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Hi, I think this should be of some help to you - https://github.com/AutoLidarPerception/segmenters_lib Using this, you can just specify your point cloud name and the frame_id in which you want to visualize the bounding boxes, in the given yaml file. Everything is done by the package so you need not do anything extra, still if you want to understand how the process is happening, you can study the code and documentation given and even make changes in it as per your required application.