search

lyft / nuscenes-devkit

Devkit for the public 2019 Lyft Level 5 AV Dataset (fork of https://github.com/nutonomy/nuscenes-devkit)
Other
372 stars 102 forks source link

How to distinguish between BETA_V0 and BETA_PLUS_PLUS #60

Open YurongYou opened 4 years ago

YurongYou commented 4 years ago

Hi,

I saw comments on https://github.com/lyft/nuscenes-devkit/issues/8 but I found no sample which has 1920x1080 resolution images, in v1.02 dataset. Could you be more specific on this? Thanks!

gledsonmelotti commented 4 years ago

BETA_V0 LiDARS: • One 40-beam roof LiDAR and two 40-beam bumper LiDARs. • Each LiDAR has an azimuth resolution of 0.2 degrees. • All three LiDARs jointly produce ~216,000 points at 10 Hz. • The firing directions of all LiDARs are synchronized to be the same at any given time. BETA_V0 Cameras: • Six wide-field-of-view (WFOV) cameras uniformly cover 360 degrees field of view (FOV). Each camera has a resolution of 1224x1024 and a FOV of 70°x60°. • One long-focal-length camera is mounted slightly pointing up primarily for detecting traffic lights. The camera has a resolution of 2048x864 and a FOV of 35°x15°. • Every camera is synchronized with the LiDAR such that the LiDAR beam is at the center of the camera's field of view when the camera is capturing an image.

BETA_PLUS_PLUS LiDARS: • The only difference in LiDARs between Beta-V0 and Beta++ is the roof LiDAR, which is 64-beam for Beta++. • The synchronization of the LiDARs is the same as Beta-V0. BETA_PLUS_PLUS Cameras: • Six wide-field-of-view (WFOV) high dynamic range cameras uniformly cover 360 degrees field of view (FOV). Each camera has a resolution of 1920x1080 and a FOV of 82°x52°. • One long-focal-length camera is mounted slightly pointing up primarily for detecting traffic lights. The camera has a resolution of 1920x1080 and a FOV of 27°x17°. • Every camera is synchronized with the LiDAR such that the LiDAR beam is at the center of the camera's field of view when the camera is capturing an image.