Issue with Lidar data and 3d annotation not matching

[yhk1515]

Hello, I opened the 00000.pkl file in the Lidar folder and the 00000.pkl file in the 3d_annotation folder at the same time and visualized it as a point cloud, and the 3d bounding box doesn't exactly match the object that exists in Lidar. Please help me out how to match this. Thank you.

[CesarLiu]

I think you should transform the bboxes to the lidar coordinate. BTW, how did you visualize the data? wrote your own scripts or there is a tool?

[BozhouZha]

Hi there, I wonder if they released the latest dataset with Lidar points? or you cited this from the synwoodscape?