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KITTI数据集格式

时间:2020-10-24 09:42:42      阅读:16      评论:0      收藏:0      [点我收藏+]

标签:file   number   min   ring   ota   dex   type   otto   elements   

 

Num elementsParameter nameDescriptionTypeRangeExample
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

KITTI数据集格式

标签:file   number   min   ring   ota   dex   type   otto   elements   

原文地址:https://www.cnblogs.com/xiaoxiaomajinjiebiji/p/13863224.html

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