How to convert the coordinates to image coordinates to plot on images and check the results?

[VishalSowrirajan]

[sibozhang]

Which dataset?

[hunterace832100]

Hi @sibozhang , I have the same question. For the visualization of trajectory prediction, how do I convert the trajectory in the world coordinate to the pixel coordinate ?（For sample_image and sample_trajectory) Is there a corresponding homography matrix available？