Data Formats

3D Boxes

• ObjectLabel: from wavedata
• box_3d / boxes_3d: (N, 7) [x, y, z, l, w, h, ry]
• anchor / anchors: (N, 6) [x, y, z, dim_x, dim_y, dim_z]
• box_8c / boxes_8c: (N, 3, 8) [x1, ..., x8, y1, ..., y8, z1, ..., z8]
• box_4c / boxes_4c: (N, 10) [x1, x2, x3, x4, z1, z2, z3, z4, h1, h2]
  • Corners are numbered starting at the top right, going clockwise.

2D Boxes

• boxes: (N, 4) [x1, y1, x2, y2]
• boxes_tf_order: (N, 4) [y1, x1, y2, x2]
• BoxList: tensor, list of tf_order boxes (4,) [[y1, x1, y2, x2], [y1, x1, y2, x2]]

Points

• point_cloud: (3, N)
• points: (N, 3)

Orientations

• orientation: single angle value between [-pi, pi]
• angle_vector: unit vector [x, y]

Detection Formats

• final_prediction, actually box_3d: (N, 7)
  • [x, y, z, l, w, h, ry, score]

-2.70278 1.18219 31.97493 1.69001 4.29071 1.59802 -1.40545 0.99985

• KITTI:
  • [type, truncation, occlusion, alpha(viewing angle), (x1, y1, x2, y2), (h, w, l), (x, y, z), ry, score]

Car -1 -1 -1 488.679 171.776 591.806 209.057 1.69 1.598 4.291 -2.703 1.182 31.975 -1.405 1.0

Images

• image_shape: [h, w] [375, 1224]
• image_size: [w, h] [1224, 375]