open3d.ml.torch.vis.BoundingBox3D

class open3d.ml.torch.vis.BoundingBox3D(center, front, up, left, size, label_class, confidence, meta=None, show_class=False, show_confidence=False, show_meta=None, identifier=None, arrow_length=1.0)

Class that defines an axially-oriented bounding box.

__init__(center, front, up, left, size, label_class, confidence, meta=None, show_class=False, show_confidence=False, show_meta=None, identifier=None, arrow_length=1.0)

Creates a bounding box.

Front, up, left define the axis of the box and must be normalized and mutually orthogonal.

Parameters

  • center – (x, y, z) that defines the center of the box

  • front – normalized (i, j, k) that defines the front direction of the box

  • up – normalized (i, j, k) that defines the up direction of the box

  • left – normalized (i, j, k) that defines the left direction of the box

  • size – (width, height, depth) that defines the size of the box, as measured from edge to edge

  • label_class – integer specifying the classification label. If an LUT is specified in create_lines() this will be used to determine the color of the box.

  • confidence – confidence level of the box

  • meta – a user-defined string (optional)

  • show_class – displays the class label in text near the box (optional)

  • show_confidence – displays the confidence value in text near the box (optional)

  • show_meta – displays the meta string in text near the box (optional)

  • identifier – a unique integer that defines the id for the box (optional, will be generated if not provided)

  • arrow_length – the length of the arrow in the front_direct. Set to zero to disable the arrow (optional)

static create_lines(boxes, lut=None, out_format='lineset')

Creates a LineSet that can be used to render the boxes.

Parameters

  • boxes – The list of bounding boxes.

  • lut – An ml3d.vis.LabelLUT that is used to look up the color based on the label_class argument of the BoundingBox3D constructor. If not provided, a color of 50% grey will be used. (optional)

  • out_format (str) – Output format. Can be “lineset” (default) for the Open3D lineset or “dict” for a dictionary of lineset properties.

Returns

open3d.geometry.LineSet For out_format == “dict”: Dictionary of lineset properties

(“vertex_positions”, “line_indices”, “line_colors”, “bbox_labels”, “bbox_confidences”).

Return type

For out_format == “lineset”

next_id = 1