feat: Update pillow bounding boxes visualization.

Author: RoyYang0714

vis4d/vis/image/bbox3d_visualizer.py

@@ -316,8 +316,7 @@ def _draw_image(self, sample: DataSample) -> NDArrayUI8:
 
             selected_corner = project_point(box.corners[0], sample.intrinsics)
             self.canvas.draw_text(
-                (selected_corner[0], selected_corner[1]),
-                box.label,
+                (selected_corner[0], selected_corner[1]), box.label, box.color
             )
 
             if self.plot_trajectory:

vis4d/vis/image/bounding_box_visualizer.py

@@ -47,6 +47,7 @@ def __init__(
         n_colors: int = 50,
         cat_mapping: dict[str, int] | None = None,
         file_type: str = "png",
+        width: int = 2,
         canvas: CanvasBackend = PillowCanvasBackend(),
         viewer: ImageViewerBackend = MatplotlibImageViewer(),
         **kwargs: ArgsType,
@@ -71,6 +72,7 @@ def __init__(
             else {}
         )
         self.file_type = file_type
+        self.width = width
         self.canvas = canvas
         self.viewer = viewer
 
@@ -187,8 +189,8 @@ def _draw_image(self, sample: DataSample) -> NDArrayUI8:
         """
         self.canvas.create_canvas(sample.image)
         for box in sample.boxes:
-            self.canvas.draw_box(box.corners, box.color)
-            self.canvas.draw_text(box.corners[:2], box.label)
+            self.canvas.draw_box(box.corners, box.color, width=self.width)
+            self.canvas.draw_text(box.corners[:2], box.label, box.color)
 
         return self.canvas.as_numpy_image()
 
@@ -206,11 +208,7 @@ def save_to_disk(self, cur_iter: int, output_folder: str) -> None:
             for sample in self._samples:
                 image_name = f"{sample.image_name}.{self.file_type}"
 
-                self.canvas.create_canvas(sample.image)
-
-                for box in sample.boxes:
-                    self.canvas.draw_box(box.corners, box.color)
-                    self.canvas.draw_text(box.corners[:2], box.label)
+                _ = self._draw_image(sample)
 
                 self.canvas.save_to_disk(
                     os.path.join(output_folder, image_name)

vis4d/vis/image/canvas/pillow_backend.py

@@ -115,7 +115,13 @@ def draw_text(
             raise ValueError(
                 "No Image Draw initialized! Did you call 'create_canvas'?"
             )
-        self._image_draw.text(position, text, color, font=self._font)
+        left, top, right, bottom = self._image_draw.textbbox(
+            position, text, font=self._font
+        )
+        self._image_draw.rectangle(
+            (left - 2, top - 2, right + 2, bottom + 2), fill=color
+        )
+        self._image_draw.text(position, text, (255, 255, 255), font=self._font)
 
     def draw_box(
         self,