Open witignite opened 4 years ago
Excerpts from the following papers:
Image: image_2
image_2
PNG
training/image_2/000085.png
Velodyne: velodyne
velodyne
[x, y, z, reflectance]
Calibration: calib
calib
P0
P1
P2
P3
R0_rect
Tr_velo_to_cam
Tr_imu_to_velo
x = P2 * R0_rect * Tr_velo_to_cam * y
x = P3 * R0_rect * Tr_velo_to_cam * y
Label: label_2
label_2
training/label_2/000085.txt
Van 0.90 0 -0.79 0.00 57.67 245.43 374.00 2.46 2.03 5.35 -5.26 1.68 5.45 -1.53 Cyclist 0.00 0 -1.54 678.16 164.16 705.93 243.78 1.82 0.59 1.89 1.96 1.63 17.42 -1.43 Pedestrian 0.00 0 0.90 304.95 177.99 359.91 304.07 1.57 0.52 0.62 -3.69 1.64 9.37 0.54 Car 0.27 3 -2.42 0.00 179.86 156.79 244.69 1.44 1.62 3.91 -13.19 1.62 17.05 -3.07 DontCare -1 -1 -10 644.98 164.60 670.02 188.60 -1 -1 -1 -1000 -1000 -1000 -10 DontCare -1 -1 -10 739.77 173.98 799.19 209.44 -1 -1 -1 -1000 -1000 -1000 -10
KITTI Dataset
Overview
Excerpts from the following papers:
Data Description
Image:
image_2
PNG
file:training/image_2/000085.png
Velodyne:
velodyne
[x, y, z, reflectance]
Calibration:
calib
P0
:P1
:P2
:P3
:R0_rect
:Tr_velo_to_cam
:Tr_imu_to_velo
:x = P2 * R0_rect * Tr_velo_to_cam * y
(for the left color image)x = P3 * R0_rect * Tr_velo_to_cam * y
(for the right color image)Label:
label_2
training/label_2/000085.txt