Boxes Frame Transformer – nuScenes


The block is used to transform the nuScenes 3D bounding boxes’ reference frame to another frame.

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Version 0.3.6-x86_64
Input ports
  • Input 3D Bounding Boxes (nuscenes_msgs/EvalBoxes) - The input nuScenes 3D bounding boxes
  • Transforms (nuscenes_msgs/TF) - Transforms which cover the relations between different sensor frames to the ego vehicle frame as well as the ego vehicle frame to the global frame at the capturing instant of each sensor.
Output Ports
  • Transformed 3D Bounding Boxes (nuscenes_msgs/EvalBoxes) - The output nuScenes 3D bounding boxes after transforming it's reference frame.
  • Desired Frame - The desired frame to which the nuScenes 3D bounding boxes will be transformed.
References None


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