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File formats

Image

Following image file formats are supported: jpeg, png, bmp.

3D point cloud

PCD (Point Cloud Data)

Version 0.7 of the PCD format is supported. PCD files can either be ASCII-encoded or binary files. The PCD files should contain at least x, y, and z coordinate fields. Optionally, you can supply an intensity or an RGB field. These fields are used for setting the color of the points. Intensity coloring can be enabled or disabled in the viewer.
Any other fields will be ignored.
Field name
Size (#bytes)
Type
Required
x
4
float
y
4
float
z
4
float
intensity
4
float
rgb
4
float

Binary xyzi(r) (KITTI/nuScenes)

We also support the binary point cloud formats used by the KITTI and nuScenes datasets. These formats do not contain a header and have a fixed number of fields. When uploading a sample with point clouds in one of these formats, use binary-xyzi (alias kitti) or binary-xyzir (alias nuscenes) for the type field.
Field name
Size (#bytes)
Type
Required
x
4
float
y
4
float
z
4
float
intensity
4
float
ring index
4
float

Text

When uploading text samples in bulk through the web platform, following file formats are supported:

txt

data.txt
1
First text sample.
2
Second text sample.
Copied!

json

data.json
1
[
2
{ "text": "First text sample." },
3
{ "text": "Second text sample."},
4
]
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jsonl

data.jsonl
1
{ "text": "First text sample." }
2
{ "text": "Second text sample." }
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csv

data.csv
1
text
2
First text sample.
3
Second text sample.
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