Calibrated_sensors location about nuscenes-devkit HOT 1 CLOSED

1. [0, 0, 0] refers to the "ego vehicle body frame". That is a point in the center of the rear axle (where the IMU is located). Hence it is neither the location of the lidar nor the center of the bounding box (which could sometimes be inaccurate).
2. Please refer to the schema. Translation is stored as [x, y, z], sizes are stored as [w, l, h]. z is pointing up here, x and y correspond to lat and lon in the map. Units are meters.
3. To see the different coordinate frames, refer to the figure at: https://www.nuscenes.org/data-collection . In practice it is often easier to use our provided code rather than figuring it out for yourself. E.g. here is the function that loads annotations and transforms them into the specified sensor coordinate frame.

from nuscenes-devkit.