How to define a bbox in nav_task_relevant_object_bbox or nav_accurate_object_bbox?

[wsakobe]

Hello, I am currently trying to deploy PoliFormer in another simulator, and I have obtained the target object’s bbox in the format of (x, y, w, h). However, I am encountering difficulties when inputting this bbox into the model. I would like to ask how PoliFormer defines its bbox?

Additionally, I have an extra question: what is the difference between nav_task_relevant_object_bbox and nav_accurate_object_bbox, and how are they each obtained?

Thank you for your response.

[KuoHaoZeng]

Hi!
The bounding box is defined by [x1, y1, x2, y2, area] and those values would be 1000 if no object is detected.
Here is the place we convert box info to the format.

The difference between nav_task_relevant_object_bbox and nav_accurate_object_bbox is that nav_task_relevant_object_bbox gets bounding box from segmentation mask from the environment (get_approx_object_mask), while nav_accurate_object_bbox gets the bounding box directly from the simulation engine.
They should perform similar, but nav_task_relevant_object_bbox should run much quicker!