annotation.md

Data Format

Here's the data format for 2D/3D lane annotation. The evaluation can be referred from here

{
    "intrinsic":                            <float> [3, 3] -- camera intrinsic matrix
    "extrinsic":                            <float> [4, 4] -- camera extrinsic matrix
    "lane_lines": [                         (k lanes in `lane_lines` list)
        {
            "category":                     <int> -- lane category
                                                        1: 'white-dash',
                                                        2: 'white-solid',
                                                        3: 'double-white-dash',
                                                        4: 'double-white-solid',
                                                        5: 'white-ldash-rsolid',
                                                        6: 'white-lsolid-rdash',
                                                        7: 'yellow-dash',
                                                        8: 'yellow-solid',
                                                        9: 'double-yellow-dash',
                                                        10: 'double-yellow-solid',
                                                        11: 'yellow-ldash-rsolid',
                                                        12: 'yellow-lsolid-rdash',
                                                        20: 'left-curbside',
                                                        21: 'right-curbside'
            "visibility":                   <float> [n, ] -- visibility of each point
            "uv":[                          <float> [2, n] -- 2d lane points under image coordinate
                [u1,u2,u3...],
                [v1,v2,v3...]
            ],
            "xyz":[                         <float> [3, n] -- 3d lane points under camera coordinate
                [x1,x2,x3...],
                [y1,y2,y3...],
                [z1,z2,z3...],

            ],
            "attribute":                    <int> -- left-right attribute of the lane
                                                        1: left-left
                                                        2: left
                                                        3: right
                                                        4: right-right
            "track_id":                     <int> -- lane tracking id
        },
        ...
    ],
    "file_path":                            <str> -- image path
}