box3d()

GitHub source

function box3d

box3d(
    center: 'npt.ArrayLike',
    size: 'npt.ArrayLike',
    orientation: 'npt.ArrayLike',
    color: 'RGBColor',
    label: 'str | None' = None,
    score: 'numeric | None' = None
) → Box3D

A 3D bounding box. The box is specified by its center, size and orientation.

Args:

• center: The center point of the box as a length-3 ndarray.
• size: The box’s X, Y and Z dimensions as a length-3 ndarray.
• orientation: The rotation transforming global XYZ coordinates into the box’s local XYZ coordinates, given as a length-4 ndarray [r, x, y, z] corresponding to the non-zero quaternion r + xi + yj + zk.
• color: The box’s color as an (r, g, b) tuple with 0 <= r,g,b <= 1.
• label: An optional label for the box.
• score: An optional score for the box. Typically used to indicate the confidence of a detection.

Returns: A Box3D object.

Example: The following example creates a point cloud with 60 boxes rotating around the X, Y and Z axes.

import wandb

import math
import numpy as np
from scipy.spatial.transform import Rotation


with wandb.init() as run:
    run.log(
         {
             "points": wandb.Object3D.from_point_cloud(
                 points=np.random.uniform(-5, 5, size=(100, 3)),
                 boxes=[
                     wandb.box3d(
                         center=(0.3 * t - 3, 0, 0),
                         size=(0.1, 0.1, 0.1),
                         orientation=Rotation.from_euler(
                             "xyz", [t * math.pi / 10, 0, 0]
                         ).as_quat(),
                         color=(0.5 + t / 40, 0.5, 0.5),
                         label=f"box {t}",
                         score=0.9,
                     )
                     for t in range(20)
                 ]
                 + [
                     wandb.box3d(
                         center=(0, 0.3 * t - 3, 0.3),
                         size=(0.1, 0.1, 0.1),
                         orientation=Rotation.from_euler(
                             "xyz", [0, t * math.pi / 10, 0]
                         ).as_quat(),
                         color=(0.5, 0.5 + t / 40, 0.5),
                         label=f"box {t}",
                         score=0.9,
                     )
                     for t in range(20)
                 ]
                 + [
                     wandb.box3d(
                         center=(0.3, 0.3, 0.3 * t - 3),
                         size=(0.1, 0.1, 0.1),
                         orientation=Rotation.from_euler(
                             "xyz", [0, 0, t * math.pi / 10]
                         ).as_quat(),
                         color=(0.5, 0.5, 0.5 + t / 40),
                         label=f"box {t}",
                         score=0.9,
                     )
                     for t in range(20)
                 ],
             ),
         }
    )