How are pedestrians on bicycles labelled in nuImages?

[utkutpcgl]

Thanks for your great contribution!

I have a simple question about nuImages bounding box annotation.

I am aware when that when a person is on a motorcycle, the bounding box covers them both with the label "vehicle.motorcycle". I am confused if the same applies to vehicle.bicycle.

So, when a person is on a bicycle does the bounding box cover both the person and bicycle while the label is vehicle.bicycle?

Thanks in advance.

[whyekit-motional]

@utkutpcgl yes, both the rider on the bicycle and the bicycle itself would be bounded with a single box with the class vehicle.bicycle

As an example:

import json

from nuscenes.nuscenes import NuScenes

nusc = NuScenes(version='v1.0-mini', dataroot='/data/sets/nuscenes', verbose=False)

sample_ann_token ='1796f2adb80543d7a90ac9b62e11f79d'

print(json.dumps(nusc.get('sample_annotation', sample_ann_token), indent=4))
nusc.render_annotation(sample_ann_token)

The above code snippet will give you:

{
    "token": "1796f2adb80543d7a90ac9b62e11f79d",
    "sample_token": "1c9a906c40f6417bbe1cea06d6e55501",
    ...
    "visibility_token": "4",
    "attribute_tokens": [
        "a14936d865eb4216b396adae8cb3939c"
    ],
    "translation": [
        683.746,
        1588.663,
        0.89
    ],
    "size": [
        0.717,
        1.864,
        1.932
    ],
    ...
    "num_lidar_pts": 106,
    ...
    "category_name": "vehicle.bicycle"
}

[utkutpcgl]

Thank you very much, I was about to do the same :)

[whyekit-motional]

@utkutpcgl I just realized you were asking about nuImages (not nuScenes) above, but you can use the same concept I suggested above to check if a single bounding box encompasses both a bike and its rider when it comes to nuImages

[utkutpcgl]

If it helps to others, I noticed that there is another extra annotation for bicycles showing the rider state:

with_rider and without_rider annotations was what I was looking for.