## 3D Bounding Boxes The 3D bounding box dataset contains 12,497 frames. Each frame has the following items: - RGB image - 3D point cloud - annotated semantic segmentation label - annotated 3D bounding box label All frames are grouped in 18 different scenes with each scene contained in its corresponding folder. Scene folder names are in the 'YYYYMMDD_hhmmss' format. They represents the date and time of the recording. Each scene is further divided into four folders: - 'camera': input images and json info files - 'lidar': input 3D point clouds - 'label': annotated label images - 'label3D': annotated 3D bounding boxes Each of these folders are further divided depending on the camera from which the data was recorded. There are six cameras available in the vehicle, therefore, the following are the camera folders: - 'cam_front_center' - 'cam_front_left' - 'cam_front_right' - 'cam_side_left' - 'cam_side_right' - 'cam_rear_center' Lastly, each of these folders contains the corresponding item for each frame. These are the filename formats for the item of a single frame: input RGB image : YYMMDDDDhhmmss_camera_[frontcenter|frontleft|frontright|sideleft|sideright|rearcenter]_[ID].png input info : YYMMDDDDhhmmss_camera_[frontcenter|frontleft|frontright|sideleft|sideright|rearcenter]_[ID].json 3D lidar pcloud : YYMMDDDDhhmmss_lidar_[frontcenter|frontleft|frontright|sideleft|sideright|rearcenter]_[ID].npz label image : YYMMDDDDhhmmss_label_[frontcenter|frontleft|frontright|sideleft|sideright|rearcenter]_[ID].png 3D Bounding Box : YYMMDDDDhhmmss_label3D_[frontcenter|frontleft|frontright|sideleft|sideright|rearcenter]_[ID].json For example, a frame with ID 1617 from a scene recorded on 2018-08-07 14:50:28 from the front center camera would be have the following items in these locations: input RGB image : 20180807_145028/camera/cam_front_center/20180807145028_camera_frontcenter_000001617.png input info : 20180807_145028/camera/cam_front_center/20180807145028_camera_frontcenter_000001617.json 3D lidar pcloud : 20180807_145028/lidar/cam_front_center/20180807145028_lidar_frontcenter_000001617.npz label image : 20180807_145028/label/cam_front_center/20180807145028_label_frontcenter_000001617.png 3D Bounding Box : 20180807_145028/label3D/cam_front_center/20180807145028_label3D_frontcenter_000001617.json For further explanations regarding the format of each of these items, please refer to the tutorial in our dataset web page.