Render 3D Bounding Boxes


Is it possible to render any 3D Bounding Box in global coordinate system? I want to use opengl for that, but i cannot find the global coordinates of each box.

Thanks in advance and my apologies if this is obvious.

as pointed out in the schema, all annotations are given in the global coordinates.
However, get_sample_data transforms them to the sensor frame. get_boxes directly gives you the boxes in global coordinates. Then you can do a few modifications on render_annotation to render it.

Thanks for the fast and helpful answer.

I got confused between the ego vehicle coordinate system and sensor coordinate system, but i managed to render the boxes.