About the coordinate system of labels

[leehungu]

Hi,

Thank you for providing the awesome dataset. I try to build a 3D detection model based on boreas, but I do not know the coordinate system of labels. I followed the tutorial (pyboreas/pyboreas/tutorials/object_detection.ipynb), but I noticed three different conversion as below:

1. Labels to lidar:
   Labels are directly renderred to the lidar coordinate system, which means labels should be in the lidar coordinate system.

2. Labels to image:
   Labels are firstly projected to the image plane using calib.P0, and then rendered. ‘bbs.transform(T_camera_lidar)’ is commented out. This means the labels are in the camera coordinate system.

3. Labels to radar:
   Labels are firstly projected to the bev plane using T_bev_metric, and then rendered. This may means labels are in the radar coordinate system.

Could you provide a detail information about labels, including the coordinate system, and how to convert to other coordinate system?