Hello
When using Isaacsim Replicator Composer- bounding boxes (both tight & loose) are generated for all objects, even if they are completely occluded (hidden behind other objects)
How can I generate bounding boxes just for the portion of objects that are visible ??
As another option- I note that in this document, there is a flag for occluded objects- although htis data does not seem to appear in the npy file that is generated
https://docs.nvidia.com/tao/tao-toolkit/text/data_annotation_format.html#object-detection-kitti-format
So in my case, I could disregard Occlusion=2 objects
thank you
Andrew
thanks @MontyPy
I’ll take a closer look- I’m pretty sure that my geometry is watertight/no hairline cracks- but the nature of the objects is that there are some big gaps. I’m also wondering if material transparency means that some occluded objects are showing through.
Although I understand the logic of creating one bbox that covers all pixels of a particular semantic entity, it would be great if there was a threshold (in terms of percent occlusion, number of groups of non-contiguous pixels, or minimum bbox size for contiguous pixels)
For example, if a particular entity was >80% occluded, or had >3 groups of contiguous pixels
Andrew
Hi Andrew. I checked into this. Here’s how this should work:
- Loose will always be annotated, regardless of occlusions.
- Tight should always be cropped, or removed if fully occluded. This should be what you want.
- Transparency will act like an occluder. As a workaround, if you disable cast shadows it will no longer occlude.
If you have a repro case where the above isn’t the case, let me know!
