How to get the boundary position of the top box like the picture bleow (blue mark) ？Thanks
I’m not exactly sure what you mean by “boundary position”
If those prims are labelled then you can use the bounding_box_3d_fast annotator to retrieve each prim’s transform.
The transform[3, :3] corresponds to its xyz position in world space. You can also look at the min/max for whichever axis you are interested in if you wish to get the “edge” from this view
Hi @dennis.lynch ,
Here is the bounding_box_3d annotator’s output of one of my box:
(0, # Semantic identifier which can be transformed into a readable label using the idToLabels mapping
-0.50000006, # Minimum bound in x axis in local reference frame (in world units)
-0.5000001, # Minimum bound in y axis in local reference frame (in world units)
-0.5000001, # Maximum bound in x axis in local reference frame (in world units)
0.50000006, # Maximum bound in y axis in local reference frame (in world units)
0.5, # Minimum bound in z axis in local reference frame (in world units)
0.5, # Maximum bound in z axis in local reference frame (in world units)
[[ 9.9999748e-02, -2.2479685e-04, 4.1298188e-07, 0.0000000e+00],
[ 2.2479685e-04, 9.9999748e-02, -3.2997058e-09, 0.0000000e+00],
[-4.1297341e-07, 4.2280677e-09, 1.0000000e-01, 0.0000000e+00],
[ 6.6031649e-04, -1.2652274e-03, 2.0099999e-01, 1.0000000e+00]], # Local to world transformation matrix (transforms the bounds from local frame to world frame)
0.9475 # **EXPERIMENTAL** Occlusion percentage, where 0.0 is fully visible and 1.0 is fully occluded. See additional notes below.
)
I am curious about how to get the minimum and maximum bounding box pixel coordinate in x,y,z axis from this annotation information, cause I am not really understand why the value of minimum and maximum bound in x and z axis in local reference frame (in world units) is nearly same.
Additional, Is that possible to transfer the transform[3, :3] (its xyz position in world space) to pixel coordinate?
If you can provide me the code snippets for visulizing this bounding_box_3d annotator, I will be truly appriciate, Many Thanks !!!