Which coordinate system are these annotation coordinates（e.g.divider、ped_crossing、boundary、centerline ） corresponding to?

[MobiusLeo]

In the part of generating ground-truth of map infos（ running custom_nusc_map_converter.py），Are these coordinates（points belong to divider、ped_crossing、boundary、centerline ） corresponding to the ego-system(which origin is car-center) or lidar-system(which origin is lidar-center)?

[cnzzx]

Thanks for your interest. For GT points passed to the model (for training), they should be in the lidar coordinates.