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"
                        }
                    }
                }
            }
        },
        "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"
        }
    }
}

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