3D boxes of instances in LIDAR coordinates about NuScenes

[tangtaogo]

Hi, In nuSences the lidar coordinate is ( up z y front ^ ^ | / | / 0 ------> x),
but the gt_bbox_3d in nuscenes_dataset not change to the LiDARInstance3DBoxes coordinate( up z x front ^ ^ | / | / left y <------ 0)

[qq1361096516]

I have the same question

[OrangeSodahub]

@Trent-tangtao @qq1361096516 Have you solved it?

[YangyangFu]

I observed the same thing. It seems this is a mismatch between the code and docs. To be consistent, need add a coordinate transformation matrix.