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images.md

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Sampling of 000274.png:

Left

Right

Left - 3 temporally preceding frames (left color)

Right - 3 temporally preceding frames (right color)

Labels

Excerpt from the devkit_object readme describing the labels:

#Values    Name      Description
----------------------------------------------------------------------------
   1    type         Describes the type of object: 'Car', 'Van', 'Truck',
                     'Pedestrian', 'Person_sitting', 'Cyclist', 'Tram',
                     'Misc' or 'DontCare'
   1    truncated    Float from 0 (non-truncated) to 1 (truncated), where
                     truncated refers to the object leaving image boundaries
   1    occluded     Integer (0,1,2,3) indicating occlusion state:
                     0 = fully visible, 1 = partly occluded
                     2 = largely occluded, 3 = unknown
   1    alpha        Observation angle of object, ranging [-pi..pi]
   4    bbox         2D bounding box of object in the image (0-based index):
                     contains left, top, right, bottom pixel coordinates
   3    dimensions   3D object dimensions: height, width, length (in meters)
   3    location     3D object location x,y,z in camera coordinates (in meters)
   1    rotation_y   Rotation ry around Y-axis in camera coordinates [-pi..pi]
   1    score        Only for results: Float, indicating confidence in
                     detection, needed for p/r curves, higher is better.

Some samples:

type truncated occluded alpha left top right bottom height width length x y z rotation_y score
Car 0.00 0 -1.59 586.42 199.76 662.87 266.02 1.36 1.69 3.38 0.28 2.08 17.74 -1.58
Car 0.00 1 2.13 78.22 195.25 239.59 268.19 1.59 1.72 3.86 -11.46 2.22 18.60 1.58
Cyclist 0.00 3 2.48 1005.81 190.32 1206.35 331.10 1.68 0.86 2.01 6.30 1.92 9.28 3.06
Van 0.00 3 -1.72 700.62 162.16 807.39 261.63 2.12 1.86 4.41 3.34 1.93 17.73 -1.54
Pedestrian 0.00 0 0.15 389.42 179.08 424.76 303.37 1.87 0.64 0.65 -3.21 1.97 11.22 -0.13
Van 0.00 3 1.99 258.72 187.25 349.36 238.52 1.71 1.56 4.12 -11.33 2.28 26.92 1.59
Car 0.00 1 -2.17 370.32 190.97 497.81 255.70 1.59 1.63 3.64 -4.95 2.11 19.92 -2.41
Car 0.00 2 -2.33 394.24 197.69 512.54 247.36 1.41 1.64 3.61 -5.06 2.23 23.01 -2.55
Car 0.00 2 -2.30 425.76 196.25 535.81 239.43 1.39 1.61 4.09 -4.78 2.27 26.19 -2.48
Car 0.00 2 -2.27 477.24 194.55 553.19 229.87 1.50 1.57 3.54 -4.46 2.53 33.47 -2.40
Car 0.00 2 -2.38 513.87 192.20 570.87 215.15 1.40 1.60 3.55 -4.44 2.67 46.89 -2.47
Car 0.00 2 -1.70 677.08 196.47 732.16 236.22 1.36 1.63 4.02 3.64 2.35 28.57 -1.57
Car 0.00 2 -1.56 583.50 192.47 625.83 232.63 1.52 1.67 3.61 -0.23 2.38 30.44 -1.56
Car 0.00 2 1.99 299.69 190.81 366.89 221.46 1.47 1.77 4.25 -14.75 2.48 38.64 1.63
DontCare -1 -1 -10 553.31 181.27 587.73 200.06 -1 -1 -1 -1000 -1000 -1000 -10
DontCare -1 -1 -10 624.15 180.23 687.73 202.15 -1 -1 -1 -1000 -1000 -1000 -10

Quick sampling of other images:

  • 177 - Car and pedestrians/bikers
  • 206 - Car and pedestrians
  • 217 - Car and bikers
  • 254 - Car and bikers
  • 266 - Car and bikers
  • 274 - Car and pedestrians/bikers