How to get the yaw angle of 2D annotation box

Hi, I’m trying to transform the radar points in the 2d annotation box into a unit coordinate system where the x-axis is the orientation of the front of the annotation car. Take the three radar points in the box for example. I’ve already transfromed all the radar points and annotation tranlation to the ego car coordinate system, but I don’t know the yaw anle of the annotation box so that I can’t rotate the radar points to the unit coordinate system.
I want to know how to get the yaw angle of the 2D annotation box? Sincerely thanks.