Class Coord3DMode

embodiedscan/structures/bbox_3d/coord_3d_mode.py:17–272

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

@unique
class Coord3DMode(IntEnum):
    """Enum of different ways to represent a box and point cloud.

    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

    @staticmethod
    def convert(input: Union[Sequence[float], np.ndarray, Tensor,
                             BaseInstance3DBoxes, BasePoints],
                src: Union[Box3DMode, 'Coord3DMode'],
                dst: Union[Box3DMode, 'Coord3DMode'],
                rt_mat: Optional[Union[np.ndarray, Tensor]] = None,
                with_yaw: bool = True,
                correct_yaw: bool = False,