feat: Add utils to associate 2d bbox and 3d bbox #157

jia-sun · 2023-10-02T00:02:48Z

This PR adds functions to associate bounding_box_3d of LIDAR to bounding_box_2d for Camera.
One of the use case is to get the distance distribution of objects.

yuta-tsuzuki-woven · 2023-10-02T03:43:41Z

@jia-sun
Could you explain more about the use case of this function and why you would like to put this function in the DGP repo?
I just thought if the use case is very specific and not useful for other DGP users, it should not be under the DGP repo...

jia-sun · 2023-10-02T04:12:43Z

Could you explain more about the use case of this function and why you would like to put this function in the DGP repo?

Those functions can be used to generate ground truth such as distance, yaw, pitch, raw, even 3d bounding for 2d objects (car, pedestrian) by utilizing LIDAR 3D annotations.
For ADADS, it requires sensor redundancy. This enables camera ML model to generate equivalent outputs as LIDAR ML models.
Personally, I think It is a good place to share those functions to avoid duplicated work of individual developers.

dgp/utils/render_3d_to_2d.py

tests/data/dgp/associate_2d_to_3d_scene/scene_01/rgb/CAMERA_21/1345048_001.jpg

yuta-tsuzuki-woven · 2023-10-02T14:53:22Z

@jia-sun I added some comments

@chrisochoatri Could you also review this PR?

yuta-tsuzuki-woven

LGTM

dgp/utils/render_3d_to_2d.py

chrisochoatri

Thanks jia. I left several comments but as this change seems standalone I won't block this. Please make the appropriate changes before merging.

This PR adds some functions to associate bounding_box_3d of LIDAR to bounding_box_2d for Camera. One use case is to get the distance distribution of objects.

jia-sun force-pushed the assoicate_2d_3d branch 3 times, most recently from 4d9386d to 4350279 Compare October 2, 2023 01:28

yuta-tsuzuki-woven reviewed Oct 2, 2023

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jia-sun force-pushed the assoicate_2d_3d branch from 4350279 to 042b304 Compare October 3, 2023 05:20

yuta-tsuzuki-woven previously approved these changes Oct 3, 2023

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chrisochoatri reviewed Oct 3, 2023

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chrisochoatri requested changes Oct 4, 2023

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