Supported point cloud formats

Sama natively supports these 3D point cloud data formats:

• .pcd
• .las
• .ply
• .pts
• .txt (csv)
   

Each data point should have (x,y,z) coordinates. Point intensity values are also supported (normalized to a 0-1 scale); values are encoded in the intensity dimension.

Input Data

.zip(or folder) of point cloud frames for a single task

point_cloud.zip
  0001.pcd
  0002.pcd
  0003.pcd

It is recommended to provide the timestamp in the frame filename, otherwise, ensure the frames have an alphanumeric naming convention that is easily sortable to the correct order(e.g. 0001.jpeg, 0002.jpeg, 0010.jpeg, 0100.jpeg, etc.).

Coordinate system

The positive z-direction must represent "up" in the physical world, positive y must represent "left", and positive x must represent "forward" (RHR). Sama uses the roll-pitch-yaw XYZ Euler angle convention where the roll is around the x-axis, the pitch is around the y-axis, and the yaw is around the z-axis.

Whether the point cloud coordinate system origin is a fixed point on the ego vehicle or a fixed point in world coordinates, any pre-annotations, camera calibration or pose data must be given in that same coordinate system. Delivered cuboid and other shape annotations will also be in that same coordinate system.