Stationary 2D/3D boxes

this guide is a work in progress and may be subject to change this guide helps you annotate stationary objects accurately with minimal keyframes and adjustments it applies to two types of stationary objects parked vehicles — cars, trucks, and other vehicles that are stationary in the scene always static objects — traffic signs, traffic signals, poles, bollards, barriers, and similar infrastructure your workflow depends on data quality — detecting drift before drawing determines which approach to use if your task uses the docid\ qxqhn8yin9bs5hjdsz0o4 , follow it whenever possible it provides step by step guidance and automatically enables aggregation detecting drift find a stationary object in the scene to use as a drift indicator enable docid\ bcoytptdi72b6fmuqvntx and observe its points if the points appear sharp and well aligned, the data is clean — there is no drift if the points appear smeared or blurry, drift is present how to choose a good object for drift detection the object should appear in front of the ego vehicle (visible in the front camera) it should be close to the ego vehicle in one or more frames — proximity means better lidar point resolution and makes drift easier to detect skip this step if your task instructions already specify whether drift compensation is required check with your manager if unsure creating the 3d box there are two methods to create the initial 3d box from a prelabel or manually with drawing mode create from prelabel if prelabels are available, this is the fastest option stationary predictions appear in pink and other predictions in white — prioritise the pink ones class first select a class (this activates the cuboid drawing tool), then click the prelabel prelabel first click the prelabel to select it, then select a class after creating the box, navigate to the best frame if a best frame marker is visible in the video bar, click it otherwise, right click the object and select "go to best frame" if the prelabel quality is poor (wrong size, position, or orientation that would require significant correction), draw the box manually instead docid 1kfjv7 embnrkxrv8offt predictions frequently have an incorrect direction (rotated 180 degrees) use , to rotate the direction 90 degrees at a time until it is correct create manually choose the mode based on the type of object parked vehicles (cars, trucks) — use docid\ e7wp2mdimgjfihcvj1ma7 or docid\ zdkgrbvxd6uwmf17c0fwh these objects have a clear longest side and a recognisable front and back use center mode when you have a good view of the front or back center of the vehicle use side mode when you have a clearer view of the side in both modes, drag across the longest side of the object for the best result always static objects (traffic signs, traffic signals, poles, bollards, barriers) — use docid\ ymbch0f2 gev54o0egp1 these are typically smaller objects where painting the exact points gives better control over the box boundaries view the object from the front before drawing — the box direction is based on your viewing angle 3d workflow no drift when data is clean, enable docid\ bcoytptdi72b6fmuqvntx and draw the object once — no further adjustments should be needed enable docid\ bcoytptdi72b6fmuqvntx use docid\ tpcqgnlxgjdgbsbdbyyah to click on the object points, this will navigate you to the frame where there are the most points create a first 3d box in this frame one keyframe is sufficient — do not add more 3d workflow with drift when drift happens, the process includes two steps first, create a well annotated reference 3d box for each area to correct drift; second, use that 3d box for subsequent objects within the same area reference object per area annotate an appropriate object to establish the drift correction for the area a good reference object is one that is in front of the ego vehicle and close by in one or more frames typically, only one manually annotated reference object is required per area with prelabels create the 3d box from the prelabel without prelabels use docid\ tpcqgnlxgjdgbsbdbyyah to click on the object points, this will navigate you to the frame with the most points create the 3d box in this frame right click on the 3d box and select docid\ pxlp45bdpfj4d8zpgorhq adjust the size of the 3d box in the best frame do not adjust the size of the box after this step move approximately 5 frames forward or backward (adjust based on sequence hz) adjust position and rotation to compensate for drift use docid\ ai1c20i3hou bexm8ffmx with docid\ ai1c20i3hou bexm8ffmx for efficient adjustments repeat steps 5 6 until the box wraps the points correctly when you scrub through the sequence trim the lifespan of the 3d box with the videobar docid 7 f60sr9daxz7licrzdzz run docid\ mlkqv7jin eozifqosomb to mark frames where the object point count is below the configured threshold as not visible subsequent objects all subsequent objects in the area can be corrected using the reference object with prelabels create the 3d box from the prelabel without prelabels use docid\ tpcqgnlxgjdgbsbdbyyah to click on the object points, this will navigate you to the frame with the most points create the 3d box in this frame right click on the 3d box and select docid\ pxlp45bdpfj4d8zpgorhq adjust the size of the 3d box in the best frame do not adjust the size of the box after this step activate docid 1pkhcygtgwlfqzohuftqv and select a nearby well annotated object as a reference optional scrub through the sequence to verify the compensation trim the lifespan of the 3d box with the videobar docid 7 f60sr9daxz7licrzdzz run docid\ mlkqv7jin eozifqosomb to mark frames where the object point count is below the configured threshold as not visible common mistakes adjusting the 3d box in every frame — for stationary objects, one keyframe (or using docid 1pkhcygtgwlfqzohuftqv ) is almost always sufficient skipping point cloud aggregation on clean data — point cloud aggregation gives a complete view of the object and improves sizing accuracy using action assist in 3d on stationary objects — avoid this; it is not suitable for objects that do not move using quick move ( f ) or refine ( m ) — these are not recommended for stationary objects draw the connected 2d boxes after completing the 3d annotation, create 2d bounding boxes creating 2d boxes if prelabels are available , use docid\ tfjsznromwyazm4 smr5c , hover over the object and press tab to accept the suggested box if the suggestion is inaccurate, press escape and draw manually instead if there are no prelabels , click the "create connected 2d box" button to generate boxes across all visible frames based on the 3d projection only use this if the first projected box looks correctly placed — if it is misaligned due to poor calibration, draw manually using the four point method instead if the object is missing in a specific camera , select it and click "draw connected object" in the sidebar to draw a 2d box for that camera adjusting 2d boxes after creating 2d boxes, scrub through the sequence and check each camera source to verify the boxes are correctly placed add or adjust boxes where needed if a 2d box needs correction, use one of the following (ordered by preference) redraw — press 0 to reactivate the drawing tool and draw a new box with four clicks docid\ take58ec1rmpcbldkzrn4 — press shift+space ; the system zooms to the 3d box's projection and activates the drawing tool only works well if camera calibrations are good docid\ tfjsznromwyazm4 smr5c — hover over the object and press tab to accept the suggested box docid\ v66inpjdyeuofphcxg6vm — for clearly visible, unoccluded vehicles (not suitable for traffic signs, poles, or other non vehicle objects) with the object selected, press m to auto adjust the 2d bounding box drag the control handles on the edges of the box — useful for small corrections pay attention to objects near image borders — calibration and time synchronisation issues may cause these frames to display incorrect visibility status docid\ hgmlzcqhulmuqnw1xu wc docid\ qxqhn8yin9bs5hjdsz0o4 docid\ bcoytptdi72b6fmuqvntx docid 1pkhcygtgwlfqzohuftqv docid\ ai1c20i3hou bexm8ffmx docid\ tpcqgnlxgjdgbsbdbyyah docid\ mlkqv7jin eozifqosomb