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
...
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, The content is The detailed parameters after decomposition
fov | number |
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 |
matrix | Array of numbers[ items ] Bev mapping matrix |
maxz | number |
minz | number |
required | object (PointCloudCoordinate) Camera position, relative to the origin in the point cloud file (0, 0, 0) s position |
projection | Array of numbers[ items ] |
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" "OmniDirectional" "Bev" Camera type |
unProjection | Array of numbers[ items ] |
{- "type": "PinHole",
- "heading": {
- "w": 0.9998965768815161,
- "x": -0.008695232232469284,
- "y": -0.006971205169862502,
- "z": 0.009090147167644433
}, - "position": {
- "x": 0.09735360749789024,
- "y": -0.006173595037573754,
- "z": -0.474067813586117
}, - "intrinsic": {
- "fx": 8333.333333,
- "fy": 8333.33333,
- "cx": 959.5,
- "cy": 539.5
}, - "skew": 0,
- "radial": {
- "k1": 0,
- "k2": 0,
- "k3": 0,
- "k4": 0
}, - "tangential": {
- "p1": 0,
- "p2": 0
}, - "imageWidth": 1080,
- "imageHeight": 960
}
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",
- "metadata": {
- "uniqueIdentifier": "3c665b98-6594-45a7-8722-ecce0d225589"
}, - "attachment": {
- "coordinate": {
- "camera_height": 2
}, - "scopeLimit": [
- {
- "radius": 100,
- "type": "circle"
}
], - "imageSources": [
- {
- "name": "front_camera",
- "width": 1920,
- "height": 1080,
- "camera": {
- "type": "PinHole",
- "heading": {
- "w": 0.9998965768815161,
- "x": -0.008695232232469284,
- "y": -0.006971205169862502,
- "z": 0.009090147167644433
}, - "position": {
- "x": 0.09735360749789024,
- "y": -0.006173595037573754,
- "z": -0.474067813586117
}, - "intrinsic": {
- "fx": 8333.333333,
- "fy": 8333.33333,
- "cx": 959.5,
- "cy": 539.5
}, - "skew": 0,
- "radial": {
- "k1": 0,
- "k2": 0,
- "k3": 0,
- "k4": 0
}, - "tangential": {
- "p1": 0,
- "p2": 0
}
}
}, - {
- "name": "back_camera",
- "width": 1920,
- "height": 1080,
- "camera": {
- "type": "PinHole",
- "heading": {
- "w": 0.9998965768815161,
- "x": -0.008695232232469284,
- "y": -0.006971205169862502,
- "z": 0.009090147167644433
}, - "position": {
- "x": 0.09735360749789024,
- "y": -0.006173595037573754,
- "z": -0.474067813586117
}, - "intrinsic": {
- "fx": 8333.333333,
- "fy": 8333.33333,
- "cx": 959.5,
- "cy": 539.5
}, - "skew": 0,
- "radial": {
- "k1": 0,
- "k2": 0,
- "k3": 0,
- "k4": 0
}, - "tangential": {
- "p1": 0,
- "p2": 0
}
}
}
]
}
}
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",
- "metadata": {
- "uniqueIdentifier": "3c665b98-6594-45a7-8722-ecce0d225589"
}, - "attachment": [
- {
- "coordinate": {
- "camera_height": 2
}, - "scopeLimit": [
- {
- "radius": 100,
- "type": "circle"
}
], - "imageSources": [
- {
- "name": "front_camera",
- "width": 1920,
- "height": 1080,
- "camera": {
- "type": "PinHole",
- "heading": {
- "w": 0.9998965768815161,
- "x": -0.008695232232469284,
- "y": -0.006971205169862502,
- "z": 0.009090147167644433
}, - "position": {
- "x": 0.09735360749789024,
- "y": -0.006173595037573754,
- "z": -0.474067813586117
}, - "intrinsic": {
- "fx": 8333.333333,
- "fy": 8333.33333,
- "cx": 959.5,
- "cy": 539.5
}, - "skew": 0,
- "radial": {
- "k1": 0,
- "k2": 0,
- "k3": 0
}, - "tangential": {
- "p1": 0,
- "p2": 0
}
}
}, - {
- "name": "back_camera",
- "width": 1920,
- "height": 1080,
- "camera": {
- "type": "PinHole",
- "heading": {
- "w": -0.469990267059842,
- "x": 0.5172219537574251,
- "y": 0.5271245940295847,
- "z": -0.4834565769430754
}, - "position": {
- "x": -0.2117782455635122,
- "y": 0.007687532381660913,
- "z": -0.1444383493927902
}, - "intrinsic": {
- "fx": 2028.8960860456893,
- "fy": 2021.943976185738,
- "cx": 975.0867262748408,
- "cy": 542.1191224289227
}, - "skew": 0,
- "radial": {
- "k1": -0.3800943983127283,
- "k2": 0.1714931036510359,
- "k3": -0.001999524932595834
}, - "tangential": {
- "p1": 0.0005520383017090625,
- "p2": 0
}
}
}
]
}, - {
- "coordinate": {
- "camera_height": 2
}, - "scopeLimit": [
- {
- "radius": 100,
- "type": "circle"
}
], - "imageSources": [
- {
- "name": "front_camera",
- "width": 1920,
- "height": 1080,
- "camera": {
- "type": "PinHole",
- "heading": {
- "w": 0.9998965768815161,
- "x": -0.008695232232469284,
- "y": -0.006971205169862502,
- "z": 0.009090147167644433
}, - "position": {
- "x": 0.09735360749789024,
- "y": -0.006173595037573754,
- "z": -0.474067813586117
}, - "intrinsic": {
- "fx": 8333.333333,
- "fy": 8333.33333,
- "cx": 959.5,
- "cy": 539.5
}, - "skew": 0,
- "radial": {
- "k1": 0,
- "k2": 0,
- "k3": 0
}, - "tangential": {
- "p1": 0,
- "p2": 0
}
}
}, - {
- "name": "back_camera",
- "width": 1920,
- "height": 1080,
- "camera": {
- "type": "PinHole",
- "heading": {
- "w": -0.469990267059842,
- "x": 0.5172219537574251,
- "y": 0.5271245940295847,
- "z": -0.4834565769430754
}, - "position": {
- "x": -0.2117782455635122,
- "y": 0.007687532381660913,
- "z": -0.1444383493927902
}, - "intrinsic": {
- "fx": 2028.8960860456893,
- "fy": 2021.943976185738,
- "cx": 975.0867262748408,
- "cy": 542.1191224289227
}, - "skew": 0,
- "radial": {
- "k1": -0.3800943983127283,
- "k2": 0.1714931036510359,
- "k3": -0.001999524932595834
}, - "tangential": {
- "p1": 0.0005520383017090625,
- "p2": 0
}
}
}
]
}
]
}
required | string or ImageSourceEntity (object) or Array of ImageSourceEntity (objects) (ImageSource) 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": {
- "uniqueIdentifier": "9ba65dab-4614-4601-8df1-2885178862be",
- "size": {
- "width": 1800,
- "height": 740
}
}
}
required | Array of strings or ImageSourceEntity (object) or Array of ImageSourceEntity (objects) (ImageSource) [ items ] 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 |
{- "attachmentType": "IMAGE_SEQUENCE",
- "metadata": {
- "additionalInfo": {
- "key-0": "df81acdb-991f-4938-afdd-b2826a0a7bf0"
}, - "size": {
- "width": 1080,
- "height": 1920
}
}
}
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 |
object (VideoDataRecordMetadata) Video annotation may be used metadata information |
{- "attachmentType": "VIDEO",
- "metadata": {
- "uniqueIdentifier": "4eee1a1c-e35e-40c9-97f7-a0f309f5b1ca",
- "fps": 1,
- "duration": 100
}
}
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 |
{- "attachmentType": "TEXT",
- "metadata": {
- "uniqueIdentifier": "d600977d-4c0d-401a-9cc6-3577f095e495",
- "title": "example article 96450.4808866211"
}
}
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 |
{- "attachmentType": "AUDIO",
- "metadata": {
- "uniqueIdentifier": "d600977d-4c0d-401a-9cc6-3577f095e495",
- "title": "Both refined and popular"
}
}
required | string or ImageSourceEntity (object) or Array of ImageSourceEntity (objects) (ImageSource) 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": {
- "uniqueIdentifier": "9ba65dab-4614-4601-8df1-2885178862be",
- "size": {
- "width": 1800,
- "height": 740
}, - "preprocessedData": {
- "annotations": [
- {
- "key": "box2d-[3872a]",
- "label": "pear",
- "type": "slot",
- "slots": [ ]
}, - {
- "key": "box2d-[69de2]",
- "label": "Apple",
- "type": "slot",
- "slots": [ ]
}, - {
- "key": "box2d-[452ed]",
- "label": "banana",
- "type": "slot",
- "slots": [ ]
}, - {
- "key": "box2d-[ae65e]",
- "label": "tangerinr",
- "type": "slot",
- "slots": [
- {
- "id": "0b9fc4a3-4ff1-4bfa-bd2f-4f94d66cc9a8",
- "type": "box2d",
- "label": "tangerinr",
- "plane": {
- "topLeft": {
- "x": 667.8271812080536,
- "y": 20.385906040268456
}, - "topRight": {
- "x": 989.4714765100671,
- "y": 20.385906040268456
}, - "bottomRight": {
- "x": 989.4714765100671,
- "y": 283.13758389261744
}, - "bottomLeft": {
- "x": 667.8271812080536,
- "y": 283.13758389261744
}
}
}, - {
- "id": "92c67a72-4dc6-44af-bbed-cd6f407d2765",
- "type": "box2d",
- "label": "tangerinr",
- "plane": {
- "topLeft": {
- "x": 1055.1593959731542,
- "y": 63.42281879194631
}, - "topRight": {
- "x": 1381.3338926174495,
- "y": 63.42281879194631
}, - "bottomRight": {
- "x": 1381.3338926174495,
- "y": 369.21140939597313
}, - "bottomLeft": {
- "x": 1055.1593959731542,
- "y": 369.21140939597313
}
}
}, - {
- "id": "072e526b-7c05-4a7e-a6c1-c582b9d80de5",
- "type": "box2d",
- "label": "tangerinr",
- "plane": {
- "topLeft": {
- "x": 1367.743288590604,
- "y": 97.3993288590604
}, - "topRight": {
- "x": 1691.6526845637582,
- "y": 97.3993288590604
}, - "bottomRight": {
- "x": 1691.6526845637582,
- "y": 448.48993288590606
}, - "bottomLeft": {
- "x": 1367.743288590604,
- "y": 448.48993288590606
}