LiDAR JSON Format
- 08 Aug 2024
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LiDAR JSON Format
- Updated On 08 Aug 2024
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This page describes LiDAR JSON, a data format for describing LiDAR data in JavaScript Object Notation (JSON).
Dataloop's LiDAR application supports 3D cubes. Since Dataloop's platform supports LiDAR sequence files, the JSON file contains information about the frames, the start time, and the end time.
For more information on LiDAR, see LiDAR Annotation Studio.
LiDAR JSON Format
{
"id": "656d78cc97c4a3bd5a863b6b",
"datasetId": "6458d7e0a4aaff79f2f8e16f",
"url": "https://rc-gate.dataloop.ai/api/v1/items/656d78cc97c4a3bd5a863b6b",
"dataset": "https://rc-gate.dataloop.ai/api/v1/datasets/6458d7e0a4aaff79f2f8e16f",
"createdAt": "2023-12-17T16:23:14.232Z",
"dir": "/",
"filename": "/name.json",
"type": "file",
"hidden": false,
"metadata": {
"system": {
"encoding": "7bit",
"isBinary": false,
"mimetype": "application/json",
"modalities": [],
"originalname": "frames (69).json",
"refs": [
{
"id": "660d6132ee9acf5df05460c3",
"type": "task"
},
{
"id": "660d6135ee9acf25955460c5",
"type": "assignment"
}
],
"shebang": {
"dltype": "PCDFrames"
},
"size": 499149,
"tags": {
"validation": true
},
"taskStatusLog": []
}
},
"name": "name.json",
"creator": "name@dataloop.ai",
"updatedAt": "2023-12-17T16:23:14.275Z",
"updatedBy": "name@dataloop.ai",
"stream": "https://rc-gate.dataloop.ai/api/v1/items/656d78cc97c4a3bd5a863b6b/stream",
"thumbnail": "https://rc-gate.dataloop.ai/api/v1/items/656d78cc97c4a3bd5a863b6b/thumbnail",
"annotations": [
{
"id": "6628d0a3d079e474881f026c",
"datasetId": "6458d7e0a4aaff79f2f8e16f",
"itemId": "656d78cc97c4a3bd5a863b6b",
"url": "https://rc-gate.dataloop.ai/api/v1/annotations/6628d0a3d079e474881f026c",
"item": "https://rc-gate.dataloop.ai/api/v1/items/656d78cc97c4a3bd5a863b6b",
"dataset": "https://rc-gate.dataloop.ai/api/v1/datasets/6458d7e0a4aaff79f2f8e16f",
"type": "ref_semantic_3d",
"label": "A",
"attributes": [],
"coordinates": {
"interpolation": "none",
"mode": "overwrite",
"ref": "6628d13df44c9ef04c78d6ba",
"refType": "id"
},
"metadata": {
"system": {
"attributes": {},
"automated": false,
"clientId": "35f92656-7d25-4318-8c0b-888fe093a5f0",
"coordinateVersion": "v1",
"endFrame": 80,
"endTime": 80,
"frame": 2,
"frameNumberBased": true,
"isOnlyLocal": false,
"isOpen": false,
"itemLinks": [],
"objectId": "1",
"openAnnotationVersion": "1.75.2-rc.38",
"recipeId": "6614ee52201e826524c523f0",
"snapshots_": [
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 3,
"label": "A",
"namedAttributes": {},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 5,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 6,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 7,
"label": "A",
"namedAttributes": {},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 8,
"label": "A",
"namedAttributes": {},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 9,
"label": "A",
"namedAttributes": {},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 10,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 11,
"label": "A",
"namedAttributes": {},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 13,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 14,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 15,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 18,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
},
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 19,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
}
],
"startTime": 0,
"system": false
},
"user": {}
},
"creator": "name@dataloop.ai",
"createdAt": "2024-04-24T09:28:03.595Z",
"updatedBy": "name@dataloop.ai",
"updatedAt": "2024-04-24T09:31:30.792Z",
"hash": "2d6705cea186f7c7be259cd517d95ea613b4faa8",
"source": "ui"
},
{
"id": "6628d173d079e4563d1f03d7",
"datasetId": "6458d7e0a4aaff79f2f8e16f",
"itemId": "656d78cc97c4a3bd5a863b6b",
"url": "https://rc-gate.dataloop.ai/api/v1/annotations/6628d173d079e4563d1f03d7",
"item": "https://rc-gate.dataloop.ai/api/v1/items/656d78cc97c4a3bd5a863b6b",
"dataset": "https://rc-gate.dataloop.ai/api/v1/datasets/6458d7e0a4aaff79f2f8e16f",
"type": "ref_semantic_3d",
"label": "A",
"attributes": [],
"coordinates": {
"interpolation": "none",
"mode": "overwrite",
"ref": "6628d21073ec48d85203e026",
"refType": "id"
},
"metadata": {
"system": {
"attributes": {},
"automated": false,
"clientId": "3c00cf62-4ed7-4b08-a946-d23ae36aa62d",
"coordinateVersion": "v1",
"endFrame": 80,
"endTime": 80,
"frame": 18,
"frameNumberBased": true,
"isOnlyLocal": false,
"isOpen": false,
"itemLinks": [],
"objectId": "2",
"openAnnotationVersion": "1.75.2-rc.38",
"recipeId": "6614ee52201e826524c523f0",
"snapshots_": [
{
"attributes": [],
"data": {},
"fixed": true,
"frame": 19,
"label": "A",
"namedAttributes": {
"undefined": null
},
"objectVisible": true,
"type": "ATTRIBUTE_CHANGE"
}
],
"startTime": 0,
"system": false
},
"user": {}
},
"creator": "name@dataloop.ai",
"createdAt": "2024-04-24T09:31:31.486Z",
"updatedBy": "name@dataloop.ai",
"updatedAt": "2024-04-24T09:36:54.282Z",
"hash": "eb18f38c53a937d871e288ba2ce805ad2abcb8af",
"source": "ui"
},
{
"id": "6628d2b6403d677a59cbdf91",
"datasetId": "6458d7e0a4aaff79f2f8e16f",
"itemId": "656d78cc97c4a3bd5a863b6b",
"url": "https://rc-gate.dataloop.ai/api/v1/annotations/6628d2b6403d677a59cbdf91",
"item": "https://rc-gate.dataloop.ai/api/v1/items/656d78cc97c4a3bd5a863b6b",
"dataset": "https://rc-gate.dataloop.ai/api/v1/datasets/6458d7e0a4aaff79f2f8e16f",
"type": "cube_3d",
"label": "A",
"attributes": [],
"coordinates": {
"direction": {
"x": 1,
"y": 0,
"z": 0
},
"interpolation": "Linear",
"position": {
"x": -5.910163478003942,
"y": 17.759926650242885,
"z": 2.0968759090718523
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"scale": {
"x": 2.8938979884031664,
"y": 1.949486176458691,
"z": 1
}
},
"metadata": {
"system": {
"attributes": {},
"automated": false,
"clientId": "e12714d7-b7a7-4847-8c7c-76443ba46984",
"endFrame": 80,
"endTime": 80,
"frame": 19,
"frameNumberBased": true,
"itemLinks": [],
"objectId": "3",
"openAnnotationVersion": "1.75.2-rc.38",
"recipeId": "6614ee52201e826524c523f0",
"snapshots_": [],
"startTime": 0,
"system": false
},
"user": {}
},
"creator": "name@dataloop.ai",
"createdAt": "2024-04-24T09:36:54.693Z",
"updatedBy": "name@dataloop.ai",
"updatedAt": "2024-04-24T09:36:54.693Z",
"hash": "c2cdf1f722d6aa5cdc652ce0e1bc69a3058ea481",
"source": "ui"
}
],
"annotationsCount": 3,
"annotated": true,
"srcItem": "651d221f250b324a6d215941",
"srcDataset": "6458d7e0a4aaff79f2f8e16f"
}
Instance Segentation Formatting
The instance Segmentation tool segments point clouds.
On the exported JSON format, the indices- the segmented point clouds will diplay below "semanticIndex".
"semanticIndex": {
"type": "index",
"frames": {
"0": [
22,
23,
24,
28,
29
]}
Exporting Instance Segmentation
Please be aware that exporting semantic annotations for LiDAR data can only be performed one file at a time. This is due to the large size of the exported files, which can contain millions of indexed point clouds.
Dictionary Table
| Key Name | Definition | Parent Key |
|---|---|---|
| id | Annotation Id | annotations |
| datasetId | Dataset Id | annotations |
| itemId | Id of the item | annotations |
| url | API URL of the annotation | annotations |
| item | API URL of the item | annotations |
| dataset | API URL of the dataset | annotations |
| type | Annotation type | annotations |
| label | Annotation label | annotations |
| attributes | Annotation attributes | annotations |
| metadata | Information about the annotation | annotations |
| system | Annotation system information | metadata |
| status | Annotation status (for example, null/issue/review) | system |
| startTime | Start time of the annotation in the video | system |
| endTime | End time of the annotation in the video | system |
| frame | Frame when the annotation appears in the video | system |
| endFrame | Last frame the annotation appears in the video | system |
| snapshots_ | Snapshot information relevant to video annotation | system |
| fixed | Shows if the frame is a fixed frame | snapshots_ |
| frame | Snapshot frame number | snapshots_ |
| objectVisible | Status of annotation (true = visible, false = hidden) | snapshots_ |
| data | Coordination in each snapshot | snapshots_ |
| position | Index of the center of the 3D cube in relation with the center of the world (0,0,0) | Coordinates (3D Cube |
| rotation | Rotation on each one of the axis: Top view rotation: rotation on the Z axis (Yaw), Front view rotation: rotation on the Y axis (Pitch), Side view rotation: rotation on the X axis (Roll). | Coordinates (3D Cube) |
| scale | Scale of the cube on each one of the axis. | Coordinates (3D Cube) |
| label | Snapshot label | snapshots_ |
| attributes | Snapshots attributes | snapshots_ |
| namedAttributes | The attributes that appear on all annotations | snapshots_ |
| parentId | Id of parent annotation | system |
| clientId | Annotation created in UI (clientId when not saved) | system |
| automated | True = Annotation created by automation process | system |
| objectId | Sequential mark for annotations | system |
| attributes | Information about the annotation attributes | system |
| system | Shows if annotation is a system annotation | system |
| itemLinks | ItemLinks are the connection between ‘snapshot’ annotation (like snapping a frame from a video) to the newly created image item | system |
| openAnnotationVersion | Platform version | system |
| recipeId | Id of the recipe | system |
| user | Metadata added by user via SDK | metadata |
| creator | User who created the annotation | annotations |
| createdAt | Date and time when annotation was created | annotations |
| updatedBy | User who updated the annotation | annotations |
| updatedAt | Date and time when annotation was last updated | annotations |
| hash | Used to map annotation’s data to a string | annotations |
| source | Where the annotation was created: UI/SDK | annotations |
| coordinates (3D Cube) | Object of includes 3D cube data | annotations |
| interpolation | this indicates an interpolation was done. | annotations |
| ref | It displays the reference task ID of the tasks this file was annotated through. | annotations |
| mode | Whether it is an overwrite mode or not. | annotations |
| refType | The type of the reference is an ID. | annotations |
| _id | The item ID | annotations |
| filename | Name of the file | annotations |
| mimetype | The mime type of the file | annotations |
| refs | The references of the task | annotations |
| shebang dltype | It allows UI to present the annotation as LiDAR instead of a JSON type. | annotations |
| size | File size | annotations |
| taskStatusLog | Logs from the task. | annotations |