Open gianscarpe opened 2 years ago
Hi @gianscarpe , you are already on the right track!
2D bounding boxes in Metropolis are annotated on the equirectangular images, which means that their edges map to curves, and not to straight lines, when seen from the perspective images. This is represented in the SDK by the EquiBox2d
class. EquiBox2d
is a discretized representation of one of these "deformed" boxes, where the points
attribute contains its boundary expressed as a polygon. If you want to get a standard, axis-aligned box out of this, the easiest way would be to compute the bounding box of the points
.
Note: this approach will give you bounding boxes that are not tight around the objects. Unfortunately, there's no way to obtain tight boxes on the perspective images given tight boxes on the equirectangular images without human re-annotation.
Hi @ducksoup, thanks for your answer, it solved my problem! I have a couple of questions more. I noticed that the SDK provides the 2d bounding boxes only for a handful of classes, while the large majority of the categories are missing (e.g., buildings, vegetation, sidewalks). Is it intended to be? Another question regards the depth. I noticed that some objects (e.g., cars and pedestrians) are missing from the lidar data, I guess because of SFM estimation. Is it correct? I attach a couple of examples, thank you for your time! :)
To answer your questions:
Hi, thanks for your amazing work! I have a potentially silly question to ask. I need to access the 2D bounding-boxes for each camera (front, left, right, back) but I could only find the bounding-boxes for the equirectangular image. I access the 2d boxes with:
The result is a list of EquiBox2d. Do they refer to the projection of the bounding-boxes onto a specific camera (e.g., the frontal one)? My second questions regards the content of the
points
attribute. It's a numpy list of shape (80x2). Are these all the points of the bounding box (and in this case, the four corners are the actual coordinates of the bounding box)? Thanks in advance! :)