KITTI数据集

数据集结构

KITTI数据集网盘提取码：0bjl

KITTI
├── devkit_object
|   ├── cpp
|   ├── mapping
|   ├── matlab
|   └── readme.txt
│—— data_object_calib
│   ├── testing
│   │   └── calib
│   └── training
│       └── calib
│—— data_object_label_2
│   ├── testing
│       └── label_2
│—— data_object_image_2
│   ├── testing
│   │   └── image_2
│   └──training
│       └── image_2
│—— data_object_velodyne
│   ├── testing
│   │   └── velodyne
│   └── training
│       └── velodyne
│—— data_road
│   ├── testing
│   │   ├── calib
│   │   └── image_2
│   └── training
│       ├── calib
│       ├── gt_image_2
│       └── image_2
│—— depth_2

数据集内容

- data_object_calib 每个样本的标定数据 （测试集7518个，训练集7481个）
- data_object_label_2 3D点云标注文件（只有训练集7481个）
- data_object_image_2 RGB图像 （测试集7518个，训练集7481个）
- data_object_velodyne 激光雷达数据（测试集7518个，训练集7481个）
- data_road 包含测试集和训练集 每集中包含标定参数以及RGB图像 训练集中还多个gt_image_2
- depth_2 7481张深度图像

data_object_calib 样本标定数据

P0：校对后的 camera0 投影矩阵，3x4 数组
P1：校对后的 camera1 投影矩阵，3x4 数组
P2：校对后的 camera2 投影矩阵，3x4 数组
P3：校对后的 camera3 投影矩阵，3x4 数组
R0_rect：校准旋转矩阵，4x4 数组
Tr_velo_to_cam：从 Velodyne 坐标到相机坐标的变换矩阵，4x4 数组
Tr_imu_to_velo：从 IMU 坐标到 Velodyne 坐标的变换矩阵，4x4 数组

data_object_label_2 3D点云标注文件

#Values    Name      Description
----------------------------------------------------------------------------1    type         (类别信息:车 货车 卡车...)Describes the type of object: 'Car', 'Van', 'Truck','Pedestrian', 'Person_sitting', 'Cyclist', 'Tram','Misc' or 'DontCare'1    truncated    (是否被截断:0-1截断程度）Float from 0 (non-truncated) to 1 (truncated), wheretruncated refers to the object leaving image boundaries1    occluded     (是否被遮挡:0完全可见 1部分遮挡 2大部分遮挡 3未知)Integer (0,1,2,3) indicating occlusion state:0 = fully visible, 1 = partly occluded2 = largely occluded, 3 = unknown1    alpha        (物体观察角度:[-pi, pi](弧度))Observation angle of object, ranging [-pi..pi]4    bbox         (2D图像标注框:左上角右下角坐标)2D bounding box of object in the image (0-based index):contains left, top, right, bottom pixel coordinates3    dimensions   (3D点云标注框:高 宽 长(m))3D object dimensions: height, width, length (in meters)3    location     (3D点云标注框:相机坐标系底面中心点坐标(m))3D object location x,y,z in camera coordinates (in meters)1    rotation_y   (物体正前方向与相机水平方向角度)Rotation ry around Y-axis in camera coordinates [-pi..pi]1    score        (得分)Only for results: Float, indicating confidence indetection, needed for p/r curves, higher is better.

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KITTI数据集简析

文章目录

KITTI数据集

数据集结构

数据集内容

data_object_calib 样本标定数据

data_object_label_2 3D点云标注文件

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