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Annotate a dataset of images

I'll be recording a new dataset using a couple of sensors: kinect, stereovision cameras.. for a project for people detection using only depth information.

But I don't know yet how can I annotate the dataset, like in this dataset where they provide the boundary box. I have only the sensors (no markers..) and I'll be recording a hundred of images..

Do you have any ideas how can I do that?