Can't find units of measurement for the results.json
odd2022 opened this issue · comments
Hello,
Sorry, it might be written somewhere but I can't find what are the units of measurement and the frame used in the results.json file.
I would also like to know to what corresponds each coordinate of 'translation' and 'rotation' please.
Have a nice day
@odd2022 Hi! Would you please provide a detailed explanation? I didn't get the point.
My goal is to use the results of the object detection obtained by the model. These, if i am correct are stored in a file 'results.json'
Here is an example:
"3e8750f331d7499e9b5123e9eb70f2e2": [
{
"sample_token": "3e8750f331d7499e9b5123e9eb70f2e2",
"translation": [
581.4793027404043,
1661.4289504580324,
1.343706165508077
],
"size": [
1.8709721565246582,
4.534564018249512,
1.5506099462509155
],
"rotation": [
0.2351789077520048,
0.029540215421324064,
-0.011615377549967523,
0.9714336518907538
],
"velocity": [
-6.855158526701055,
3.6822105431603513
],
"detection_name": "car",
"detection_score": 0.8986459970474243,
"attribute_name": "vehicle.moving"
},
I would like to know which unit of measurement is used to provide these results, is this the meters unit for translation or size ?
I would also like to know in which frame are computed the coordinates... Is this the ego frame ? Is there somewhere I can find all of these informations ?
Is the rotation given in quaternions coordinates ?
I hope this is more clear !
The translation is the xyz location in the global coordinate. The rotation is given in quaternions in the global coordinate.
You can refer to line622 https://raw.githubusercontent.com/open-mmlab/mmdetection3d/1.0/mmdet3d/datasets/nuscenes_dataset.py
Ok thank you ! I found what I wanted