Velodyne Points / KITTI Raw 3D

Format specification

Velodyne Points / KITTI Raw 3D data format homepage is available here.

Velodyne Points / KITTI Raw 3D data format specification is available here.

Supported annotation types:

  • Cuboid3d (represent tracks)

Supported annotation attributes:

  • truncation (write, string), possible values: truncation_unset, in_image, truncated, out_image, behind_image (case-independent).
  • occlusion (write, string), possible values: occlusion_unset, visible, partly, fully (case-independent). This attribute has priority over occluded.
  • occluded (read/write, boolean)
  • keyframe (read/write, boolean). Responsible for occlusion_kf field.
  • track_id (read/write, integer). Indicates the group over frames for annotations, represent tracks.

Supported image attributes:

  • frame (read/write, integer). Indicates frame number of the image.

Import KITTI Raw dataset

The velodyne points/KITTI Raw dataset is available for download here and here.

KITTI Raw dataset directory should have the following structure:

└─ Dataset/
    ├── dataset_meta.json # a list of custom labels (optional)
    ├── image_00/ # optional, aligned images from different cameras
    │   └── data/
    │       ├── <name1.ext>
    │       └── <name2.ext>
    ├── image_01/
    │   └── data/
    │       ├── <name1.ext>
    │       └── <name2.ext>
    ...
    │
    ├── velodyne_points/ # optional, 3d point clouds
    │   └── data/
    │       ├── <name1.pcd>
    │       └── <name2.pcd>
    ├── tracklet_labels.xml
    └── frame_list.txt # optional, required for custom image names

The format does not support arbitrary image names and paths, but Datumaro provides an option to use a special index file to allow this.

frame_list.txt contents:

12345 relative/path/to/name1/from/data
46 relative/path/to/name2/from/data
...

To add custom classes, you can use dataset_meta.json.

A Datumaro project with a KITTI source can be created in the following way:

datum create
datum import --format kitti_raw <path/to/dataset>

To make sure that the selected dataset has been added to the project, you can run datum project info, which will display the project and dataset information.

Export to other formats

Datumaro can convert a KITTI Raw dataset into any other format Datumaro supports.

Such conversion will only be successful if the output format can represent the type of dataset you want to convert, e.g. 3D point clouds can be saved in Supervisely Point Clouds format, but not in COCO keypoints.

There are several ways to convert a KITTI Raw dataset to other dataset formats:

datum create
datum import -f kitti_raw <path/to/kitti_raw>
datum export -f sly_pointcloud -o <output/dir>

or

datum convert -if kitti_raw -i <path/to/kitti_raw> -f sly_pointcloud

Or, using Python API:

import datumaro as dm

dataset = dm.Dataset.import_from('<path/to/dataset>', 'kitti_raw')
dataset.export('save_dir', 'sly_pointcloud', save_media=True)

Export to KITTI Raw

There are several ways to convert a dataset to KITTI Raw format:

# export dataset into KITTI Raw format from existing project
datum export -p <path/to/project> -f kitti_raw -o <output/dir> \
    -- --save-media

# converting to KITTI Raw format from other format
datum convert -if sly_pointcloud -i <path/to/dataset> \
    -f kitti_raw -o <output/dir> -- --save-media --reindex

Extra options for exporting to KITTI Raw format:

  • --save-media allow to export dataset with saving media files. This will include point clouds and related images (by default False)
  • --image-ext IMAGE_EXT allow to specify image extension for exporting dataset (by default - keep original or use .png, if none)
  • --reindex assigns new indices to frames and tracks. Allows annotations without track_id attribute (they will be exported as single-frame tracks).
  • --allow-attrs allows writing arbitrary annotation attributes. They will be written in <annotations> section of <poses><item> (disabled by default)

Examples

Example 1. Import dataset, compute statistics

datum create -o project
datum import -p project -f kitti_raw ../kitti_raw/
datum stats -p project

Example 2. Convert Supervisely Pointclouds to KITTI Raw

datum convert -if sly_pointcloud -i ../sly_pcd/ \
    -f kitti_raw -o my_kitti/ -- --save-media --allow-attrs

Example 3. Create a custom dataset

import numpy as np
import datumaro as dm

dataset = dm.Dataset.from_iterable([
    dm.DatasetItem(id='some/name/qq',
        annotations=[
            dm.Cuboid3d(position=[13.54, -9.41, 0.24], label=0,
                attributes={'occluded': False, 'track_id': 1}),

            dm.Cuboid3d(position=[3.4, -2.11, 4.4], label=1,
                attributes={'occluded': True, 'track_id': 2})
        ],
        pcd='path/to/pcd1.pcd',
        related_images=[np.ones((10, 10)), 'path/to/image2.png', 'image3.jpg'],
        attributes={'frame': 0}
    ),
], categories=['cat', 'dog'])

dataset.export('my_dataset/', format='kitti_raw', save_media=True)

Examples of using this format from the code can be found in the format tests