[Enhance] Remove 50000 points sampling from SUN RGB-D preprocessing

[filaPro]

Motivation

Voxel-based methods use more then 50000 points and are able to use unlimited amount of points. So we skip point sampling during preprocessing and keep the possibility for users to sample any amount with PointSample further.

Modification

Add num_points to SUN RGB-D preprocessing script.

BC-breaking (Optional)

Users may update there *.pkl files, however the metrics of all models will be the same. The minimal changes may be due to randomness in sampling.

[codecov]

Codecov Report

Merging #1555 (f975a16) into dev (9739046) will increase coverage by 0.01%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##              dev    #1555      +/-   ##
==========================================
+ Coverage   50.15%   50.16%   +0.01%     
==========================================
  Files         223      223              
  Lines       19113    19104       -9     
  Branches     3136     3134       -2     
==========================================
- Hits         9586     9584       -2     
+ Misses       8948     8941       -7     
  Partials      579      579              

Flag	Coverage Δ
unittests	50.16% <ø> (+0.01%)	⬆️

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Impacted Files	Coverage Δ
mmdet3d/core/bbox/structures/depth_box3d.py	88.67% <0.00%> (+5.20%)	⬆️

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May need to add some notes in the compatibility doc