Bounding Boxes for Radar point cloud

Hi, I’m new to nuscenes and I’m working on object detection based on radar point cloud from bird eye view.

So I’m searching for the bounding boxes annotations for the provided Radar PCD files

Thanks in Advance

@Ahmed you can simply retrieve the bounding boxes annotations provided within nuScenes. As an example, you can render the bounding boxes along with the radar returns by doing:

nusc.render_sample_data(my_sample['data']['RADAR_FRONT'], nsweeps=5, underlay_map=True)

Pls check out the nuScenes tutorial for more details: