Question about 2D bounding box

[gray311]

I want to transform the 3d_bbs to 2D bounding boxes of the each frame, but I can't get extrinsic matrix of the sensor. Can you offer some suggestions for me to get 2D bbox? Thanks!

[deepcs233]

Hi! Sorry for the late reply! You can find the bbox of the traffic lights, walkers, and vehicles in the actors_data. These coordinates are based on a system that originates at the ego-vehicle and do not require additional transformations."