cuboid
A 3D bounding box is a cuboid in 3D Euclidean space. It is defined by position, rotation, and size. Position and size are defined as 3-vectors, while rotation can be expressed in two alternative forms, using 4-vector quaternion notation or 3-vector Euler notation (to be applied in ZYX order equivalent to yaw-pitch-roll order).
Example
Schema
name | description | type | unit | required |
---|---|---|---|---|
${OBJECT_TYPE} | The name of this type. This case is “cuboid”. | object | - | true |
name | The name of this bounding box. Usually to be "cuboid_shape" | string | - | true |
val | Meanings of each element in order as a 9-dimensional vector [x, y, z, rx, ry, rz, sx, sy, sz]. Please refer to the table below. | 9 elements array of int | as below | true |
stream | Represents which stream this shape is on. | string | - | true |
confidence_score | The confidence score of model prediction of this object. Ground truth does not have this attribute. | number | - | false |
attributes | attributes this bounding box has | object | - | false |
val
val | description | unit |
---|---|---|
x | x-coordinate of the cuboid center | m |
y | y-coordinate of the cuboid center | m |
z | z-coordinate of the cuboid center | m |
rx | rotation on x direction, Euler angles, rx = roll. | rad |
ry | rotation on y direction, Euler angles, ry = pitch. | rad |
rz | rotation on z direction, Euler angles, rz = yaw. | rad |
sx | size x dimension of the cuboid in x-coordinate | m |
sy | size y dimension of the cuboid in y-coordinate | m |
sz | size z dimension of the cuboid in z-coordinate | m |
<準備一張圖>
Position and size are defined as 3-vectors, while rotation can be expressed in two alternative forms, using 4-vector quaternion notation or 3-vector Euler notation (to be applied in ZYX order equivalent to yaw-pitch-roll order).
Use Case
cuboid (3D)
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 - number (static info)
car
color - white, silver, blue, red, black (static info)
truck
bus
Example Code
pagebbox + cuboid (3d)Last updated