[Refactor] update Det3DLocalVisualization and visualization documentation

[ZCMax]

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Motivation

• Support BEV visualization for 3D boxes
• Update the projected 3D boxes visualization logics and beautify the visualization effects
• Update visualization.md
• add visualizer in dataset config for visualization
• add draw_points_on_image function to visualize the projected points on image

Modification

Please briefly describe what modification is made in this PR.

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]

It's weird that If you also want to show 2D images with 3D bounding boxes projected onto them, you need to find a config that supports multi-modality data loading

[ZCMax]

Actually, it's quite normal, we need a config where input_modality = dict(use_lidar=True, use_camera=True), typically the 3d point cloud algorithm config has input_modality = dict(use_lidar=True, use_camera=False)