The label.box.heading is not correct as visulizing in Open3D GUI.

[zeng-hello-world]

I extracted out only the LiDAR label bounding box and visualized in Open3D GUI. It looks like as follow, but all the bboxes heading angle are verticle to their correct direction.

Thus, I add pi/2 to each heading, and it sames to be coorect, but I still don't know why.

[peisun1115]

I do not know what Open3D GUI expects. The heading we provide is the angle required to rotate +x (vehicle frame) to the surface normal of the front face of the labeled box.

Also make sure you interpret length/width properly. https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/label.proto#L28-L35

[zeng-hello-world]

I mistook the order of length and width.

    // Box coordinates in vehicle frame.
    optional double center_x = 1;
    optional double center_y = 2;
    optional double center_z = 3;

    // Dimensions of the box. length: dim x. width: dim y. height: dim z.
    optional double length = 5;   
    optional double width = 4;
    optional double height = 6;

Thanks a lot!