Convert Cuboid2D to/from KITTI 3D data

itrushkin commented 1 month ago

Summary

CVS-151427

New features

New Cuboid2D methods:
- Cuboid2D.from_3d(dimensions, location, rotation_y, P, Tr_velo_to_cam): Creates a Cuboid2D object from KITTI 3D bbox annotation data. Matrix P (P2 in Kitti format context) is a 3x4 projection matrix in the left color camera coordinate system. Matrix Tr_velo_to_cam is a 3x4 projection matrix between LiDAR and camera coordinate systems.
- cuboid_2d.to_3d(P_inv): Reconstructs approximate KITTI 3D bbox annotation data (dimensions, location and rotation_y) from 2D projection coordinates. P_inv matrix is a pseudo-inverse of camera-to-image projection matrix.
  - [x] I have added unit tests to cover my changes.
  - [ ] I have added integration tests to cover my changes.
  - [x] I have added the description of my changes into CHANGELOG.
  - [ ] I have updated the documentation accordingly
  License
  - [x] I submit my code changes under the same MIT License that covers the project. Feel free to contact the maintainers if that's a concern.
  - [ ] I have updated the license header for each file (see an example below).
```
# Copyright (C) 2024 Intel Corporation
#
# SPDX-License-Identifier: MIT
```

codecov[bot] commented 1 month ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 81.23%. Comparing base (ff5fd94) to head (067bf4a). Report is 20 commits behind head on develop.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## develop #1639 +/- ## =========================================== + Coverage 81.06% 81.23% +0.16% =========================================== Files 278 281 +3 Lines 32517 32881 +364 Branches 6607 5289 -1318 =========================================== + Hits 26360 26710 +350 - Misses 4701 4721 +20 + Partials 1456 1450 -6 ``` | [Flag](https://app.codecov.io/gh/openvinotoolkit/datumaro/pull/1639/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=openvinotoolkit) | Coverage Δ | | |---|---|---| | [ubuntu-20.04_Python-3.10](https://app.codecov.io/gh/openvinotoolkit/datumaro/pull/1639/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=openvinotoolkit) | `81.21% <100.00%> (+0.16%)` | :arrow_up: | | [windows-2022_Python-3.10](https://app.codecov.io/gh/openvinotoolkit/datumaro/pull/1639/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=openvinotoolkit) | `81.21% <100.00%> (+0.16%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=openvinotoolkit#carryforward-flags-in-the-pull-request-comment) to find out more.

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itrushkin commented 1 month ago

Could you update the documents and explanation of this feature in this pr too?

@sooahleex, documentation is added in 657bf1b. PR description is extended as well.

openvinotoolkit / datumaro