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Published 20 hours ago • verified publisher icon argoverse

How to get the old Cuboid and CuboidList datastructures to work with Pytorch Cuboids?

Open SM1991CODES opened this issue 1 year ago • 1 comments

Hi, The objective is to have access to convenience methods:

  1. compute_interior_points
  2. box_corners

Previously this was available via the CuboidList and Cuboid objects using the SensorDataLoader. But with the new release, I cannot access these. I tried casting sweep.cuboids into CuboidList, but it does not work. Please advice.

image

Best Regards Sambit

SM1991CODES avatar May 07 '23 15:05 SM1991CODES

Hi @SM1991CODES,

This is on my todo list to add. A current work-around would be to use this https://github.com/argoverse/av2-api/blob/6a1f1ee59bfa63d621b0c6b2c1040a7c9ec732d3/src/av2/structures/cuboid.py#L79 and then pass the points and cuboid vertices to the interior point computation: https://github.com/argoverse/av2-api/blob/6a1f1ee59bfa63d621b0c6b2c1040a7c9ec732d3/src/av2/geometry/geometry.py#L253.

benjaminrwilson avatar May 08 '23 16:05 benjaminrwilson