How to draw 3D bounding box on 3d lidar data?

[chowkamlee81]

Kindly help in How to draw 3D bounding box on 3d lidar data using mayavi in voxelnet. Kindly help

[hm2092]

You can refer this repo: https://github.com/skyhehe123/VoxelNet-pytorch/blob/bfd7be1ca6e5c5b39eece8a4c5fad3ad7b1f7c74/utils.py#L145

[chowkamlee81]

In the above python code, code uses Camera to lidar coordinate to generate 3D BoBox on pointclouds. In my dataset i had only LIDAR dataset, no input images. Then how to draw plots on 3D LIDAR? Any help will be highly appreciated

[hm2092]

The above code uses KITTI dataset in which the labels(x, y, z coordinates for bounding box centre) are given in camera coordinates. Thats why it is converted first to lidar coordinate system. If you directly have the corner points of the boxes you need to plot in lidar coordinate system, then you can use the plot3d function in mayavi to draw the box.