Update docs

mmdet3d/core/bbox/structures/box_3d_mode.py

@@ -10,6 +10,7 @@ class Box3DMode(IntEnum):
 
     Coordinates in LiDAR:
     .. code-block:: none
+
                     up z    x front
                        ^   ^
                        |  /
@@ -20,6 +21,7 @@ class Box3DMode(IntEnum):
 
     Coordinates in camera:
     .. code-block:: none
+
                            x right
                           /
                          /
@@ -33,6 +35,7 @@ class Box3DMode(IntEnum):
 
     Coordinates in Depth mode:
     .. code-block:: none
+
                      up z   x right
                         ^   ^
                         |  /
@@ -57,7 +60,8 @@ class Box3DMode(IntEnum):
             dst (BoxMode): the target Box mode
 
         Returns:
-            The converted box of the same type.
+            (tuple | list | np.ndarray | torch.Tensor):
+                The converted box of the same type.
         """
         if src == dst:
             return box

mmdet3d/core/bbox/structures/cam_box3d.py

@@ -10,6 +10,7 @@ class CAMInstance3DBoxes(BaseInstance3DBoxes):
 
     Coordinates in camera:
     .. code-block:: none
+
                            x right
                           /
                          /
@@ -18,6 +19,7 @@ class CAMInstance3DBoxes(BaseInstance3DBoxes):
                         |
                         v
                    down y
+
     The relative coordinate of bottom center in a CAM box is [0.5, 1.0, 0.5],
     and the yaw is around the y axis, thus the rotation axis=1.
 
@@ -48,6 +50,7 @@ class CAMInstance3DBoxes(BaseInstance3DBoxes):
         (x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z0, x1y1z1)
 
         .. code-block:: none
+
                          front z
                               /
                              /

mmdet3d/core/bbox/structures/lidar_box3d.py

@@ -10,6 +10,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
 
     Coordinates in LiDAR:
     .. code-block:: none
+
                     up z    x front
                        ^   ^
                        |  /
@@ -45,6 +46,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
         (x0y0z0, x0y0z1, x0y1z1, x0y1z0, x1y0z0, x1y0z1, x1y1z0, x1y1z1)
 
         .. code-block:: none
+
                                            up z
                             front x           ^
                                  /            |
@@ -57,6 +59,7 @@ class LiDARInstance3DBoxes(BaseInstance3DBoxes):
                             | / oriign    | /
             left y<-------- + ----------- + (x0, y1, z0)
                 (x0, y0, z0)
+
         Returns:
             torch.Tensor: corners of each box with size (N, 8, 3)
         """