DATA: scenario_xxx: sequence of sensor data | ----CAN_* (CAN DATA): | | | ---CAN_accel_yyy.csv: pedalangle(percent) | | | ---CAN_brake_yyy.csv: pedalpressure(kPa) | | | ---CAN_steer_yyy.csv: steer_angle,steer_speed | | | ---CAN_vel_yyy.csv: speed | ----gps_*(GPS+IMU DATA): | | | ---gps_yyy.csv: Long_Rel,Lat_Rel,In_Height,Tilt_Roll,Tilt_Pitch,Tilt_Yaw,Vel_x,Vel_y,Vel_z,Std_Dev_x,Std_Dev_y, | Std_Dev_z,Std_Dev_roll,Std_Dev_pitch,Std_Dev_yaw,Std_Dev_vel_x,Std_Dev_vel_y,Std_Dev_vel_z,Abs_Lat,Abs_Long | ----debug_*(projection of labels on image): | | | ---debug_yyy.csv: projection of 3d boxes, 2d boxes interpolated from 3d boxes and pointcloud on to image | ----labels_*(labels): | | | ---labels_2d_yyy.txt: (label, tracker, state, min_x, min_y, max_x, max_y) 2D bounding boxes interpolated from | | projected 3d bounding boxes | | | ---labels_3d1_yyy.txt: Full 360 deg pointcloud (label, tracker, state, c_x, c_y, c_z, l_x, l_y, l_z, yaw) 3D | | bounding box labeled in velodyne frame | | | ---labels_3d2_yyy.txt: pointcloud corresponding to front camera (label, tracker, state, c_x, c_y, c_z, l_x, l_y, | l_z, yaw) 3D bounding labeled in velodyne frame | ----odom_*(odometry from slam): | | | ---odom_yyy.txt: (px,py,pz,rx,ry,rz) position and orientation with respected to a fixed frame, different for each | scenario | ----pointcloud* (pointcloud): | ---pointcloud1_yyy.ply: Full 360 deg pointcloud (xyzi format) | ---pointcloud2_yyy.ply: pointcloud corresponding to front camera (xyzi format)