Relationship between occlusion and num_points_in_box


I wonder what is the specific criterion which divides dataset by the level of Occlusion.

For example, what is the specific number of threshold for each occlusion rate?
if num_lidar_points(annotation_box, pc) > threshold :
annotation_box[‘occlusion’] = ‘some what level of occlusion’




we don’t have a field called occlusion in nuScenes. There is only one in KITTI and we just said a dummy value when exporting our data in KITTI format. What we do have is visibility, which is annotated by humans:

Thank you for the quick reply!

Sorry that I mistakenly said visibility to occlusion.

So does " What we do have is visibility, which is annotated by humans " mean that there is no really a specific criterion on visibility level?

so just annotate the visibility level of 0-40%, 40-60%, 60-80% and 80-100% by some kind of human intuition?

“The visibility of an instance is the fraction of annotation visible in all 6 images. Binned into 4 bins 0-40%, 40-60%, 60-80% and 80-100%.”

“The visibility attribute specifies the percentage of object pixels visible in the panoramic view of all cameras.”