cloudViewer.ml.torch.datasets.utils.BEVBox3D#

class cloudViewer.ml.torch.datasets.utils.BEVBox3D(center, size, yaw, label_class, confidence, world_cam=None, cam_img=None, **kwargs)#

Class that defines a special bounding box for object detection, with only one rotation axis (yaw).

up z x front (yaw=0.5*pi)

^ ^ | / | /

(yaw=pi) left y <—— 0

The relative coordinate of bottom center in a BEV box is (0.5, 0.5, 0), and the yaw is around the z axis, thus the rotation axis=2. The yaw is 0 at the negative direction of y axis, and increases from the negative direction of y to the positive direction of x.

__init__(center, size, yaw, label_class, confidence, world_cam=None, cam_img=None, **kwargs)#

Creates a bounding box.

Parameters:

  • center – (x, y, z) that defines the center of the box

  • size – (width, height, depth) that defines the size of the box, as measured from edge to edge

  • yaw – yaw angle of box

  • label_class – integer specifying the classification label. If an LUT is specified in create_lines() this will be used to determine the color of the box.

  • confidence – confidence level of the box

  • world_cam – world to camera transformation

  • cam_img – camera to image transformation

generate_corners3d()#

Generate corners3d representation for this object.

Returns:

(8, 3) corners of box3d in camera coordinates.

Return type:

corners_3d

get_difficulty()#

General method to compute difficulty, can be overloaded.

Returns:

Difficulty depending on projected height of box.

to_camera()#

Transforms box into camera space.

up x y front

^ ^ | / | /

left z <—— 0

Returns box in the common 7-sized vector representation: (x, y, z, l, h, w, a), where (x, y, z) is the bottom center of the box, (l, h, w) is the length, height, width of the box a is the yaw angle

Returns:

(7,)

Return type:

transformed box

to_dict()#

Convert data for evaluation:

static to_dicts(bboxes)#

Convert data for evaluation:

Parameters:

bboxes – List of BEVBox3D bboxes.

to_img()#

Transforms box into 2d box.

Returns:

(4,)

Return type:

transformed box

to_kitti_format(score=1.0)#

This method transforms the class to KITTI format.

to_xyzwhlr()#

Returns box in the common 7-sized vector representation: (x, y, z, w, l, h, a), where (x, y, z) is the bottom center of the box, (w, l, h) is the width, length and height of the box a is the yaw angle.

Returns:

(7,)

Return type:

box