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Create a Point Cloud Sequence Input Manifest

The manifest is a UTF-8 encoded file in which each line is a complete and valid JSON object. Each line is delimited by a standard line break, \n or \r\n. Because each line must be a valid JSON object, you can't have unescaped line break characters. In the point cloud sequence input manifest file, each line in the manifest contains a sequence of point cloud frames. The point cloud data for each frame in the sequence can either be stored in binary or ASCII format. For more information, see Accepted Raw 3D Data Formats. This is the manifest file formatting required for 3D point cloud object tracking. Optionally, you can also provide point attribute and camera sensor fusion data for each point cloud frame. When you create a sequence input manifest file, you must provide LiDAR and video camera sensor fusion data in a world coordinate system.

The following example demonstrates the syntax used for an input manifest file when each line in the manifest is a sequence file. Each line in your input manifest file must be in JSON Lines format.

{"source-ref": "s3://awsexamplebucket/example-folder/seq1.json"}
{"source-ref": "s3://awsexamplebucket/example-folder/seq2.json"}

The data for each sequence of point cloud frames needs to be stored in a JSON data object. The following is an example of the format you use for a sequence file. Information about each frame is included as a JSON object and is listed in the frames list. This is an example of a sequence file with two point cloud frame files, frame300.bin and frame303.bin. The ... is used to indicated where you should include information for additional frames. Add a JSON object for each frame in the sequence.

The following code block includes a JSON object for a single sequence file. The JSON object has been expanded for readability.

{
  "seq-no": 1,
  "prefix": "s3://awsexamplebucket/example_lidar_sequence_dataset/seq1/",
  "number-of-frames": 100,
  "frames":[
    {
        "frame-no": 300, 
        "unix-timestamp": 1566861644.759115, 
        "frame": "example_lidar_frames/frame300.bin", 
        "format": "binary/xyzi", 
        "ego-vehicle-pose":{
            "position": {
                "x": -2.7161461413869947,
                "y": 116.25822288149078,
                "z": 1.8348751887989483
            },
            "heading": {
                "qx": -0.02111296123795955,
                "qy": -0.006495469416730261,
                "qz": -0.008024565904865688,
                "qw": 0.9997181192298087
            }
        }, 
        "images": [
        {
            "image-path": "example_images/frame300.bin_camera0.jpg",
            "unix-timestamp": 1566861644.759115,
            "fx": 847.7962624528487,
            "fy": 850.0340893791985,
            "cx": 576.2129134707038,
            "cy": 317.2423573573745,
            "k1": 0,
            "k2": 0,
            "k3": 0,
            "k4": 0,
            "p1": 0,
            "p2": 0,
            "skew": 0,
            "position": {
                "x": -2.2722515189268138,
                "y": 116.86003310568965,
                "z": 1.454614668542299
            },
            "heading": {
                "qx": 0.7594754093069037,
                "qy": 0.02181790885672969,
                "qz": -0.02461725233103356,
                "qw": -0.6496916273040025
            },
            "camera-model": "pinhole"
        }]
    },
    {
        "frame-no": 303, 
        "unix-timestamp": 1566861644.759115, 
        "frame": "example_lidar_frames/frame303.bin", 
        "format": "text/xyzi", 
        "ego-vehicle-pose":{...}, 
        "images":[{...}]
    },
     ...
  ]
}

The following table provides details about the top-level parameters of a sequence file. For detailed information about the parameters required for individual frames in the sequence file, see Parameters for Individual Point Cloud Frames.

Parameters for Individual Point Cloud Frames

The following table shows the parameters you can include in your input manifest file.

Include Vehicle Pose Information in Your Input Manifest

Use the ego-vehicle location to provide information about the pose of the vehicle used to capture point cloud data. Ground Truth use this information to compute LiDAR extrinsic matrices.

Ground Truth uses extrinsic matrices to project labels to and from the 3D scene and 2D images. For more information, see Sensor Fusion.

The following table provides more information about the position and orientation (heading) parameters that are required when you provide ego-vehicle information.

Include Camera Data in Your Input Manifest

If you want to include color camera data with a frame, use the following parameters to provide information about each image. The Required column in the following table applies when the images parameter is included in the input manifest file. You are not required to include images in your input manifest file.

If you include camera images, you must include information about the position and orientation (heading) of the camera used the capture the images.

If your images are distorted, Ground Truth can automatically undistort them using information you provide about the image in your input manifest file, including distortion coefficients (k1, k2, k3, k4, p1, p1), camera model and focal length (fx, fy), and the principal point (cx, cy). To learn more about these coefficients and undistorting images, see Camera calibration With OpenCV. If distortion coefficients are not included, Ground Truth will not undistort an image.

Sequence File and Point Cloud Frame Limits

You can include up to 100,000 point cloud frame sequences in your input manifest file. You can include up to 500 point cloud frames in each sequence file.

Keep in mind that 3D point cloud labeling job have longer pre-processing times than other Ground Truth task types. For more information, see Job Pre-processing Time.