bbox + cuboid (3d)
bbox + cuboid use case example
To describe a dataset with one camera sensor (bbox annotation) and one lidar sensor (cuboid annotation) in the coordinate system of iso8855-1:
sensor: camera (#camera1), lidar (#lidar1)
ontology:
people
ischild - boolean (static info)
direction - front, left, right, back (dynamic info)
age - num (static info)
car
color - white, silver, blue, red, black (static info)
truck
bus
Example Code
{
"visionai": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"frames": {
"000000000000": {
"objects": {
"893ac389-7782-4bc3-8f61-09a8e48c819f": {
"object_data": {
"bbox": [
{
"name": "bbox_shape",
"stream": "camera1",
"confidence_score": 0.6,
"val": [
761.565,
225.46,
98.33000000000004,
164.92000000000002
],
"attributes": {
"vec": [
{
"name": "direction",
"stream": "camera1",
"confidence_score": 0.4,
"attributes": {
"vec": [
{
"name": "probability",
"val": [
0.1,
0.3,
0.6,
0.1
]
}
]
},
"val": [
"front",
"left",
"right",
"back"
]
}
]
}
}
],
"cuboid": [
{
"name": "cuboid_shape",
"stream": "lidar1",
"confidence_score": 0.6,
"val": [
8.727633224700037,
-1.8557590122690717,
-0.6544039394148177,
0.0,
0.0,
-1.5807963267948966,
1.2,
0.48,
1.89
]
}
]
}
},
"893ac389-7782-4bc3-8f61-09a8e48c819a": {
"object_data": {
"bbox": [
{
"name": "bbox_shape",
"stream": "camera1",
"confidence_score": 0.6,
"val": [
761.565,
225.46,
98.33000000000004,
164.92000000000002
]
}
],
"cuboid": [
{
"name": "cuboid_shape",
"stream": "lidar1",
"confidence_score": 0.6,
"val": [
8.727633224700037,
-1.8557590122690717,
-0.6544039394148177,
0.0,
0.0,
-1.5807963267948966,
1.2,
0.48,
1.89
]
}
]
}
},
"893ac389-7782-4bc3-8f61-09a8e48c819b": {
"object_data": {
"bbox": [
{
"name": "bbox_shape",
"stream": "camera1",
"confidence_score": 0.6,
"val": [
761.565,
225.46,
98.33000000000004,
164.92000000000002
]
}
],
"cuboid": [
{
"name": "cuboid_shape",
"stream": "lidar1",
"confidence_score": 0.6,
"val": [
8.727633224700037,
-1.8557590122690717,
-0.6544039394148177,
0.0,
0.0,
-1.5807963267948966,
1.2,
0.48,
1.89
]
}
]
}
},
"893ac389-7782-4bc3-8f61-09a8e48c819c": {
"object_data": {
"bbox": [
{
"name": "bbox_shape",
"stream": "camera1",
"confidence_score": 0.6,
"val": [
761.565,
225.46,
98.33000000000004,
164.92000000000002
]
}
],
"cuboid": [
{
"name": "cuboid_shape",
"stream": "lidar1",
"confidence_score": 0.6,
"val": [
8.727633224700037,
-1.8557590122690717,
-0.6544039394148177,
0.0,
0.0,
-1.5807963267948966,
1.2,
0.48,
1.89
]
}
]
}
}
},
"frame_properties": {
"streams": {
"camera1": {
"uri": "https://helenmlopsstorageqatest.blob.core.windows.net/vainewformat/demodataset_small/kitti_large/000000000000/data/camera1/000000000000.png"
},
"lidar1": {
"uri": "https://helenmlopsstorageqatest.blob.core.windows.net/vainewformat/kitti/kitti_small/data_project_tag_custom_new_structure/000000000000/data/lidar1/000000000000.pcd"
}
}
}
}
},
"objects": {
"893ac389-7782-4bc3-8f61-09a8e48c819f": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"name": "people01",
"object_data": {
"num": [
{
"name": "age",
"val": 8
}
],
"boolean": [
{
"name": "ischild",
"val": true
}
]
},
"object_data_pointers": {
"bbox_shape": {
"attributes": null,
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "bbox"
},
"ischild": {
"attributes": {
"probability": "num"
},
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "boolean"
},
"age": {
"attributes": {
"probability": "num"
},
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "num"
},
"direction": {
"attributes": {
"probability": "vec"
},
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "vec"
},
"cuboid_shape": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "cuboid"
}
},
"type": "people"
},
"893ac389-7782-4bc3-8f61-09a8e48c819a": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"name": "car01",
"object_data": {
"vec": [
{
"name": "color",
"val": [
"white"
]
}
]
},
"object_data_pointers": {
"bbox_shape": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "bbox"
},
"color": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"attributes": {
"probability": "vec"
},
"type": "vec"
},
"cuboid_shape": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "cuboid"
}
},
"type": "car"
},
"893ac389-7782-4bc3-8f61-09a8e48c819b": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"name": "truck01",
"object_data_pointers": {
"bbox_shape": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "bbox"
},
"cuboid_shape": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "cuboid"
}
},
"type": "truck"
},
"893ac389-7782-4bc3-8f61-09a8e48c819c": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"name": "bus01",
"object_data_pointers": {
"bbox_shape": {
"attributes": null,
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "bbox"
},
"cuboid_shape": {
"frame_intervals": [
{
"frame_start": 0,
"frame_end": 0
}
],
"type": "cuboid"
}
},
"type": "bus"
}
},
"coordinate_systems": {
"iso8855-1": {
"type": "local_cs",
"parent": "",
"children": ["lidar1"]
},
"lidar1": {
"type": "sensor_cs",
"parent": "iso8855-1",
"children": [
"camera1"
]
},
"camera1": {
"type": "sensor_cs",
"parent": "lidar1",
"children": [],
"pose_wrt_parent": {
"matrix4x4": [
-0.00159609942076306,
-0.005270645688933059,
0.999984790046273,
0.3321936949138632,
-0.9999162467477257,
0.012848695454066989,
-0.0015282672486530082,
-0.022106263278130818,
-0.012840436309973332,
-0.9999035522454274,
-0.0052907123281999745,
-0.06171977032225582,
0.0,
0.0,
0.0,
1.0
]
}
}
},
"streams": {
"camera1": {
"type": "camera",
"uri": "https://helenmlopsstorageqatest.blob.core.windows.net/vainewformat/kitti/kitti_small/data_project_tag_custom_new_structure/000000000000/data/camera1/000000000000.png",
"description": "Frontal camera",
"stream_properties": {
"intrinsics_pinhole": {
"camera_matrix_3x4": [
-1.1285209781809271,
-706.9900823216068,
-181.46849639413674,
0.2499212908887926,
-3.726606344908137,
9.084661126711246,
-1.8645282480709864,
-0.31027342289053916,
707.0385458128643,
-1.0805602883730354,
603.7910589125847,
45.42556655376811
],
"height_px": 370,
"width_px": 1224
}
}
},
"lidar1": {
"type": "lidar",
"uri": "https://helenmlopsstorageqatest.blob.core.windows.net/vainewformat/kitti/kitti_small/data_project_tag_custom_new_structure/000000000000/data/lidar1/000000000000.pcd",
"description": "Central lidar"
}
},
"metadata": {
"schema_version": "1.0.0"
}
}
}Last updated