 3.6
Results:
- Task: 3D Object Detection
Dataset: nuScenes
Metrics:
mAP: 41.56
NDS: 54.83
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d_20201023_193737-5fda3f00.pth
mAP: 40.91
NDS: 54.44
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_secfpn_sbn-all_2x16_2x_nus-3d_20210830_101351-51915986.pth
- Name: hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d
In Collection: SSN
Config: configs/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d.py
Metadata:
Training Data: nuScenes
Training Memory (GB): 10.26
Training Memory (GB): 5.1
Results:
- Task: 3D Object Detection
Dataset: nuScenes
Metrics:
mAP: 46.95
mAP: 46.65
NDS: 58.24
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d_20201024_232447-7af3d8c8.pth
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_nus-3d_20210829_210615-361e5e04.pth
- Name: hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d
In Collection: SSN
Config: configs/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d.py
Metadata:
Training Data: Lyft
Training Memory (GB): 8.30
Training Memory (GB): 8.5
Results:
- Task: 3D Object Detection
Dataset: Lyft
Metrics:
Private Score: 17.4
Private Score: 17.5
Public Score: 17.5
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d_20201016_220844-3058d9fc.pth
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_secfpn_sbn-all_2x16_2x_lyft-3d_20210822_134731-46841b41.pth
- Name: hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d
In Collection: SSN
Config: configs/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d.py
Metadata:
Training Data: Lyft
Training Memory (GB): 9.98
Training Memory (GB): 7.4
Results:
- Task: 3D Object Detection
Dataset: Lyft
Metrics:
Private Score: 18.1
Public Score: 18.3
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_lyft-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_2x16_2x_lyft-3d_20201025_213155-4532096c.pth
Private Score: 17.9
Public Score: 18.0
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/ssn/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d/hv_ssn_regnet-400mf_secfpn_sbn-all_1x16_2x_lyft-3d_20210829_122825-d93475a1.pth
configs/votenet/README.md
View file @ f747daab
......@@ -22,13 +22,13 @@ We implement VoteNet and provide the result and checkpoints on ScanNet and SUNRG
| Backbone | Lr schd | Mem (GB) | Inf time (fps) | AP@0.25 |AP@0.5| Download |
| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
| [PointNet++](./votenet_8x8_scannet-3d-18class.py) | 3x |4.1||62.90|39.91|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238-2cea9c3a.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238.log.json)|
| [PointNet++](./votenet_8x8_scannet-3d-18class.py) | 3x |4.1||62.34|40.82|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20210823_234503-cf8134fa.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20210823_234503.log.json)|
### SUNRGBD
| Backbone | Lr schd | Mem (GB) | Inf time (fps) | AP@0.25 |AP@0.5| Download |
| :---------: | :-----: | :------: | :------------: | :----: |:----: | :------: |
| [PointNet++](./votenet_16x8_sunrgbd-3d-10class.py) | 3x |8.1||59.07|35.77|[model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238-4483c0c0.pth) | [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238.log.json)|
| [PointNet++](./votenet_16x8_sunrgbd-3d-10class.py) | 3x |8.1||59.78|35.77|[model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20210820_162823-bf11f014.pth) | [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20210820_162823.log.json)|
**Notice**: If your current mmdetection3d version >= 0.6.0, and you are using the checkpoints downloaded from the above links or using checkpoints trained with mmdetection3d version < 0.6.0, the checkpoints have to be first converted via [tools/model_converters/convert_votenet_checkpoints.py](../../tools/model_converters/convert_votenet_checkpoints.py):
......
configs/votenet/metafile.yml
View file @ f747daab
......@@ -25,9 +25,9 @@ Models:
- Task: 3D Object Detection
Dataset: SUNRGBD
Metrics:
AP@0.25: 59.07
AP@0.25: 59.78
AP@0.5: 35.77
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20200620_230238-4483c0c0.pth
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/votenet/votenet_16x8_sunrgbd-3d-10class/votenet_16x8_sunrgbd-3d-10class_20210820_162823-bf11f014.pth
- Name: votenet_8x8_scannet-3d-18class.py
In Collection: VoteNet
......@@ -39,9 +39,9 @@ Models:
- Task: 3D Object Detection
Dataset: ScanNet
Metrics:
AP@0.25: 62.90
AP@0.5: 39.91
Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20200620_230238-2cea9c3a.pth
AP@0.25: 62.34
AP@0.5: 40.82
Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/votenet/votenet_8x8_scannet-3d-18class/votenet_8x8_scannet-3d-18class_20210823_234503-cf8134fa.pth
- Name: votenet_iouloss_8x8_scannet-3d-18class
In Collection: VoteNet
......
docs/en/changelog.md
View file @ f747daab
......@@ -5,7 +5,32 @@
#### Compatibility
- We migrate all the mmdet3d ops to mmcv and do not need to compile them when installing mmdet3d.
- To fix the unprecise timestamp and optimize its saving method, we reformat the point cloud data during Waymo data conversion. The data conversion time is also optimized significantly by supporting parallel processing. Please re-generate KITTI format Waymo data if necessary. See more details in the [compatibility documentation](https://github.com/open-mmlab/mmdetection3d/blob/master/docs/en/compatibility.md).
- To fix the imprecise timestamp and optimize its saving method, we reformat the point cloud data during Waymo data conversion. The data conversion time is also optimized significantly by supporting parallel processing. Please re-generate KITTI format Waymo data if necessary. See more details in the [compatibility documentation](https://github.com/open-mmlab/mmdetection3d/blob/master/docs/en/compatibility.md).
- We update some of the model checkpoints after the refactor of coordinate systems. Please stay tuned for the release of the remaining model checkpoints.
| | Fully Updated | Partially Updated | In Progress | No Influcence |
|--------------------|:-------------:|:--------:| :-----------: | :-----------: |
| SECOND | | ✓ | | |
| PointPillars | | ✓ | | |
| FreeAnchor | ✓ | | | |
| VoteNet | ✓ | | | |
| H3DNet | ✓ | | | |
| 3DSSD | | ✓ | | |
| Part-A2 | ✓ | | | |
| MVXNet | ✓ | | | |
| CenterPoint | | |✓ | |
| SSN | ✓ | | | |
| ImVoteNet | ✓ | | | |
| FCOS3D | | | |✓ |
| PointNet++ | | | |✓ |
| Group-Free-3D | | | |✓ |
| ImVoxelNet | ✓ | | | |
| PAConv | | | |✓ |
| DGCNN | | | |✓ |
| SMOKE | | | |✓ |
| PGD | | | |✓ |
| MonoFlex | | | |✓ |
#### Highlights
......@@ -41,7 +66,7 @@
- Fix unit tests that use GPUs (#1301)
- Fix incorrect feature dimensions in `DynamicPillarFeatureNet` caused by previous upgrading of `PillarFeatureNet` (#1302)
- Remove the `CameraPoints` constraint in `PointSample` (#1314)
- Fix unprecise timestamps saving of Waymo dataset (#1327)
- Fix imprecise timestamps saving of Waymo dataset (#1327)
#### Contributors
......
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