Class Box3DMode

embodiedscan/structures/bbox_3d/box_3d_mode.py:14–258

Enum of different ways to represent a box. Coordinates in LiDAR: .. code-block:: none up z ^ x front | / | / left y <------ 0 The relative coordinate of bottom center in a LiDAR box is

@unique
class Box3DMode(IntEnum):
    """Enum of different ways to represent a box.

    Coordinates in LiDAR:

    .. code-block:: none

                    up z
                       ^   x front
                       |  /
                       | /
        left y <------ 0

    The relative coordinate of bottom center in a LiDAR box is (0.5, 0.5, 0),
    and the yaw is around the z axis, thus the rotation axis=2.

    Coordinates in Camera:

    .. code-block:: none

                z front
               /
              /
             0 ------> x right
             |
             |
             v
        down y

    The relative coordinate of bottom center in a CAM box is (0.5, 1.0, 0.5),
    and the yaw is around the y axis, thus the rotation axis=1.

    Coordinates in Depth:

    .. code-block:: none

        up z
           ^   y front
           |  /
           | /
           0 ------> x right

    The relative coordinate of bottom center in a DEPTH box is (0.5, 0.5, 0),
    and the yaw is around the z axis, thus the rotation axis=2.
    """

    LIDAR = 0
    CAM = 1
    DEPTH = 2
    EULER_CAM = 3
    EULER_DEPTH = 4

    @staticmethod
    def convert(
        box: Union[Sequence[float], np.ndarray, Tensor, BaseInstance3DBoxes],
        src: 'Box3DMode',
        dst: 'Box3DMode',
        rt_mat: Optional[Union[np.ndarray, Tensor]] = None,