visualization of 3D bounding box

[peppa114]

Hello, I want to know how to visualize the verification results and display the 3D bounding box in the paper. When not using BOP_ In the case of toolkit, I use the rendering pipeline to render the pose of the object. In this function, the rendering pipeline is used to create a training image with a 3D model.Its return value is a two-dimensional bounding box. How can I draw a three-dimensional bounding box on a test image.Hope to get your answer, thank you.

I made some attempts based on the answers to the previous questions.I got a rendering of a single object