Render 3D Bounding Boxes

#1

Hello,

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.

#2

Hi,
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.

#3

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.