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

val

<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

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