format.md

2D Bounding Box

• name: string
• attributes:
  • weather: "rainy|snowy|clear|overcast|undefined|partly cloudy|foggy"
  • scene: "tunnel|residential|parking lot|undefined|city street|gas stations|highway|"
  • timeofday: "daytime|night|dawn/dusk|undefined"
• frames [ ]:
  • timestamp: int64 (epoch time ms)
  • index: int (optional, frame index in this video)
  • objects [ ]:
    • id: int32
    • category: string (classification)
    • attributes:
      • occluded: boolean
      • truncated: boolean
      • trafficLightColor: "red|green|yellow|none"
      • direction: "parallel|vertical" (for lanes)
      • style: "solid | dashed" (for lanes)
    • box2d:
      • x1: pixels
      • y1: pixels
      • x2: pixels
      • y2: pixels
    • poly2d: Each segment is an array of 2D points with type (array) "L" means line and "C" means beizer curve.
    • seg2d: List of poly2d. Some object segmentation may contain multiple regions

Road object categories:

[
    "bike",
    "bus",
    "car",
    "motor",
    "person",
    "rider",
    "traffic light",
    "traffic sign",
    "train",
    "truck"
]

They are labeld by box2d.

Drivable area categories:

[
    "area/alternative",
    "area/drivable"
]

Lane marking categories:

[
    "lane/crosswalk",
    "lane/double other",
    "lane/double white",
    "lane/double yellow",
    "lane/road curb",
    "lane/single other",
    "lane/single white",
    "lane/single yellow"
]

Both drivable areas and lane markings are labeled by poly2d. Please check the visulization code show_labels.py for examples of drawing all the labels.