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

"cuboid": [{
        "name": "cuboid_shape",
        "val": [12.0, 20.0, 0.0, 0.0, 0.0, 0.0, 4.0, 2.0, 1.5],
        "stream": "lidar1",
        "confidence_score": 0.78
}]

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).

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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

bbox + cuboid (3d)