def render(self,
               axis: Axes,
               view: np.ndarray = np.eye(3),
               normalize: bool = False,
               colors: Tuple = ('b', 'r', 'k'),
               linewidth: float = 2,
               box_idx=None,
               alpha=0.5) -> None:
        """
        Renders the box in the provided Matplotlib axis.
        :param axis: Axis onto which the box should be drawn.
        :param view: <np.array: 3, 3>. Define a projection in needed (e.g. for drawing projection in an image).
        :param normalize: Whether to normalize the remaining coordinate.
        :param colors: (<Matplotlib.colors>: 3). Valid Matplotlib colors (<str> or normalized RGB tuple) for front,
            back and sides.
        :param linewidth: Width in pixel of the box sides.
        """
        corners = view_points(self.corners(), view, normalize=normalize)[:2, :]

        def draw_rect(selected_corners, color, alpha):
            prev = selected_corners[-1]
            for corner in selected_corners:
                axis.plot([prev[0], corner[0]], [prev[1], corner[1]], color=color, linewidth=linewidth, alpha=alpha)
                prev = corner

        # Draw the sides
        for i in range(4):
            axis.plot([corners.T[i][0], corners.T[i + 4][0]],
                      [corners.T[i][1], corners.T[i + 4][1]],
                      color=colors[2], linewidth=linewidth, alpha=alpha)

        # Draw front (first 4 corners) and rear (last 4 corners) rectangles(3d)/lines(2d)
        draw_rect(corners.T[:4], colors[0], alpha)
        draw_rect(corners.T[4:], colors[1], alpha)

        # Draw line indicating the front
        center_bottom_forward = np.mean(corners.T[2:4], axis=0)
        center_bottom = np.mean(corners.T[[2, 3, 7, 6]], axis=0)
        axis.plot([center_bottom[0], center_bottom_forward[0]],
                  [center_bottom[1], center_bottom_forward[1]],
                  color=colors[0], linewidth=linewidth, alpha=alpha)
        if box_idx is not None and center_bottom[0] > -35 and center_bottom[1] > -35 \
            and center_bottom[0] < 35 and center_bottom[1] < 35:
            text = f'{box_idx}'
            axis.text(center_bottom[0], center_bottom[1], text, ha='left', fontsize=5)

        Renders the box in the provided Matplotlib axis.
        :param axis: Axis onto which the box should be drawn.
        :param view: <np.array: 3, 3>. Define a projection in needed (e.g. for drawing projection in an image).
        :param normalize: Whether to normalize the remaining coordinate.
        :param colors: (<Matplotlib.colors>: 3). Valid Matplotlib colors (<str> or normalized RGB tuple) for front,
            back and sides.
        :param linewidth: Width in pixel of the box sides.
        
projects/mmdet3d_plugin/core/bbox/structures/nuscenes_box.py