camera → RGB images from different cameras

pointcloud → LiDAR pointclouds for each sensor as PCD files

bounding → Ground truth bounding boxes for each frame as JSON files

pred_bounding → Predicted bounding boxes for each frame as JSON files

ego → Translation and rotation for each frame as JSON files

→ Converts datasets into our data format

→ Utility functions provided to aid in converting

→ NuScenes and Waymo conversion script included

→ Visualizes our data format

→ Easily switch between point cloud and RGB view

→ Rotate point cloud view in free space

→ Filter what annotations are shown