What coordinate systems are used for labeling?

[angelmancar]

Thank you very much for your work!

I wanted to ask about the coordinate systems used in the labels. For each agent, how are the 3d positions of hte bounding boxes defined with respect to each sensor? Are they defined with respect to the lidar, one of the cameras, or some common world system?

I ask also because when converting to DAIR format, some of the data is converted into 'infrastructure-side' and some into 'vehicle-side' but without any changes in the bounding boxes, and in RCooper there is no common vehicle to set a coordinate system in.

Thank you!