Supported file formats
Following image file formats are supported: jpeg, png, bmp.
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 |
Please make sure that you supply the values as 32-bit (=4 byte) floats.
Keep in mind that 32-bit floats have limited precision. In fact, only 24 bits can be used to represent the number itself (the significand, excluding the sign bit), or about 7.22 decimal digits. If you want to keep two decimal places, this only leaves 5.22 decimal digits, so the numbers shouldn't be larger than 10^5.22 = 165958.
To avoid rounding problems, it is best practice to subtract the ego position of the first frame from all other ego positions. This way, the first ego position is set to (0, 0, 0) and the subsequent ego positions are relative to (0, 0, 0) . In your export script, you can add the ego position of the first frame back to the object positions.
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 |
When uploading text samples in bulk through the web platform, following file formats are supported:
data.txt
First text sample.
Second text sample.
data.json
[
{ "text": "First text sample." },
{ "text": "Second text sample."},
]
data.jsonl
{ "text": "First text sample." }
{ "text": "Second text sample." }
data.csv
text
First text sample.
Second text sample.
Last modified 6d ago