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kitti.lcm
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kitti.lcm
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package kitti;
struct calib_t
{
int64_t utime;
double K_cam_left[9];
double K_cam_right[9];
double cam_left_imu[16];
double cam_right_imu[16];
double cam_left_velo[16];
double cam_right_velo[16];
double velo_imu[16];
}
struct image_t
{
int64_t utime;
int32_t width, height;
int32_t size;
byte data[size];
}
struct imu_t
{
int64_t utime;
double pose[16]; // SE3 pose from GPS
double vel[3]; // body axis
double accel[3]; // body axis
double rotation_rate[3]; // body axis
}
struct pointcloud_t
{
int64_t utime;
int32_t size;
float points[size][4];
}
struct tracked_object_type_t
{
const int8_t car = 0;
const int8_t van = 1;
const int8_t truck = 2;
const int8_t pedestrian = 3;
const int8_t person = 4;
const int8_t cyclist = 5;
const int8_t tram = 6;
const int8_t misc = 7;
const int8_t num_classes = 8;
}
struct tracked_object_t
{
double size[3];
// -1 = unset, 1 = interp, 2 = labeled
int8_t state;
// a normalized probability vector of class posterior
// see tracked_object_type_t
double object_type[8];
// -1 = unset, 0 = visible, 1 = partly, 2 = fully
int8_t occluded;
// -1 = unset, 0 = visible, 1 = truncated, 2 = out of image, 3 = behind
int8_t truncated;
int16_t bbox_cam_left[2][2];
int16_t bbox_cam_right[2][2];
double pos_in_velo[3];
double quat_in_velo[4];
}
struct tracked_object_list_t
{
int64_t utime;
int32_t size;
tracked_object_t objects[size];
}