Stardust - Data structure (v0.1_beta)

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Welcome to Stardust Data, here is our import/export data structure documentation

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PointCloud

PointCloud import data structure

Please give the data in the following format, which will facilitate us to adapt the data at the fastest speed

for single frame and continuous frames, .json The file is an independent parameter for each camera, and the configurable content refers to Camera parameters Partial

  -data_root
    -Camera1
        1620724790.jpg
        1620724791.jpg
        ...
     Camera1.json

    -Camera2
        1620724790.jpg
        1620724791.jpg
        ...
     Camera2.json

    -Camera3
        1620724790.jpg
        1620724791.jpg
        ...
     Camera3.json

    -Lidar
        1620724790.pcd
        1620724791.pcd
        ...

Camera parameters

Coordinate system description: The laser radar coordinate system is used, and the forward direction of the vehicle is taken as thexthe axis's positive direction's right-handed system, if the parameter coordinate system does not correspond to it, it needs to be transformed and given to

The external parameter adopts the transformation matrix or specific parameters of the camera relative to the laser radar in the lidar coordinate system. If it is the external parameter matrix of the radar relative to the camera coordinate system, it needs to be processed by inverse transformation and then given to speed up the data adaptation. process

for corresponding camera folder namingjsonfile, content can be The detailed parameters after decomposition,or Matrix parameters

Matrix parameters: extrinsic: Camera extrinsic parameters,**intrinsic: Camera intrinsic parametersdistortionCoeffs: Distortion matrix** [k1, k2, p1, p2, k3, k4],**type: Camera type(PinHoleorFisheye)imageWidth: Image widthimageHeight: Image height**

  {
    "extrinsic": [
        -0.8722131327359697, 
        0.48912597364046323, 
        0.00018164023229896384, 
        -0.28421992547700925, 
        0.04110898276540833, 
        0.07367588146212363, 
        -0.9964346019818722, 
        -0.24623178613508903, 
        -0.4873954273676543, 
        -0.8690958787159492, 
        -0.08436854259766188, 
        -0.2532359713679616, 
        0.0, 
        0.0, 
        0.0, 
        1.0
    ], 
    "intrinsic": [
        1513.9866943359375, 
        0.0, 
        919.7113872646514, 
        0.0, 
        1514.9287109375, 
        571.0453731577145, 
        0.0, 
        0.0, 
        1.0
    ],
    "distortionCoeffs": [
      -0.5748843097876193,
      0.3563775513799824,
      0.001159608953510414,
      0.0008058653399803558,
      -0.1459170780610599,
      -0.2532359713679616
    ],
    "type": "PinHole",
    "imageWidth": 1080,
    "imageHeight": 960
  }

The detailed parameters after decomposition:

required
object (CameraHeading)

Camera orientation, relative to the origin in the point cloud file (0, 0, 0) orientation, quaternion

required
object (CameraIntrinsicParameter)

Camera intrinsic parameters

required
object (PointCloudCoordinate)

Camera position, relative to the origin in the point cloud file (0, 0, 0) s position

required
object (CameraRadial)

Camera Radial Distortion Parameters

skew
required
number

camera distortion factor

required
object (CameraTangential)

Camera Tangential Distortion Parameters

type
required
string (CameraType)
Enum: "PinHole" "Fisheye"

Camera type

{
  • "type": "PinHole",
  • "heading": {
    },
  • "position": {
    },
  • "intrinsic": {
    },
  • "skew": 0,
  • "radial": {
    },
  • "tangential": {
    },
  • "imageWidth": 1080,
  • "imageHeight": 960
}

Point Cloud

required
object (PointCloudSource)

Single frame point cloud data source

attachmentType
required
string

The single frame point cloud input type isPOINTCLOUD

Value: "POINTCLOUD"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (PointCloudDataRecordMetadata)

Point cloud annotation may be used metadata information

{
  • "attachmentType": "POINTCLOUD",
  • "uniqueIdentifier": "3c665b98-6594-45a7-8722-ecce0d225589",
  • "attachment": {
    }
}

PointCloud Sequence

required
Array of objects (PointCloudSource) [ items ]

point cloud sequence data source

attachmentType
required
string

The point cloud sequence input type isPOINTCLOUD_SEQUENCE

Value: "POINTCLOUD_SEQUENCE"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (PointCloudDataRecordMetadata)

Point cloud annotation may be used metadata information

{
  • "attachmentType": "POINTCLOUD_SEQUENCE",
  • "uniqueIdentifier": "3c665b98-6594-45a7-8722-ecce0d225589,",
  • "attachment": [
    ]
}

Image

Image

attachment
required
string

Single frame picture input data link

attachmentType
required
string

Single frame picture input type isIMAGE

Value: "IMAGE"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (ImageDataRecordMetadata)

Image annotation may be used metadata information

{}

Image Sequence

attachment
required
Array of strings

Image sequence input data link, as an orderedArray

attachmentType
required
string

The image sequence input type isIMAGE_SEQUENCE

Value: "IMAGE_SEQUENCE"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (ImageDataRecordMetadata)

Image annotation may be used metadata information

{}

Video

attachment
required
string

video data link

attachmentType
required
string

The video data type isVIDEO

Value: "VIDEO"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

required
object (VideoDataRecordMetadata)

Video annotation may be used metadata information

{
  • "attachmentType": "VIDEO",
  • "metadata": {
    }
}

Text

Text

attachment
required
string

text data link

attachmentType
required
string

Text data type isTEXT

Value: "TEXT"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (TextDataRecordMetadata)

Text annotation may be used metadata information

{}

Audio

Audio

attachment
required
string

audio data link

attachmentType
required
string

The audio data type isAUDIO

Value: "AUDIO"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (AudioDataRecordMetadata)

Audio annotation may be used metadata information

{}

Annotation example

Single Rectangle Task

attachment
required
string

Single frame picture input data link

attachmentType
required
string

Single frame picture input type isIMAGE

Value: "IMAGE"
extraInfoUrls
Array of strings

Additional reference information can be url link or text, needs to be aArray

object (ImageDataRecordMetadata)

Image annotation may be used metadata information

{
  • "attachmentType": "IMAGE",
  • "metadata": {