How to interpret data?

[jun-ja]

Hello, I want to know how to interpret 2d_bbs and 3d_bbs.

I see that lidar can be reshaped to (-1,4), but I wonder how 2d_bbs and 3d_bbs should be converted and how they should be interpreted.

Thank you!

[ap229997]

You can refer to the function _draw_2d_bbs in base_agent.py. For interpreting 3d_bbs, one way could be to project them into 2D image and visualze them. The functions _find_obstacle_3dbb, _get_2d_bb_baseline and _baseline_to_box can provide more details.

[jun-ja]

Thank you!!