KITTI数据集格式

Posted 2020-12-20 xiaoxiaomajinjiebiji

 

Num elements	Parameter name	Description	Type	Range	Example
1	Class names	The class to which the object belongs.	String	N/A	Person, car, Road_Sign
1	Truncation（截断）	How much of the object has left image boundaries.	Float	0.0, 0.1	0.0
1	Occlusion（遮挡）	Occlusion state [ 0 = fully visible, 1 = partly visible, 2 = largely occluded, 3 = unknown].	Integer	[0,3]	2
1	Alpha	Observation Angle of object	Float	[-pi, pi]	0.146
4	Bounding box coordinates: [xmin, ymin, xmax, ymax]	Location of the object in the image	Float(0 based index)	[0 to image width],[0 to image_height], [top_left, image_width], [bottom_right, image_height]	100 120 180 160
3	3-D dimension	Height, width, length of the object (in meters)	Float	N/A	1.65, 1.67, 3.64
3	Location	3-D object location x, y, z in camera coordinates (in meters)	Float	N/A	-0.65,1.71, 46.7
1	Rotation_y	Rotation ry around the Y-axis in camera coordinates	Float	[-pi, pi]	-1.59

The sum of the total number of elements per object is 15. Here is a sample text file:

car 0.00 0 -1.58 587.01 173.33 614.12 200.12 1.65 1.67 3.64 -0.65 1.71 46.70 -1.59
cyclist 0.00 0 -2.46 665.45 160.00 717.93 217.99 1.72 0.47 1.65 2.45 1.35 22.10 -2.35
pedestrian 0.00 2 0.21 423.17 173.67 433.17 224.03 1.60 0.38 0.30 -5.87 1.63 23.11 -0.03